Physical Sciences and Mathematics Commons^™

Pyro: A Python-Based Versatile Programming Environment For Teaching Robotics, D. Blank, D. Kumar, Lisa A. Meeden, H. Yanco

Computer Science Faculty Works

In this article we describe a programming framework called Pyro, which provides a set of abstractions that allows students to write platform-independent robot programs. This project is unique because of its focus on the pedagogical implications of teaching mobile robotics via a top-down approach. We describe the background of the project, its novel abstractions, its library of objects, and the many learning modules that have been created from which curricula for different types of courses can be drawn. Finally, we explore Pyro from the students' perspective in a case study.

Predicting Nonlinear Network Traffic Using Fuzzy Neural Network, Zhaoxia Wang, Tingzhu Hao, Zengqiang Chen, Zhuzhi Yuan

Research Collection School Of Computing and Information Systems

Network traffic is a complex and nonlinear process, which is significantly affected by immeasurable parameters and variables. This paper addresses the use of the five-layer fuzzy neural network (FNN) for predicting the nonlinear network traffic. The structure of this system is introduced in detail. Through training the FNN using back-propagation algorithm with inertia] terms the traffic series can be well predicted by this FNN system. We analyze the performance of the FNN in terms of prediction ability as compared with solely neural network. The simulation demonstrates that the proposed FNN is superior to the solely neural network systems. In addition, …

Task Allocation Via Multi-Agent Coalition Formation: Taxonomy, Algorithms And Complexity, Hoong Chuin Lau, L. Zhang

Research Collection School Of Computing and Information Systems

Coalition formation has become a key topic in multiagent research. In this paper, we propose a preliminary classification for the coalition formation problem based on three driving factors (demands, resources and profit objectives). We divide our analysis into 5 cases. For each case, we present algorithms and complexity results. We anticipate that with future research, this classification can be extended in similar fashion to the comprehensive classification for the job scheduling problem.

Multi-Agent Coalition Via Autonomous Price Negotiation In A Real-Time Web Environment, Hoong Chuin Lau, Wei Sian Lim

Research Collection School Of Computing and Information Systems

In e-marketplaces, customers specify job requests in real-time and agents form coalitions to service them. This paper proposes a protocol for self-interested agents to negotiate prices in forming successful coalitions. We propose and experiment with two negotiation schemes: one allows information sharing while the other does not.

Safe Robot Driving In Cluttered Environments, Chuck Thorpe, Justin Carlson, Dave Duggins, Jay Gowdy, Rob Maclachlan, Christoph Mertz, Arne Suppe, Bob Wang

Research Collection School Of Computing and Information Systems

The Navlab group at Carnegie Mellon University has a long history of development of automated vehicles and intelligent systems for driver assistance. The earlier work of the group concentrated on road following, cross-country driving, and obstacle detection. The new focus is on short-range sensing, to look all around the vehicle for safe driving. The current system uses video sensing, laser rangefinders, a novel light-stripe rangefinder, software to process each sensor individually, and a map-based fusion system. The complete system has been demonstrated on the Navlab 11 vehicle for monitoring the environment of a vehicle driving through a cluttered urban environment, …

Solving Multi-Objective Multi-Constrained Optimization Problems Using Hybrid Ants System And Tabu Search, Hoong Chuin Lau, Min Kwang Lim, Wee Chong Wan, Hui Wang, Xiaotao Wu

Research Collection School Of Computing and Information Systems

Many real-world optimization problems today are multi-objective multi-constraint generalizations of NP-hard problems. A classic case we study in this paper is the Inventory Routing Problem with Time Windows (IRPTW). IRPTW considers inventory costs across multiple instances of Vehicle Routing Problem with Time Windows (VRPTW). The latter is in turn extended with time-windows constraints from the Vehicle Routing Problem (VRP), which is extended with optimal fleet size objective from the single-objective Traveling Salesman Problem (TSP). While single-objective problems like TSP are solved effectively using meta-heuristics, it is not obvious how to cope with the increasing complexity systematically as the problem is …

A Generic Object-Oriented Tabu Search Framework, Hoong Chuin Lau, Wee Chong Wan, Xiaomin Jia

Research Collection School Of Computing and Information Systems

Presently, most tabu search designers devise their applications without considering the potential of design and code reuse, which consequently prolong the development of subsequent applications. In this paper, we propose a software solution known as Tabu Search Framework (TSF), which is a generic C++ software framework for tabu search implementation. The framework excels in code recycling through the use of a welldesigned set of generic abstract classes that clearly define their collaborative roles in the algorithm. Additionally, the framework incorporates a centralized process and control mechanism that enhances the search with intelligence. This results in a generic framework that is …

A Generic Object-Oriented Tabu Search Framework, Hoong Chuin Lau

Research Collection School Of Computing and Information Systems

Presently, most tabu search designers devise their applications without considering the potential of design and code reuse, which consequently prolong the development of subsequent applications. In this paper, we propose a software solution known as Tabu Search Framework (TSF), which is a generic C++ software framework for tabu search implementation. The framework excels in code recycling through the use of a welldesigned set of generic abstract classes that clearly define their collaborative roles in the algorithm. Additionally, the framework incorporates a centralized process and control mechanism that enhances the search with intelligence. This results in a generic framework that is …

On Machine Learning Methods For Chinese Document Classification, Ji He, Ah-Hwee Tan, Chew-Lim Tan

Research Collection School Of Computing and Information Systems

This paper reports our comparative evaluation of three machine learning methods, namely k Nearest Neighbor (kNN), Support Vector Machines (SVM), and Adaptive Resonance Associative Map (ARAM) for Chinese document categorization. Based on two Chinese corpora, a series of controlled experiments evaluated their learning capabilities and efficiency in mining text classification knowledge. Benchmark experiments showed that their predictive performance were roughly comparable, especially on clean and well organized data sets. While kNN and ARAM yield better performances than SVM on small and clean data sets, SVM and ARAM significantly outperformed kNN on noisy data. Comparing efficiency, kNN was notably more costly …

Machine Learning Approaches For Determining Effective Seeds For K -Means Algorithm, Kaveephong Lertwachara

Doctoral Dissertations

In this study, I investigate and conduct an experiment on two-stage clustering procedures, hybrid models in simulated environments where conditions such as collinearity problems and cluster structures are controlled, and in real-life problems where conditions are not controlled. The first hybrid model (NK) is an integration between a neural network (NN) and the k-means algorithm (KM) where NN screens seeds and passes them to KM. The second hybrid (GK) uses a genetic algorithm (GA) instead of the neural network. Both NN and GA used in this study are in their simplest-possible forms.

In the simulated data sets, I investigate two …

Virtual Assembly With Biologically Inspired Intelligence, Xiaobu Yuan, Simon X. Yang

Computer Science Publications

This paper investigates the introduction of biologically inspired intelligence into virtual assembly. It develops a approach to assist product engineers making assembly-related manufacturing decisions without actually realizing the physical products. This approach extracts the knowledge of mechanical assembly by allowing human operators to perform assembly operations directly in the virtual environment. The incorporation of a biologically inspired neural network into an interactive assembly planner further leads to the improvement of flexible product manufacturing, i.e., automatically producing alternative assembly sequences with robot-level instructions for evaluation and optimization. Complexity analysis and simulation study demonstrate the effectiveness and efficiency of this approach.

A Framework For Humanoid Control And Intelligence, Robert Platt, Oliver Brock, Andrew Fagg, Deepak Karupiah, Michael Rosenstein, Jefferson Coelho, Manfred Huber, Justus Piater, David Wheeler, Roderic Grupen

Roderic Grupen

One of the goals of humanoid research is the development of a humanoid capable of performing useful tasks in unknown or unpredictable environments. To address the complexities of this task, the robot must continually accumulate and utilize new control and perceptual knowledge. In this paper, we present a control framework for accomplishing this. Robot control policies can be learned at different levels of abstraction. We show how task-relevant perceptual features can be discovered that make better control policies possible. We also explore how trajectories of closed-loop policies can provide uniquely relevant state information. The approach presented in this paper is …

Pid Stabilization Of A Position-Controlled Robot Manipulator Acting Independently Of In Collaboration With Human Arm, Anindo Roy, Kamran Iqbal

Journal of the Arkansas Academy of Science

In this paper we develop framework for PID stabilization of a robot manipulator when using an object independently or in collaboration with a human arm. In both applications, the manipulator is equipped with a wrist sensor represented by an impedance. A second order manipulator transfer function along each coordinate direction is assumed. The aim of the paper is to design a PID controller when measurement of contact force, available via wrist sensor, is used to command the position controlled manipulator to a desired position and/or force profile. Necessary and sufficient conditions for stability of the closed loop system are developed …

Automated Fish Species Classification Using Artificial Neural Networks And Autonomous Underwater Vehicles, Daniel Foster Doolittle

Dissertations, Theses, and Masters Projects

No abstract provided.

Ann Wave Prediction Model For Winter Storms And Hurricanes, Jun-Young. Kim

Dissertations, Theses, and Masters Projects

Currently available wind-wave prediction models require a prohibitive amount of computing time for simulating non-linear wave-wave interactions. Moreover, some parts of wind-wave generation processes are not fully understood yet. For this reason accurate predictions are not always guaranteed. In contrast, Artificial Neural Network (ANN) techniques are designed to recognize the patterns between input and output so that they can save considerable computing time so that real-time wind-wave forecast can be available to the navy and commercial ships. For this reason, this study tries to use ANN techniques to predict waves for winter storms and hurricanes with much less computing time …

Classifying Instantaneous Cognitive States From Fmri Data, Tom Mitchell, Rebecca Hutchinson, Marcel Just, Radu Niculescu, Francisco Pereira, Xuerui Wang

Marcel Adam Just

No abstract provided.

Neuroindices Of Cognitive Workload: Neuroimaging, Pupillometric, And Event-Related Potential Studies Of Brain Work, Marcel Adam Just, Patricia A. Carpenter, Akira Miyake

Marcel Adam Just

No abstract provided.

Ambiguity In The Brain: What Brain Imaging Reveals About The Processing Of Syntactically Ambiguous Sentences, Robert A. Mason, Marcel Adam Just, Timothy A. Keller, Patricia A. Carpenter

Marcel Adam Just

No abstract provided.

Brain Imaging Of Tongue-Twister Sentence Comprehension: Twisting The Tongue And The Brain, Timothy A. Keller, Patricia A. Carpenter, Marcel Adam Just

Marcel Adam Just

No abstract provided.

Strukturationen Der Interaktivität, Rudolf Kaehr

Rudolf Kaehr

No abstract provided.

Differential Effects Of Syntactic And Semantic Processing On The Subregions Of Broca's Area, Sharlene D. Newman, Marcel Adam Just, Timothy A. Keller, Jennifer Roth, Patricia A. Carpenter

Marcel Adam Just

No abstract provided.