Showing papers in "International Journal of Intelligent Computing and Cybernetics in 2014"
TL;DR: A novel swarm intelligence optimizer — pigeon-inspired optimization (PIO) — is presented and it is shown that the proposed PIO algorithm can effectively improve the convergence speed, and the superiority of global search is also verified in various cases.
Abstract: Purpose – The purpose of this paper is to present a novel swarm intelligence optimizer — pigeon-inspired optimization (PIO) — and describe how this algorithm was applied to solve air robot path planning problems. Design/methodology/approach – The formulation of threat resources and objective function in air robot path planning is given. The mathematical model and detailed implementation process of PIO is presented. Comparative experiments with standard differential evolution (DE) algorithm are also conducted. Findings – The feasibility, effectiveness and robustness of the proposed PIO algorithm are shown by a series of comparative experiments with standard DE algorithm. The computational results also show that the proposed PIO algorithm can effectively improve the convergence speed, and the superiority of global search is also verified in various cases. Originality/value – In this paper, the authors first presented a PIO algorithm. In this newly presented algorithm, map and compass operator model is prese...
431 citations
TL;DR: The isolated orthosis for thumb actuation (IOTA) is 2 degrees of freedom (DOF) thumb exoskeleton that can actuate the carpometacarpal and metacarpophalangeal joints through ranges of motion required for activities of daily living.
Abstract: Purpose – Pediatric disorders, such as cerebral palsy and stroke, can result in thumb-in-palm deformity greatly limiting hand function. This not only limits children's ability to perform activities of daily living but also limits important motor skill development. Specifically, the isolated orthosis for thumb actuation (IOTA) is 2 degrees of freedom (DOF) thumb exoskeleton that can actuate the carpometacarpal (CMC) and metacarpophalangeal (MCP) joints through ranges of motion required for activities of daily living. The paper aims to discuss these issues. Design/methodology/approach – IOTA consists of a lightweight hand-mounted mechanism that can be secured and aligned to individual wearers. The mechanism is actuated via flexible cables that connect to a portable control box. Embedded encoders and bend sensors monitor the 2 DOF of the thumb and flexion/extension of the wrist. A linear force characterization was performed to test the mechanical efficiency of the cable-drive transmission and the output torq...
47 citations
TL;DR: It is believed that people with cognitive and motor impairments may benefit from using of telepresence robots to engage in social activities to help them to navigate in a remote environment using speech.
Abstract: Purpose – The authors believe that people with cognitive and motor impairments may benefit from using of telepresence robots to engage in social activities. To date, these systems have not been designed for use by people with disabilities as the robot operators. The paper aims to discuss these issues. Design/methodology/approach – The authors conducted two formative evaluations using a participatory action design process. First, the authors conducted a focus group (n=5) to investigate how members of the target audience would want to direct a telepresence robot in a remote environment using speech. The authors then conducted a follow-on experiment in which participants (n=12) used a telepresence robot or directed a human in a scavenger hunt task. Findings – The authors collected a corpus of 312 utterances (first hand as opposed to speculative) relating to spatial navigation. Overall, the analysis of the corpus supported several speculations put forth during the focus group. Further, it showed few statistic...
12 citations
TL;DR: It is mathematically proved that the proposed sliding mode technique makes the attitude tracking errors converge to zero in finite time and the convergence time is estimated.
Abstract: Purpose – The purpose of this paper is to present a sliding mode attitude controller for reusable launch vehicle (RLV) which is nonlinear, coupling, and includes uncertain parameters and external disturbances. Design/methodology/approach – A smooth second-order nonsingular terminal sliding mode (NTSM) controller is proposed for RLV in reentry phase. First, a NTSM manifold is proposed for finite-time convergence. Then a smooth second sliding mode controller is designed to establish the sliding mode. An observer is utilized to estimate the lumped disturbance and the estimation result is used for feedforward compensation in the controller. Findings – It is mathematically proved that the proposed sliding mode technique makes the attitude tracking errors converge to zero in finite time and the convergence time is estimated. Simulations are made for RLV through the assumption that aerodynamic parameters and atmospheric density are perturbed. Simulation results demonstrate that the proposed control strategy is e...
12 citations
TL;DR: A new approach to edge detection using semiconductor flash memory networks having scalable and parallel hardware architecture outperforms the conventional approaches of edge detection with respect to the processing speed, scalability and ease of design.
Abstract: Purpose – The purpose of this paper is to present a new approach to edge detection using semiconductor flash memory networks having scalable and parallel hardware architecture. Design/methodology/approach – A flash cell can store multiple states by controlling its voltage threshold. The equivalent resistance of the operation states controlled by threshold voltage of flash cell gives out different combinations of logic 0 and 1 states. The paper explores this basic feature of flash memory in designing a resistance change memory network for implementing novel edge detector hardware. This approach of detecting the edges is inspired from the spatial change detection ability of the human visual system. Findings – The proposed approach consumes less number of electronic components for its implementation, and outperforms the conventional approaches of edge detection with respect to the processing speed, scalability and ease of design. It is also demonstrated to provide edges invariant to changes in the direction ...
11 citations
TL;DR: This paper proposes one robust stable control strategy for MAV to accommodate system uncertainties, variations, and external disturbances and employs interval type-II fuzzy neural network to approximate the nonlinearity function and uncertainty functions in the attitude angle dynamic model of micro aircraft vehicle.
Abstract: Purpose – Micro aerial vehicle is nonlinear plant; it is difficult to obtain stable control for MAV attitude due to uncertainties. The purpose of this paper is to propose one robust stable control strategy for MAV to accommodate system uncertainties, variations, and external disturbances. Design/methodology/approach – First, by employing interval type-II fuzzy neural network (ITIIFNN) to approximate the nonlinearity function and uncertainty functions in the attitude angle dynamic model of micro aircraft vehicle (MAV). Then, the Lyapunov stability theorem is used to testify the asymptotic stability of the closed-loop system, the parameters of the ITIIFNN and gain of sliding mode control can be tuned on-line by adaptive laws based on Lyapunov synthesis approach, and the Lyapunov stability theorem has been used to testify the asymptotic stability of the closed-loop system. Findings – The validity of the proposed control method has been verified through real-time experiments. The experimental results show tha...
10 citations
TL;DR: A hybrid neuro-fuzzy paradigm called self-organizing neuro-Fuzzy multilayered classifier (SONeFMUC) is applied to classify the operating faults of a hydraulic system to attest the capabilities of neuro- fuzzy classifier for handling the difficulties associated with fault diagnosis of hydraulic circuits.
Abstract: Purpose – The purpose of this paper is to apply a hybrid neuro-fuzzy paradigm called self-organizing neuro-fuzzy multilayered classifier (SONeFMUC) to classify the operating faults of a hydraulic system The main motivation behind the use of SONeFMUC is to attest the capabilities of neuro-fuzzy classifier for handling the difficulties associated with fault diagnosis of hydraulic circuits Design/methodology/approach – In the proposed methodology, first, the neuro-fuzzy nodes at each layer of the SONeFMUC are trained separately using two well-known bio-inspired algorithms, ie a semi deterministic method with random walks called co-variance matrix adaptation evolutionary strategy (CMA-ES) and a swarm-based explorer with adaptive fuzzified parameters (SBEAFP) Thereafter, a revised version of the group method data handling (GMDH) policy that uses the Darwinian concepts such as truncation selection and elitism is engaged to connect the nodes of different layers in an effective manner Findings – Based on co
9 citations
TL;DR: Methods that use the Response Surface Methodology to investigate an Evolutionary Algorithm and memory-based approach referred to as McBAR – the Mapping of Task IDs for Centroid-Based Adaptation with Random Immigrants are reported on.
Abstract: Purpose – This is the first part of a two-part paper. The purpose of this paper is to report on methods that use the Response Surface Methodology (RSM) to investigate an Evolutionary Algorithm (EA) and memory-based approach referred to as McBAR – the Mapping of Task IDs for Centroid-Based Adaptation with Random Immigrants. Some of the methods are useful for investigating the performance (solution-search abilities) of techniques (comprised of McBAR and other selected EA-based techniques) for solving some multi-objective dynamic resource-constrained project scheduling problems with time-varying number of tasks. Design/methodology/approach – The RSM is applied to: determine some EA parameters of the techniques, develop models of the performance of each technique, legitimize some algorithmic components of McBAR, manifest the relative performance of McBAR over the other techniques and determine the resiliency of McBAR against changes in the environment. Findings – The results of applying the methods are explor...
8 citations
TL;DR: An integrated, computer vision-based system to operate a commercial wheelchair-mounted robotic manipulator (WMRM) and a gesture recognition interface system was developed specially for individuals with upper-level spinal cord injuries including object tracking and face recognition to function as an efficient, hands-free WMRM controller.
Abstract: Purpose – The purpose of this paper is to develop an integrated, computer vision-based system to operate a commercial wheelchair-mounted robotic manipulator (WMRM). In addition, a gesture recognition interface system was developed specially for individuals with upper-level spinal cord injuries including object tracking and face recognition to function as an efficient, hands-free WMRM controller. Design/methodology/approach – Two Kinect® cameras were used synergistically to perform a variety of simple object retrieval tasks. One camera was used to interpret the hand gestures and locate the operator's face for object positioning, and then send those as commands to control the WMRM. The other sensor was used to automatically recognize different daily living objects selected by the subjects. An object recognition module employing the Speeded Up Robust Features algorithm was implemented and recognition results were sent as a commands for “coarse positioning” of the robotic arm near the selected object. Automat...
8 citations
TL;DR: An improved ABC optimization algorithm based on chaos theory for solving the push recovery problem of a quadruped robot, which can tune the controller parameters based on its search mechanism.
Abstract: Purpose – Artificial bee colony (ABC) algorithm is a relatively new optimization method inspired by the herd behavior of honey bees, which shows quite intelligence. The purpose of this paper is to propose an improved ABC optimization algorithm based on chaos theory for solving the push recovery problem of a quadruped robot, which can tune the controller parameters based on its search mechanism. ADAMS simulation environment is adopted to implement the proposed scheme for the quadruped robot. Design/methodology/approach – Maintaining balance is a rather complicated global optimum problem for a quadruped robot which is about seeking a foot contact point prevents itself from falling down. To ensure the stability of the intelligent robot control system, the intelligent optimization method is employed. The proposed chaotic artificial bee colony (CABC) algorithm is based on basic ABC, and a chaotic mechanism is used to help the algorithm to jump out of the local optimum as well as finding the optimal parameters....
5 citations
TL;DR: This paper addresses how to overcome the approximation error of the fuzzy system and uncertainties for asymptotic tracking control of robotic manipulators.
Abstract: Purpose – The purpose of this paper is to design a discrete indirect adaptive fuzzy controller for a robotic manipulator. This paper addresses how to overcome the approximation error of the fuzzy system and uncertainties for asymptotic tracking control of robotic manipulators. The uncertainties include parametric uncertainty, un-modeled dynamics, discretization error and external disturbances. Design/methodology/approach – The proposed controller is model-free and voltage-based in the form of discrete-time Mamdani fuzzy controller. The parameters of fuzzy controller are adaptively tuned for asymptotic tracking of a desired trajectory. A robust control term is used to compensate the approximation error of the fuzzy system. An adaptive mechanism is derived based on the stability analysis. Findings – The proposed model-free discrete control is robust against all uncertainties associated with the robot manipulator and actuators. The approximation error of the fuzzy system is well compensated to achieve asympt...
TL;DR: McBAR has the most resilient performance among the techniques against changes in the environment that set the problems and is generally superior to those of the other techniques after increase in the number of tasks in each of the above-mentioned problems.
Abstract: Purpose
– This is the second part of a two-part paper. The purpose of this paper is to report the results on the application of the methods that use the Response Surface Methodology to investigate an evolutionary algorithm (EA) and memory-based approach referred to as McBAR – the Mapping of Task IDs for Centroid-Based Adaptation with Random Immigrants.
Design/methodology/approach
– The methods applied in this paper are fully explained in the first part. They are utilized to investigate the performances (ability to determine solutions to problems) of techniques composed of McBAR and some EA-based techniques for solving some multi-objective dynamic resource-constrained project scheduling problems with a variable number of tasks.
Findings
– The main results include the following: first, some algorithmic components of McBAR are legitimate; second, the performance of McBAR is generally superior to those of the other techniques after increase in the number of tasks in each of the above-mentioned problems; and third, McBAR has the most resilient performance among the techniques against changes in the environment that set the problems.
Originality/value
– This paper is novel for investigating the enumerated results.
TL;DR: A working image-based vehicle classification system is proposed by applying Dalal and Triggs's histograms of oriented gradients features and linear support vector machine (SVM) classifier to an improved stacked generalization scheme.
Abstract: Purpose – Many applications in intelligent transportation demand accurate categorization of vehicles. The purpose of this paper is to propose a working image-based vehicle classification system. The first component vehicle detection is implemented by applying Dalal and Triggs's histograms of oriented gradients features and linear support vector machine (SVM) classifier. The second component vehicle classification, which is the emphasis of this paper, is accomplished by an improved stacked generalization. As an effective ensemble learning strategy, stacked generalization has been proposed to combine multiple models using the concept of a meta-learner. However, it was found that the well-known meta-learning scheme multi-response linear regression (MLR) for stacked generalization performs poorly on the vehicle classification. Design/methodology/approach – A new meta-learner is then proposed based on kernel principal component regression (KPCR). The stacked generalization scheme consists of a heterogeneous cl...
TL;DR: F fuzzy imperialist competitive algorithm (FICA), the colonies have a degree of belonging to their imperialists and the top imperialist, as in fuzzy logic, rather than belonging completely to just one empire therefore the colonies move toward the superior empire and their relevant empires.
Abstract: Purpose – The purpose of this paper is to describe imperialist competitive algorithm (ICA), a novel socio-politically inspired optimization strategy for proposing a fuzzy variant of this algorithm. ICA is a meta-heuristic algorithm for dealing with different optimization tasks. The basis of the algorithm is inspired by imperialistic competition. It attempts to present the social policy of imperialisms (referred to empires) to control more countries (referred to colonies) and use their sources. If one empire loses its power, among the others making a competition to take possession of it. Design/methodology/approach – In fuzzy imperialist competitive algorithm (FICA), the colonies have a degree of belonging to their imperialists and the top imperialist, as in fuzzy logic, rather than belonging completely to just one empire therefore the colonies move toward the superior empire and their relevant empires. Simultaneously for balancing the exploration and exploitation abilities of the ICA. The algorithms are u...
TL;DR: The originality of this paper consists in the fusion of the two continuous and discrete cases to obtain new stabilization conditions in the continuous case.
Abstract: Purpose – The purpose of this paper is to deal with the stabilization of the continuous-time Takagi-Sugeno (TS) fuzzy models by using their discretized models. Design/methodology/approach – In this case, a discrete model is obtained from the discretization of the continuous TS fuzzy model. The gains obtained from a non-parallel distributed compensation controller ensuring the stabilization of the discrete model are used to check if the discrete control law used in the continuous time without any zero-order hold can stabilize the continuous TS model. Findings – This method is compared to another published method. Originality/value – Therefore, the originality of this paper consists in the fusion of the two continuous and discrete cases to obtain new stabilization conditions in the continuous case. Simulation examples show the interest of the proposed approach.
TL;DR: The paper has shown that the processing time of the proposed idea is practically negligible in applications and that an optimal solution can be obtained even with a single stuck-at fault or a transient fault, and that increasing the number of parallel threads makes the system less susceptible to faults.
Abstract: Purpose – The purpose of this paper is to propose a fault-tolerant technology for increasing the durability of application programs when evolutionary computation is performed by fast parallel processing on many-core processors such as graphics processing units (GPUs) and multi-core processors (MCPs). Design/methodology/approach – For distributed genetic algorithm (GA) models, the paper proposes a method where an island's ID number is added to the header of data transferred by this island for use in fault detection. Findings – The paper has shown that the processing time of the proposed idea is practically negligible in applications and also shown that an optimal solution can be obtained even with a single stuck-at fault or a transient fault, and that increasing the number of parallel threads makes the system less susceptible to faults. Originality/value – The study described in this paper is a new approach to increase the sustainability of application program using distributed GA on GPUs and MCPs.
TL;DR: The purpose of this paper is to design a simple controller with guaranteed stability for overcoming the nonlinearity, uncertainty and actuator dynamics.
Abstract: Purpose – The uncertainty and nonlinearity are the challenging problems for the control of a nonholonomic wheeled mobile robot. To overcome these problems, many valuable methods have been proposed by using two control loops namely the kinematic control and the torque control so far. In majority of the proposed approaches the dynamics of actuators is omitted for simplicity in the control design. This drawback degrades the control performance in high-velocity tracking control. On the other hand, to guarantee stability and overcome uncertainties, the control methods become computationally extensive and may be impractical due to using all states. The purpose of this paper is to design a simple controller with guaranteed stability for overcoming the nonlinearity, uncertainty and actuator dynamics. Design/methodology/approach – The control design includes two control loops, the kinematic control loop and the novel dynamic control loop. The dynamic control loop uses the voltage control strategy instead of the to...
TL;DR: The authors propose the use of constraint swarm and evolutionary techniques to cope with demanding requirements of regularized extreme learning machine (ELM) and implement the proposed regularization techniques.
Abstract: Purpose – The purpose of this paper is to demonstrate the applicability of swarm and evolutionary techniques for regularized machine learning. Generally, by defining a proper penalty function, regularization laws are embedded into the structure of common least square solutions to increase the numerical stability, sparsity, accuracy and robustness of regression weights. Several regularization techniques have been proposed so far which have their own advantages and disadvantages. Several efforts have been made to find fast and accurate deterministic solvers to handle those regularization techniques. However, the proposed numerical and deterministic approaches need certain knowledge of mathematical programming, and also do not guarantee the global optimality of the obtained solution. In this research, the authors propose the use of constraint swarm and evolutionary techniques to cope with demanding requirements of regularized extreme learning machine (ELM). Design/methodology/approach – To implement the requ...
TL;DR: A new method to detect and evaluate an index of active participation (AC index), underlying the performance of robot-assisted movements, appears to be stable and sensitive to training in both populations of subjects.
Abstract: – The working hypothesis, on which this paper is built, is that it is advantageous to look at protocols of robot rehabilitation in the general context of human-robot interaction in haptic dyads. The purpose of this paper is to propose a new method to detect and evaluate an index of active participation (AC index), underlying the performance of robot-assisted movements. This is important for avoiding the slacking phenomenon that affects robot therapy. , – The evaluation of the AC index is based on a novel technique of assistance which does not use constant or elastic forces but trains of small force impulses, with amplitude adapted to the level of impairment and a frequency of 2 Hz, which is suggested by recent results in the field of intermittent motor control. A preliminary feasibility test of the proposed method was carried out during a haptic reaching task in the absence of visual feedback, for a group of five stroke patients and an equal group of healthy subjects. , – The AC index appears to be stable and sensitive to training in both populations of subjects. , – The main original element of this study is the proposal of the new AC index of voluntary control associated with the new method of pulsed haptic interaction.
TL;DR: A method to avoid hyperstaticity and eventually reduce the magnitude of undesired force/torques is proposed and the authors also study the influence of hyper staticity on human motor control during a redundant task.
Abstract: Purpose – The purpose of this paper is to propose a method to avoid hyperstaticity and eventually reduce the magnitude of undesired force/torques. The authors also study the influence of hyperstaticity on human motor control during a redundant task. Design/methodology/approach – Increasing the level of transparency of robotic interfaces is critical to haptic investigations and applications. This issue is particularly important to robotic structures that mimic the human counterpart's morphology and attach directly to the limb. Problems arise for complex joints such as the wrist, which cannot be accurately matched with a traditional mechanical joint. In such cases, mechanical differences between human and robotic joint cause hyperstaticity (i.e. over-constrained) which, coupled with kinematic misalignment, leads to uncontrolled force/torque at the joint. This paper focusses on the prono-supination (PS) degree of freedom of the forearm. The overall force and torque in the wrist PS rotation is quantified by m...