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PubMed2006

Dynamics analysis and analog associative memory of networks with LT neurons.

The additive recurrent network structure of linear threshold neurons represents a class of biologically-motivated models, where nonsaturating transfer functions are necessary for representing neuronal activities, such as that of cortical neurons. This paper extends the existing results of dynamics analysis of such linear threshold networks by establishing new and milder conditions for boundedness and asymptotical stability, while allowing for multistability. As a condition for asymptotical stability, it is found that boundedness does not require a deterministic matrix to be symmetric or possess positive off-diagonal entries. The conditions put forward an explicit way to design and analyze such networks. Based on the established theory, an alternate approach to study such networks is through permitted and forbidden sets. An application of the linear threshold (LT) network is analog associative memory, for which a simple design method describing the associative memory is suggested in this paper. The proposed design method is similar to a generalized Hebbian approach, but with distinctions of additional network parameters for normalization, excitation and inhibition, both on a global and local scale. The computational abilities of the network are dependent on its nonlinear dynamics, which in turn is reliant upon the sparsity of the memory vectors.

Algorithms↗
PubMed2006

Toward the training of feed-forward neural networks with the D-optimum input sequence.

The problem under consideration is to obtain a measurement schedule for training neural networks. This task is perceived as an experimental design in a given design space that is obtained in such a way as to minimize the difference between the neural network and the system being considered. This difference can be expressed in many different ways and one of them, namely, the D-optimality criterion is used in this paper. In particular, the paper presents a unified and comprehensive treatment of this problem by discussing the existing and previously unpublished properties of the optimum experimental design (OED) for neural networks. The consequences of the above properties are discussed as well. A hybrid algorithm that can be used for both the training and data development of neural networks is another important contribution of this paper. A careful analysis of the algorithm is presented and its comprehensive convergence analysis with the help of the Lyapunov method are given. The paper contains a number of numerical examples that justify the application of the OED theory for neural networks. Moreover, an industrial application example is given that deals with the valve actuator.

Algorithms↗
PubMed2006

Batch map extensions of the kernel-based maximum entropy learning rule.

In this letter, two batch-map extensions are described for the kernel-based maximum entropy learning rule (kMER). In the first, the weights are iteratively set to weighted component-wise medians, while in the second the generalized median is used, enabling kMER to process symbolic data. Simulations are performed to illustrate the extensions.

Algorithms↗
PubMed2006

A neural network approach to dynamic task assignment of multirobots.

In this paper, a neural network approach to task assignment, based on a self-organizing map (SOM), is proposed for a multirobot system in dynamic environments subject to uncertainties. It is capable of dynamically controlling a group of mobile robots to achieve multiple tasks at different locations, so that the desired number of robots will arrive at every target location from arbitrary initial locations. In the proposed approach, the robot motion planning is integrated with the task assignment, thus the robots start to move once the overall task is given. The robot navigation can be dynamically adjusted to guarantee that each target location has the desired number of robots, even under uncertainties such as when some robots break down. The proposed approach is capable of dealing with changing environments. The effectiveness and efficiency of the proposed approach are demonstrated by simulation studies.

Algorithms↗
PubMed2004

An adaptive high-order neural tree for pattern recognition.

A new neural tree model, called adaptive high-order neural tree (AHNT), is proposed for classifying large sets of multidimensional patterns. The AHNT is built by recursively dividing the training set into subsets and by assigning each subset to a different child node. Each node is composed of a high-order perceptron (HOP) whose order is automatically tuned taking into account the complexity of the pattern set reaching that node. First-order nodes divide the input space with hyperplanes, while HOPs divide the input space arbitrarily, but at the expense of increased complexity. Experimental results demonstrate that the AHNT generalizes better than trees with homogeneous nodes, produces small trees and avoids the use of complex comparative statistical tests and/or a priori selection of large parameter sets.

Algorithms↗
PubMed2004

Combining FDI and AI approaches within causal-model-based diagnosis.

This paper presents a model-based diagnostic method designed in the context of process supervision. It has been inspired by both artificial intelligence and control theory. AI contributes tools for qualitative modeling, including causal modeling, whose aim is to split a complex process into elementary submodels. Control theory, within the framework of fault detection and isolation (FDI), provides numerical models for generating and testing residuals, and for taking into account inaccuracies in the model, unknown disturbances and noise. Consistency-based reasoning provides a logical foundation for diagnostic reasoning and clarifies fundamental assumptions, such as single fault and exoneration. The diagnostic method presented in the paper benefits from the advantages of all these approaches. Causal modeling enables the method to focus on sufficient relations for fault isolation, which avoids combinatorial explosion. Moreover, it allows the model to be modified easily without changing any aspect of the diagnostic algorithm. The numerical submodels that are used to detect inconsistency benefit from the precise quantitative analysis of the FDI approach. The FDI models are studied in order to link this method with DX component-oriented reasoning. The recursive on-line use of this algorithm is explained and the concept of local exoneration is introduced.

Algorithms↗
PubMed2004

Multiobjective GAs, quantitative indices, and pattern classification.

The concept of multiobjective optimization (MOO) has been integrated with variable length chromosomes for the development of a nonparametric genetic classifier which can overcome the problems, like overfitting/overlearning and ignoring smaller classes, as faced by single objective classifiers. The classifier can efficiently approximate any kind of linear and/or nonlinear class boundaries of a data set using an appropriate number of hyperplanes. While designing the classifier the aim is to simultaneously minimize the number of misclassified training points and the number of hyperplanes, and to maximize the product of class wise recognition scores. The concepts of validation set (in addition to training and test sets) and validation functional are introduced in the multiobjective classifier for selecting a solution from a set of nondominated solutions provided by the MOO algorithm. This genetic classifier incorporates elitism and some domain specific constraints in the search process, and is called the CEMOGA-Classifier (constrained elitist multiobjective genetic algorithm based classifier). Two new quantitative indices, namely, the purity and minimal spacing, are developed for evaluating the performance of different MOO techniques. These are used, along with classification accuracy, required number of hyperplanes and the computation time, to compare the CEMOGA-Classifier with other related ones.

Algorithms↗
PubMed2004

Possible conflicts: a compilation technique for consistency-based diagnosis.

Consistency-based diagnosis is one of the most widely used approaches to model-based diagnosis within the artificial intelligence community. It is usually carried out through an iterative cycle of behavior prediction, conflict detection, candidate generation, and candidate refinement. In that process conflict detection has proven to be a nontrivial step from the theoretical point of view. For this reason, many approaches to consistency-based diagnosis have relied upon some kind of dependency-recording. These techniques have had different problems, specially when they were applied to diagnose dynamic systems. Recently, offline dependency compilation has established itself as a suitable alternative approach to online dependency-recording. In this paper we propose the possible conflict concept as a compilation technique for consistency-based diagnosis. Each possible conflict represents a subsystem within system description containing minimal analytical redundancy and being capable to become a conflict. Moreover, the whole set of possible conflicts can be computed offline with no model evaluation. Once we have formalized the possible conflict concept, we explain how possible conflicts can be used in the consistency-based diagnosis framework, and how this concept can be easily extended to diagnose dynamic systems. Finally, we analyze its relation to conflicts in the general diagnosis engine (GDE) framework and compare possible conflicts with other compilation techniques, especially with analytical redundancy relations (ARRs) obtained through structural analysis. Based on results from these comparisons we provide additional insights in the work carried out within the BRIDGE community to provide a common framework for model-based diagnosis for both artificial intelligence and control engineering approaches.

Algorithms↗
PubMed2004

A bridged diagnostic method for the monitoring of polymorphic discrete-event systems.

Diagnosis of discrete-event systems (DESs) is a challenging problem that has been tackled both by automatic control and artificial intelligence communities. The relevant approaches share similarities, including modeling by automata, compositional modeling, and model-based reasoning. This paper aims to bridge two complementary approaches from these communities, namely, the diagnoser approach and the active system approach, respectively. The more significant shortcomings of such approaches are, on the one side, the need for the generation of the global system model and, on the other, the lack of monitoring capabilities. The former makes the application of the diagnoser approach prohibitive in real contexts, where the system model is too large to be generated, even offline. The latter requires the completion of the system observation before starting the diagnostic task, thereby, making the monitoring of the system. impossible. The bridged diagnostic method subsumes, to a large extent on the peculiarities of the two approaches and is capable of coping with an extended class of DESs that integrate both synchronous and asynchronous behavior. The bridge is built by extending the active system approach by means of several enhanced techniques, which eventually, allow the efficient monitoring of polymorphic DESs. Upon the occurrence of each system message, two pieces of diagnostic information are generated, namely, the snapshot and historic diagnostic sets. While the former accounts for the faults pertinent to the newly generated message only, the latter is based on the whole sequence of messages yielded by the system during operation.

Algorithms↗
PubMed2004

Hybrid estimation of complex systems.

Modern automated systems evolve both continuously and discretely, and hence require estimation techniques that go well beyond the capability of a typical Kalman Filter. Multiple model (MM) estimation schemes track these system evolutions by applying a bank of filters, one for each discrete system mode. Modern systems, however, are often composed of many interconnected components that exhibit rich behaviors, due to complex, system-wide interactions. Modeling these systems leads to complex stochastic hybrid models that capture the large number of operational and failure modes. This large number of modes makes a typical MM estimation approach infeasible for online estimation. This paper analyzes the shortcomings of MM estimation, and then introduces an alternative hybrid estimation scheme that can efficiently estimate complex systems with large number of modes. It utilizes search techniques from the toolkit of model-based reasoning in order to focus the estimation on the set of most likely modes, without missing symptoms that might be hidden amongst the system noise. In addition, we present a novel approach to hybrid estimation in the presence of unknown behavioral modes. This leads to an overall hybrid estimation scheme for complex systems that robustly copes with unforeseen situations in a degraded, but fail-safe manner.

Artificial Intelligence↗
PubMed2004

Architectural mechanisms for dynamic changes of behavior selection strategies in behavior-based systems.

Behavior selection is typically a "built-in" feature of behavior-based architectures and hence, not amenable to change. There are, however, circumstances where changing behavior selection strategies is useful and can lead to better performance. In this paper, we demonstrate that such dynamic changes of behavior selection mechanisms are beneficial in several circumstances. We first categorize existing behavior selection mechanisms along three dimensions and then discuss seven possible circumstances where dynamically switching among them can be beneficial. Using the agent architecture framework activation, priority, observer, and component (APOC), we show how instances of all (nonempty) categories can be captured and how additional architectural mechanisms can be added to allow for dynamic switching among them. In particular, we propose a generic architecture for dynamic behavior selection, which can integrate existing behavior selection mechanisms in a unified way. Based on this generic architecture, we then verify that dynamic behavior selection is beneficial in the seven cases by defining architectures for simulated and robotic agents and performing experiments with them. The quantitative and qualitative analyzes of the results obtained from extensive simulation studies and experimental runs with robots verify the utility of the proposed mechanisms.

Adaptation, Physiological↗
PubMed2005

Multiagent scheduling method with earliness and tardiness objectives in flexible job shops.

Flexible job-shop scheduling problems are an important extension of the classical job-shop scheduling problems and present additional complexity. Such problems are mainly due to the existence of a considerable amount of overlapping capacities with modern machines. Classical scheduling methods are generally incapable of addressing such capacity overlapping. We propose a multiagent scheduling method with job earliness and tardiness objectives in a flexible job-shop environment. The earliness and tardiness objectives are consistent with the just-in-time production philosophy which has attracted significant attention in both industry and academic community. A new job-routing and sequencing mechanism is proposed. In this mechanism, two kinds of jobs are defined to distinguish jobs with one operation left from jobs with more than one operation left. Different criteria are proposed to route these two kinds of jobs. Job sequencing enables to hold a job that may be completed too early. Two heuristic algorithms for job sequencing are developed to deal with these two kinds of jobs. The computational experiments show that the proposed multiagent scheduling method significantly outperforms the existing scheduling methods in the literature. In addition, the proposed method is quite fast. In fact, the simulation time to find a complete schedule with over 2000 jobs on ten machines is less than 1.5 min.

Absenteeism↗
PubMed2005

Fuzzy OLAP association rules mining-based modular reinforcement learning approach for multiagent systems.

Multiagent systems and data mining have recently attracted considerable attention in the field of computing. Reinforcement learning is the most commonly used learning process for multiagent systems. However, it still has some drawbacks, including modeling other learning agents present in the domain as part of the state of the environment, and some states are experienced much less than others, or some state-action pairs are never visited during the learning phase. Further, before completing the learning process, an agent cannot exhibit a certain behavior in some states that may be experienced sufficiently. In this study, we propose a novel multiagent learning approach to handle these problems. Our approach is based on utilizing the mining process for modular cooperative learning systems. It incorporates fuzziness and online analytical processing (OLAP) based mining to effectively process the information reported by agents. First, we describe a fuzzy data cube OLAP architecture which facilitates effective storage and processing of the state information reported by agents. This way, the action of the other agent, not even in the visual environment. of the agent under consideration, can simply be predicted by extracting online association rules, a well-known data mining technique, from the constructed data cube. Second, we present a new action selection model, which is also based on association rules mining. Finally, we generalize not sufficiently experienced states, by mining multilevel association rules from the proposed fuzzy data cube. Experimental results obtained on two different versions of a well-known pursuit domain show the robustness and effectiveness of the proposed fuzzy OLAP mining based modular learning approach. Finally, we tested the scalability of the approach presented in this paper and compared it with our previous work on modular-fuzzy Q-learning and ordinary Q-learning.

Algorithms↗
PubMed2005

Equilibria, prudent compromises, and the "waiting" game.

While evaluation of many e-negotiation agents are carried out through empirical studies, this work supplements and complements existing literature by analyzing the problem of designing market-driven agents (MDAs) in terms of equilibrium points and stable strategies. MDAs are negotiation agents designed to make prudent compromises taking into account factors such as time preference, outside option, and rivalry. This work shows that 1) in a given market situation, an MDA negotiates optimally because it makes minimally sufficient concession, and 2) by modeling negotiation of MDAs as a game gamma of incomplete information, it is shown that the strategies adopted by MDAs are stable. In a bilateral negotiation, it is proven that the strategy pair of two MDAs forms a sequential equilibrium for gamma. In a multilateral negotiation, it is shown that the strategy profile of MDAs forms a market equilibrium for gamma.

Algorithms↗
PubMed2005

Redundant manipulator techniques for partially decentralized path planning and control of a platoon of autonomous vehicles.

An approach to real-time trajectory generation for platoons of autonomous vehicles is developed from well-known control techniques for redundant robotic manipulators. The partially decentralized structure of this approach permits each vehicle to independently compute its trajectory in real-time using only locally generated information and low-bandwidth feedback generated by a system exogenous to the platoon. Our work is motivated by applications for which communications bandwidth is severely limited, such for platoons of autonomous underwater vehicles. The communication requirements for our trajectory generation approach are independent of the number of vehicles in the platoon, enabling platoons composed of a large number of vehicles to be coordinated despite limited communication bandwidth.

Algorithms↗
PubMed2005

Dynamic algorithms for the shortest path routing problem: learning automata-based solutions.

This paper presents the first Learning Automaton-based solution to the dynamic single source shortest path problem. It involves finding the shortest path in a single-source stochastic graph topology where there are continuous probabilistic updates in the edge-weights. The algorithm is significantly more efficient than the existing solutions, and can be used to find the "statistical" shortest path tree in the "average" graph topology. It converges to this solution irrespective of whether there are new changes in edge-weights taking place or not. In such random settings, the proposed learning automata solution converges to the set of shortest paths. On the other hand, the existing algorithms will fail to exhibit such a behavior, and would recalculate the affected shortest paths after each weight-change. The important contribution of the proposed algorithm is that all the edges in a stochastic graph are not probed, and even if they are, they are not all probed equally often. Indeed, the algorithm attempts to almost always probe only those edges that will be included in the shortest path graph, while probing the other edges minimally. This increases the performance of the proposed algorithm. All the algorithms were tested in environments where edge-weights change stochastically, and where the graph topologies undergo multiple simultaneous edge-weight updates. Its superiority in terms of the average number of processed nodes, scanned edges and the time per update operation, when compared with the existing algorithms, was experimentally established. The algorithm can be applicable in domains ranging from ground transportation to aerospace, from civilian applications to military, from spatial database applications to telecommunications networking.

Algorithms↗
PubMed2006

Genetic programming for simultaneous feature selection and classifier design.

This paper presents an online feature selection algorithm using genetic programming (GP). The proposed GP methodology simultaneously selects a good subset of features and constructs a classifier using the selected features. For a c-class problem, it provides a classifier having c trees. In this context, we introduce two new crossover operations to suit the feature selection process. As a byproduct, our algorithm produces a feature ranking scheme. We tested our method on several data sets having dimensions varying from 4 to 7129. We compared the performance of our method with results available in the literature and found that the proposed method produces consistently good results. To demonstrate the robustness of the scheme, we studied its effectiveness on data sets with known (synthetically added) redundant/bad features.

Algorithms↗