Learning of Type-2 Fuzzy Logic Systems using Simulated Annealing.

This thesis reports the work of using simulated annealing to design more efficient fuzzy logic systems to model problems with associated uncertainties. Simulated annealing is used within this work as a method for learning the best configurations of type-1 and type-2 fuzzy logic systems to maximise their modelling ability. Therefore, it presents the combination of simulated annealing with three models, type-1 fuzzy logic systems, interval type-2 fuzzy logic systems and general type-2 fuzzy logic systems to model four bench-mark problems including real-world problems. These problems are: noise-free Mackey-Glass time series forecasting, noisy Mackey-Glass time series forecasting and two real world problems which are: the estimation of the low voltage electrical line length in rural towns and the estimation of the medium voltage electrical line maintenance cost. The type-1 and type-2 fuzzy logic systems models are compared in their abilities to model uncertainties associated with these problems. Also, issues related to this combination between simulated annealing and fuzzy logic systems including type-2 fuzzy logic systems are discussed. The thesis contributes to knowledge by presenting novel contributions. The first is a novel approach to design interval type-2 fuzzy logic systems using the simulated annealing algorithm. Another novelty is related to the first automatic design of general type-2 fuzzy logic system using the vertical slice representation and a novel method to overcome some parametrisation difficulties when learning general type-2 fuzzy logic systems. The work shows that interval type-2 fuzzy logic systems added more abilities to modelling information and handling uncertainties than type-1 fuzzy logic systems but with a cost of more computations and time. For general type-2 fuzzy logic systems, the clear conclusion that learning the third dimension can add more abilities to modelling is an important advance in type-2 fuzzy logic systems research and should open the doors for more promising research and practical works on using general type-2 fuzzy logic systems to modelling applications despite the more computations associated with it

Interval type-2 Atanassov-intuitionistic fuzzy logic for uncertainty modelling

This thesis investigates a new paradigm for uncertainty modelling by employing a new class of type-2 fuzzy logic system that utilises fuzzy sets with membership and non-membership functions that are intervals. Fuzzy logic systems, employing type-1 fuzzy sets, that mark a shift from computing with numbers towards computing with words have made remarkable impacts in the field of artificial intelligence. Fuzzy logic systems of type-2, a generalisation of type-1 fuzzy logic systems that utilise type-2 fuzzy sets, have created tremendous advances in uncertainty modelling. The key feature of the type-2 fuzzy logic systems, with particular reference to interval type-2 fuzzy logic systems, is that the membership functions of interval type-2 fuzzy sets are themselves fuzzy. These give interval type-2 fuzzy logic systems an advantage over their type-1 counterparts which have precise membership functions. Whilst the interval type-2 fuzzy logic systems are effective in modelling uncertainty, they are not able to adequately handle an indeterminate/neutral characteristic of a set, because interval type-2 fuzzy sets are only specified by membership functions with an implicit assertion that the non-membership functions are complements of the membership functions (lower or upper). In a real life scenario, it is not necessarily the case that the non-membership function of a set is complementary to the membership function. There may be some degree of hesitation arising from ignorance or a complete lack of interest concerning a particular phenomenon. Atanassov intuitionistic fuzzy set, another generalisation of the classical fuzzy set, captures this thought process by simultaneously defining a fuzzy set with membership and non-membership functions such that the sum of both membership and non-membership functions is less than or equal to 1. In this thesis, the advantages of both worlds (interval type-2 fuzzy set and Atanassov intuitionistic fuzzy set) are explored and a new and enhanced class of interval type-2 fuzzy set namely, interval type-2 Atanassov intuitionistic fuzzy set, that enables hesitation, is introduced. The corresponding fuzzy logic system namely, interval type-2 Atanassov intuitionistic fuzzy logic system is rigorously and systematically formulated. In order to assess this thesis investigates a new paradigm for uncertainty modelling by employing a new class of type-2 fuzzy logic system that utilises fuzzy sets with membership and non-membership functions that are intervals. Fuzzy logic systems, employing type-1 fuzzy sets, that mark shift from computing with numbers towards computing with words have made remarkable impacts in the field of artificial intelligence. Fuzzy logic systems of type-2, a generalisation of type-1 fuzzy logic systems that utilise type-2 fuzzy sets, have created tremendous advances in uncertainty modelling. The key feature of the type-2 fuzzy logic systems, with particular reference to interval type-2 fuzzy logic systems, is that the membership functions of interval type-2 fuzzy sets are themselves fuzzy. These give interval type-2 fuzzy logic systems an advantage over their type-1 counterparts which have precise membership functions. Whilst the interval type-2 fuzzy logic systems are effective in modelling uncertainty, they are not able to adequately handle an indeterminate/neutral characteristic of a set, because interval type-2 fuzzy sets are only specified by membership functions with an implicit assertion that the non-membership functions are complements of the membership functions (lower or upper). In a real life scenario, it is not necessarily the case that the non-membership function of a set is complementary to the membership function. There may be some degree of hesitation arising from ignorance or a complete lack of interest concerning a particular phenomenon. Atanassov intuitionistic fuzzy set, another generalisation of the classical fuzzy set, captures this thought process by simultaneously defining a fuzzy set with membership and non-membership functions such that the sum of both membership and non-membership functions is less than or equal to 1. In this thesis, the advantages of both worlds (interval type-2 fuzzy set and Atanassov intuitionistic fuzzy set) are explored and a new and enhanced class of interval type-2 fuzz set namely, interval type-2 Atanassov intuitionistic fuzzy set, that enables hesitation, is introduced. The corresponding fuzzy logic system namely, interval type-2 Atanassov intuitionistic fuzzy logic system is rigorously and systematically formulated. In order to assess the viability and efficacy of the developed framework, the possibilities of the optimisation of the parameters of this class of fuzzy systems are rigorously examined. First, the parameters of the developed model are optimised using one of the most popular fuzzy logic optimisation algorithms such as gradient descent (first-order derivative) algorithm and evaluated on publicly available benchmark datasets from diverse domains and characteristics. It is shown that the new interval type-2 Atanassov intuitionistic fuzzy logic system is able to handle uncertainty well through the minimisation of the error of the system compared with other approaches on the same problem instances and performance criteria. Secondly, the parameters of the proposed framework are optimised using a decoupledextended Kalman filter (second-order derivative) algorithm in order to address the shortcomings of the first-order gradient descent method. It is shown statistically that the performance of this new framework with fuzzy membership and non-membership functions is significantly better than the classical interval type-2 fuzzy logic systems which have only the fuzzy membership functions, and its type-1 counterpart which are specified by single membership and non-membership functions. The model is also assessed using a hybrid learning of decoupled extended Kalman filter and gradient descent methods. The proposed framework with hybrid learning algorithm is evaluated by comparing it with existing approaches reported in the literature on the same problem instances and performance metrics. The simulation results have demonstrated the potential benefits of using the proposed framework in uncertainty modelling. In the overall, the fusion of these two concepts (interval type-2 fuzzy logic system and Atanassov intuitionistic fuzzy logic system) provides a synergistic capability in dealing with imprecise and vague information

Interval type-2 Atanassov-intuitionistic fuzzy logic for uncertainty modelling

This thesis investigates a new paradigm for uncertainty modelling by employing a new class of type-2 fuzzy logic system that utilises fuzzy sets with membership and non-membership functions that are intervals. Fuzzy logic systems, employing type-1 fuzzy sets, that mark a shift from computing with numbers towards computing with words have made remarkable impacts in the field of artificial intelligence. Fuzzy logic systems of type-2, a generalisation of type-1 fuzzy logic systems that utilise type-2 fuzzy sets, have created tremendous advances in uncertainty modelling. The key feature of the type-2 fuzzy logic systems, with particular reference to interval type-2 fuzzy logic systems, is that the membership functions of interval type-2 fuzzy sets are themselves fuzzy. These give interval type-2 fuzzy logic systems an advantage over their type-1 counterparts which have precise membership functions. Whilst the interval type-2 fuzzy logic systems are effective in modelling uncertainty, they are not able to adequately handle an indeterminate/neutral characteristic of a set, because interval type-2 fuzzy sets are only specified by membership functions with an implicit assertion that the non-membership functions are complements of the membership functions (lower or upper). In a real life scenario, it is not necessarily the case that the non-membership function of a set is complementary to the membership function. There may be some degree of hesitation arising from ignorance or a complete lack of interest concerning a particular phenomenon. Atanassov intuitionistic fuzzy set, another generalisation of the classical fuzzy set, captures this thought process by simultaneously defining a fuzzy set with membership and non-membership functions such that the sum of both membership and non-membership functions is less than or equal to 1. In this thesis, the advantages of both worlds (interval type-2 fuzzy set and Atanassov intuitionistic fuzzy set) are explored and a new and enhanced class of interval type-2 fuzzy set namely, interval type-2 Atanassov intuitionistic fuzzy set, that enables hesitation, is introduced. The corresponding fuzzy logic system namely, interval type-2 Atanassov intuitionistic fuzzy logic system is rigorously and systematically formulated. In order to assess this thesis investigates a new paradigm for uncertainty modelling by employing a new class of type-2 fuzzy logic system that utilises fuzzy sets with membership and non-membership functions that are intervals. Fuzzy logic systems, employing type-1 fuzzy sets, that mark shift from computing with numbers towards computing with words have made remarkable impacts in the field of artificial intelligence. Fuzzy logic systems of type-2, a generalisation of type-1 fuzzy logic systems that utilise type-2 fuzzy sets, have created tremendous advances in uncertainty modelling. The key feature of the type-2 fuzzy logic systems, with particular reference to interval type-2 fuzzy logic systems, is that the membership functions of interval type-2 fuzzy sets are themselves fuzzy. These give interval type-2 fuzzy logic systems an advantage over their type-1 counterparts which have precise membership functions. Whilst the interval type-2 fuzzy logic systems are effective in modelling uncertainty, they are not able to adequately handle an indeterminate/neutral characteristic of a set, because interval type-2 fuzzy sets are only specified by membership functions with an implicit assertion that the non-membership functions are complements of the membership functions (lower or upper). In a real life scenario, it is not necessarily the case that the non-membership function of a set is complementary to the membership function. There may be some degree of hesitation arising from ignorance or a complete lack of interest concerning a particular phenomenon. Atanassov intuitionistic fuzzy set, another generalisation of the classical fuzzy set, captures this thought process by simultaneously defining a fuzzy set with membership and non-membership functions such that the sum of both membership and non-membership functions is less than or equal to 1. In this thesis, the advantages of both worlds (interval type-2 fuzzy set and Atanassov intuitionistic fuzzy set) are explored and a new and enhanced class of interval type-2 fuzz set namely, interval type-2 Atanassov intuitionistic fuzzy set, that enables hesitation, is introduced. The corresponding fuzzy logic system namely, interval type-2 Atanassov intuitionistic fuzzy logic system is rigorously and systematically formulated. In order to assess the viability and efficacy of the developed framework, the possibilities of the optimisation of the parameters of this class of fuzzy systems are rigorously examined. First, the parameters of the developed model are optimised using one of the most popular fuzzy logic optimisation algorithms such as gradient descent (first-order derivative) algorithm and evaluated on publicly available benchmark datasets from diverse domains and characteristics. It is shown that the new interval type-2 Atanassov intuitionistic fuzzy logic system is able to handle uncertainty well through the minimisation of the error of the system compared with other approaches on the same problem instances and performance criteria. Secondly, the parameters of the proposed framework are optimised using a decoupledextended Kalman filter (second-order derivative) algorithm in order to address the shortcomings of the first-order gradient descent method. It is shown statistically that the performance of this new framework with fuzzy membership and non-membership functions is significantly better than the classical interval type-2 fuzzy logic systems which have only the fuzzy membership functions, and its type-1 counterpart which are specified by single membership and non-membership functions. The model is also assessed using a hybrid learning of decoupled extended Kalman filter and gradient descent methods. The proposed framework with hybrid learning algorithm is evaluated by comparing it with existing approaches reported in the literature on the same problem instances and performance metrics. The simulation results have demonstrated the potential benefits of using the proposed framework in uncertainty modelling. In the overall, the fusion of these two concepts (interval type-2 fuzzy logic system and Atanassov intuitionistic fuzzy logic system) provides a synergistic capability in dealing with imprecise and vague information

Psycho-Physiologically-Based Real Time Adaptive General Type 2 Fuzzy Modelling and Self-Organising Control of Operator's Performance Undertaking a Cognitive Task

—This paper presents a new modelling and control fuzzy-based framework validated with real-time experiments on human participants experiencing stress via mental arithmetic cognitive tasks identified through psycho-physiological markers. The ultimate aim of the modelling/control framework is to prevent performance breakdown in human-computer interactive systems with a special focus on human performance. Two designed modelling/control experiments which consist of carrying-out arithmetic operations of varying difficulty levels were performed by 10 participants (operators) in the study. With this new technique, modelling is achieved through a new adaptive, self-organizing and interpretable modelling framework based on General Type-2 Fuzzy sets. This framework is able to learn in real-time through the implementation of a re-structured performance-learning algorithm that identifies important features in the data without the need for prior training. The information learnt by the model is later exploited via an Energy Model Based Controller that infers adequate control actions by changing the difficulty level of the arithmetic operations in the human-computer-interaction system; these actions being based on the most current psycho-physiological state of the subject under study. The real-time implementation of the proposed modelling and control configurations for the human-machine-interaction under study shows superior performance as compared to other forms of modelling and control, with minimal intervention in terms of model re-training or parameter re-tuning to deal with uncertainties, disturbances and inter/intra-subject parameter variability

Fuzzy Modelling of Human Psycho-Physiological State and Fuzzy Adaptive Control of Automation in Human-Machine Interface

This research aims at proposing a new modelling and control framework that monitors the human operators' psychophysiological state in the human-machine interface to prevent performance breakdown. This research started with the exploration of new psychophysiological state assessment approaches to the adaptive modelling and control method for predicting human task performance and balancing the engagement of the human operator and the automatic system. The results of this research may also be further applied in developing advanced control mechanisms, investigating the origins of human compromised performance and identifying or even remedying operators' breakdown in the early stages of operation, at least. A summary of the current human psychophysiological studies, previous human-machine interface simulation and existing biomarkers for human psychophysiological state assessment was provided for simulation experiment design of this research. The use of newly developed facial temperature biomarkers for assessing the human psychophysiological state and the task performance was investigated. The research continued by exploring the uncertainty of the human-machine interface system through the use of the complex fuzzy logic based offline modelling approach. A new type-2 fuzzy-based modelling approach was then proposed to assess the human operators' psychophysiological states in the real-time human-machine interface. This new modelling technique integrated state tracking and type-2 fuzzy sets for updating the rule base with a Bayesian process. Finally, this research included a new type-2 fuzzy logic-based control algorithm for balancing the human-machine interface systems via adjusting the engagement of the human operators according to their psychophysiological state and task performance. This innovative control approach combined the state estimation of the human operator with the type-2 fuzzy sets to maintain the balance between the task requirements (i.e. difficulty level) and the human operator feasible effort (i.e. psychophysiological states). In addition, the research revealed the impacts of multi-tasking and general fatigue on human operator's performance

Development of Self-Learning Type-2 Fuzzy Systems for System Identification and Control of Autonomous Systems

Modelling and control of dynamic systems are faced by multiple technical challenges, mainly due to the nature of uncertain complex, nonlinear, and time-varying systems. Traditional modelling techniques require a complete understanding of system dynamics and obtaining comprehensive mathematical models is not always achievable due to limited knowledge of the systems as well as the presence of multiple uncertainties in the environment. As universal approximators, fuzzy logic systems (FLSs), neural networks (NNs) and neuro-fuzzy systems have proved to be successful computational tools for representing the behaviour of complex dynamical systems. Moreover, FLSs, NNs and learning-based techniques have been gaining popularity for controlling complex, ill-defined, nonlinear, and time-varying systems in the face of uncertainties. However, fuzzy rules derived by experts can be too ad-hoc, and the performance is less than optimum. In other words, generating fuzzy rules and membership functions in fuzzy systems is a potential challenge especially for systems with many variables. Moreover, under the umbrella of FLSs, although type-1 fuzzy logic control systems (T1-FLCs) have been applied to control various complex nonlinear systems, they have limited capability to handle uncertainties. Aiming to accommodate uncertainties, type-2 fuzzy logic control systems (T2-FLCs) were established. This thesis aims to address the shortcomings of existing fuzzy techniques by utilisation of type-2 FLCs with novel adaptive capabilities. The first contribution of this thesis is a novel online system identification technique by means of a recursive interval type-2 Takagi-Sugeno fuzzy C-means clustering technique (IT2-TS-FC) to accommodate the footprint-of-uncertainties (FoUs). This development is meant to specifically address the shortcomings of type-1 fuzzy systems in capturing the footprint-of-uncertainties such as mechanical wear, rotor damage, battery drain and sensor and actuator faults. Unlike previous type-2 TS fuzzy models, the proposed method constructs two fuzzifiers (upper and lower) and two regression coefficients in the consequent part to handle uncertainties. The weighted least square method is employed to compute the regression coefficients. The proposed method is validated using two benchmarks, namely, real flight test data of a quadcopter drone and Mackey-Glass time series data. The algorithm has the capability to model uncertainties (e.g., noisy dataset). The second contribution of this thesis is the development of a novel self-adaptive interval type-2 fuzzy controller named the SAF2C for controlling multi-input multi-output (MIMO) nonlinear systems. The adaptation law is derived using sliding mode control (SMC) theory to reduce the computation time so that the learning process can be expedited by 80% compared to separate single-input single-output (SISO) controllers. The system employs the `Enhanced Iterative Algorithm with Stop Condition' (EIASC) type-reduction method, which is more computationally efficient than the `Karnik-Mendel' type-reduction algorithm. The stability of the SAF2C is proven using the Lyapunov technique. To ensure the applicability of the proposed control scheme, SAF2C is implemented to control several dynamical systems, including a simulated MIMO hexacopter unmanned aerial vehicle (UAV) in the face of external disturbance and parameter variations. The ability of SAF2C to filter the measurement noise is demonstrated, where significant improvement is obtained using the proposed controller in the face of measurement noise. Also, the proposed closed-loop control system is applied to control other benchmark dynamic systems (e.g., a simulated autonomous underwater vehicle and inverted pendulum on a cart system) demonstrating high accuracy and robustness to variations in system parameters and external disturbance. Another contribution of this thesis is a novel stand-alone enhanced self-adaptive interval type-2 fuzzy controller named the ESAF2C algorithm, whose type-2 fuzzy parameters are tuned online using the SMC theory. This way, we expect to design a computationally efficient adaptive Type-2 fuzzy system, suitable for real-time applications by introducing the EIASC type-reducer. The proposed technique is applied on a quadcopter UAV (QUAV), where extensive simulations and real-time flight tests for a hovering QUAV under wind disturbances are also conducted to validate the efficacy of the ESAF2C. Specifically, the control performance is investigated in the face of external wind gust disturbances, generated using an industrial fan. Stability analysis of the ESAF2C control system is investigated using the Lyapunov theory. Yet another contribution of this thesis is the development of a type-2 evolving fuzzy control system (T2-EFCS) to facilitate self-learning (either from scratch or from a certain predefined rule). T2-EFCS has two phases, namely, the structure learning and the parameters learning. The structure of T2-EFCS does not require previous information about the fuzzy structure, and it can start the construction of its rules from scratch with only one rule. The rules are then added and pruned in an online fashion to achieve the desired set-point. The proposed technique is applied to control an unmanned ground vehicle (UGV) in the presence of multiple external disturbances demonstrating the robustness of the proposed control systems. The proposed approach turns out to be computationally efficient as the system employs fewer fuzzy parameters while maintaining superior control performance

Comparison of different strategies of utilizing fuzzy clustering in structure identification

Fuzzy systems approximate highly nonlinear systems by means of fuzzy "if-then" rules. In the literature, various algorithms are proposed for mining. These algorithms commonly utilize fuzzy clustering in structure identification. Basically, there are three different approaches in which one can utilize fuzzy clustering; the �first one is based on input space clustering, the second one considers clustering realized in the output space, while the third one is concerned with clustering realized in the combined input-output space. In this study, we analyze these three approaches. We discuss each of the algorithms in great detail and o¤er a thorough comparative analysis. Finally, we compare the performances of these algorithms in a medical diagnosis classi�cation problem, namely Aachen Aphasia Test. The experiment and the results provide a valuable insight about the merits and the shortcomings of these three clustering approaches

Penguasaan kemahiran generik di kalangan graduan hospitaliti di politeknik : satu kajian berkenaan keperluan industri perhotelan, persepsi pensyarah dan pelajar

Kajian yang dijalankan ini bertujuan untuk mengenal pasti kepentingan kemahiran generik mengikut keperluan industri perhotelan di Malaysia dengan persepsi pensyarah dan persepsi pelajar Jabatan Hospitaliti. Oleh kerana matlamat kurikulum pendidikan kini adalah untuk melahirkan graduan yang dapat memenuhi keperluan pihak industri, maka kajian ini dijalankan untuk menilai hubungan di antara keperluan industri perhotelan di Malaysia dengan persepsi pensyarah dan pelajar Jabatan Hospitaliti di Politeknik. Terdapat 13 kemahiran generik yang diperolehi daripada Kementerian Pelajaran dan Latihan Ontario (1997) dijadikan sebagai skop kepada instrumen kajian. Responden kajian terdiri daripada tiga pihak utama iaitu industri perhotelan di Malaysia yang melibatkan 40 buah hotel yang diwakili oleh MAH Chapter dan jawatankuasa dalam Malaysian Associated of Hotel (MAH), pensyarah Unit Hotel dan Katering dan pelajar semester akhir Diploma Hotel dan Katering di Politeknik Johor Bahru, Johor dan Politeknik Merlimau, Melaka. Kajian rintis yang dijalankan menunjukkan nilai Alpha Cronbach pada 0.8781. Data yang diperolehi dianalisis secara deskriptif dan inferensi dengan menggunakan perisian Statistical Package for Social Science (SPSS) versi 11.5. Melalui dapatan kajian, satu senarai berkenaan kemahiran generik yang diperlukan oleh industri perhotelan telah dapat dihasilkan. Selain itu, senarai kemahiran generik menurut persepsi pensyarah dan juga persepsi pelajar turut dihasilkan. Hasil statistik dan graf garis yang diperolehi menunjukkan terdapat perbezaan di antara kemahiran generik yang diperlukan oleh industri perhotelan di Malaysia dengan kemahiran generik menurut persepsi pensyarah dan persepsi pelajar Politeknik. Dapatan analisis menggunakan korelasi Pearson mendapati bahawa tidak terdapat perhubungan yang signifikan di antara kemahiran generik yang diperlukan oleh industri perhotelan dengan persepsi pensyarah dan persepsi pelajar. Namun begitu, terdapat hubungan yang signifikan di antara persepsi pensyarah dengan persepsi pelajar berkenaan dengan amalan kemahiran generik di Politeknik

A hierarchical Mamdani-type fuzzy modelling approach with new training data selection and multi-objective optimisation mechanisms: A special application for the prediction of mechanical properties of alloy steels

In this paper, a systematic data-driven fuzzy modelling methodology is proposed, which allows to construct Mamdani fuzzy models considering both accuracy (precision) and transparency (interpretability) of fuzzy systems. The new methodology employs a fast hierarchical clustering algorithm to generate an initial fuzzy model efficiently; a training data selection mechanism is developed to identify appropriate and efficient data as learning samples; a high-performance Particle Swarm Optimisation (PSO) based multi-objective optimisation mechanism is developed to further improve the fuzzy model in terms of both the structure and the parameters; and a new tolerance analysis method is proposed to derive the confidence bands relating to the final elicited models. This proposed modelling approach is evaluated using two benchmark problems and is shown to outperform other modelling approaches. Furthermore, the proposed approach is successfully applied to complex high-dimensional modelling problems for manufacturing of alloy steels, using ‘real’ industrial data. These problems concern the prediction of the mechanical properties of alloy steels by correlating them with the heat treatment process conditions as well as the weight percentages of the chemical compositions

Knowledge discovery for friction stir welding via data driven approaches: Part 2 – multiobjective modelling using fuzzy rule based systems

In this final part of this extensive study, a new systematic data-driven fuzzy modelling approach has been developed, taking into account both the modelling accuracy and its interpretability (transparency) as attributes. For the first time, a data-driven modelling framework has been proposed designed and implemented in order to model the intricate FSW behaviours relating to AA5083 aluminium alloy, consisting of the grain size, mechanical properties, as well as internal process properties. As a result, ‘Pareto-optimal’ predictive models have been successfully elicited which, through validations on real data for the aluminium alloy AA5083, have been shown to be accurate, transparent and generic despite the conservative number of data points used for model training and testing. Compared with analytically based methods, the proposed data-driven modelling approach provides a more effective way to construct prediction models for FSW when there is an apparent lack of fundamental process knowledge