Design of a cognitive neural predictive controller for mobile robot

This thesis was submitted for the degree of Doctor of Philosophy and was awarded by Brunel UniversityIn this thesis, a cognitive neural predictive controller system has been designed to guide a nonholonomic wheeled mobile robot during continuous and non-continuous trajectory tracking and to navigate through static obstacles with collision-free and minimum tracking error. The structure of the controller consists of two layers; the first layer is a neural network system that controls the mobile robot actuators in order to track a desired path. The second layer of the controller is cognitive layer that collects information from the environment and plans the optimal path. In addition to this, it detects if there is any obstacle in the path so it can be avoided by re-planning the trajectory using particle swarm optimisation (PSO) technique. Two neural networks models are used: the first model is modified Elman recurrent neural network model that describes the kinematic and dynamic model of the mobile robot and it is trained off-line and on-line stages to guarantee that the outputs of the model will accurately represent the actual outputs of the mobile robot system. The trained neural model acts as the position and orientation identifier. The second model is feedforward multi-layer perceptron neural network that describes a feedforward neural controller and it is trained off-line and its weights are adapted on-line to find the reference torques, which controls the steady-state outputs of the mobile robot system. The feedback neural controller is based on the posture neural identifier and quadratic performance index predictive optimisation algorithm for N step-ahead prediction in order to find the optimal torque action in the transient to stabilise the tracking error of the mobile robot system when the trajectory of the robot is drifted from the desired path during transient state. Three controller methodologies were developed: the first is the feedback neural controller; the second is the nonlinear PID neural feedback controller and the third is nonlinear inverse dynamic neural feedback controller, based on the back-stepping method and Lyapunov criterion. The main advantages of the presented approaches are to plan an optimal path for itself avoiding obstructions by using intelligent (PSO) technique as well as the analytically derived control law, which has significantly high computational accuracy with predictive optimisation technique to obtain the optimal torques control action and lead to minimum tracking error of the mobile robot for different types of trajectories. The proposed control algorithm has been applied to monitor a nonholonomic wheeled mobile robot, has demonstrated the capability of tracking different trajectories with continuous gradients (lemniscates and circular) or non-continuous gradients (square) with bounded external disturbances and static obstacles. Simulations results and experimental work showed the effectiveness of the proposed cognitive neural predictive control algorithm; this is demonstrated by the minimised tracking error to less than (1 cm) and obtained smoothness of the torque control signal less than maximum torque (0.236 N.m), especially when external disturbances are applied and navigating through static obstacles. Results show that the five steps-ahead prediction algorithm has better performance compared to one step-ahead for all the control methodologies because of a more complex control structure and taking into account future values of the desired one, not only the current value, as with one step-ahead method. The mean-square error method is used for each component of the state error vector to compare between each of the performance control methodologies in order to give better control results

Internet of Things and Intelligent Technologies for Efficient Energy Management in a Smart Building Environment

Internet of Things (IoT) is attempting to transform modern buildings into energy efficient, smart, and connected buildings, by imparting capabilities such as real-time monitoring, situational awareness and intelligence, and intelligent control. Digitizing the modern day building environment using IoT improves asset visibility and generates energy savings. This dissertation provides a survey of the role, impact, and challenges and recommended solutions of IoT for smart buildings. It also presents an IoT-based solution to overcome the challenge of inefficient energy management in a smart building environment. The proposed solution consists of developing an Intelligent Computational Engine (ICE), composed of various IoT devices and technologies for efficient energy management in an IoT driven building environment. ICE’s capabilities viz. energy consumption prediction and optimized control of electric loads have been developed, deployed, and dispatched in the Real-Time Power and Intelligent Systems (RTPIS) laboratory, which serves as the IoT-driven building case study environment. Two energy consumption prediction models viz. exponential model and Elman recurrent neural network (RNN) model were developed and compared to determine the most accurate model for use in the development of ICE’s energy consumption prediction capability. ICE’s prediction model was developed in MATLAB using cellular computational network (CCN) technique, whereas the optimized control model was developed jointly in MATLAB and Metasys Building Automation System (BAS) using particle swarm optimization (PSO) algorithm and logic connector tool (LCT), respectively. It was demonstrated that the developed CCN-based energy consumption prediction model was highly accurate with low error % by comparing the predicted and the measured energy consumption data over a period of one week. The predicted energy consumption values generated from the CCN model served as a reference for the PSO algorithm to generate control parameters for the optimized control of the electric loads. The LCT model used these control parameters to regulate the electric loads to save energy (increase energy efficiency) without violating any operational constraints. Having ICE’s energy consumption prediction and optimized control of electric loads capabilities is extremely useful for efficient energy management as they ensure that sufficient energy is generated to meet the demands of the electric loads optimally at any time thereby reducing wasted energy due to excess generation. This, in turn, reduces carbon emissions and generates energy and cost savings. While the ICE was tested in a small case-study environment, it could be scaled to any smart building environment

Principles for Consciousness in Integrated Cognitive Control

In this article we will argue that given certain conditions for the evolution of bi- \ud ological controllers, these will necessarily evolve in the direction of incorporating \ud consciousness capabilities. We will also see what are the necessary mechanics for \ud the provision of these capabilities and extrapolate this vision to the world of artifi- \ud cial systems postulating seven design principles for conscious systems. This article \ud was published in the journal Neural Networks special issue on brain and conscious- \ud ness

A Pressure Control Method for Emulsion Pump Station Based on Elman Neural Network

In order to realize pressure control of emulsion pump station which is key equipment of coal mine in the safety production, the control requirements were analyzed and a pressure control method based on Elman neural network was proposed. The key techniques such as system framework, pressure prediction model, pressure control model, and the flowchart of proposed approach were presented. Finally, a simulation example was carried out and comparison results indicated that the proposed approach was feasible and efficient and outperformed others

Consciosusness in Cognitive Architectures. A Principled Analysis of RCS, Soar and ACT-R

This report analyses the aplicability of the principles of consciousness developed in the ASys project to three of the most relevant cognitive architectures. This is done in relation to their aplicability to build integrated control systems and studying their support for general mechanisms of real-time consciousness.\ud To analyse these architectures the ASys Framework is employed. This is a conceptual framework based on an extension for cognitive autonomous systems of the General Systems Theory (GST).\ud A general qualitative evaluation criteria for cognitive architectures is established based upon: a) requirements for a cognitive architecture, b) the theoretical framework based on the GST and c) core design principles for integrated cognitive conscious control systems

Recurrent Neural Networks and Matrix Methods for Cognitive Radio Spectrum Prediction and Security

In this work, machine learning tools, including recurrent neural networks (RNNs), matrix completion, and non-negative matrix factorization (NMF), are used for cognitive radio problems. Specifically addressed are a missing data problem and a blind signal separation problem. A specialized RNN called Cellular Simultaneous Recurrent Network (CSRN), typically used in image processing applications, has been modified. The CRSN performs well for spatial spectrum prediction of radio signals with missing data. An algorithm called soft-impute for matrix completion used together with an RNN performs well for missing data problems in the radio spectrum time-frequency domain. Estimating missing spectrum data can improve cognitive radio efficiency. An NMF method called tuning pruning is used for blind source separation of radio signals in simulation. An NMF optimization technique using a geometric constraint is proposed to limit the solution space of blind signal separation. Both NMF methods are promising in addressing a security problem known as spectrum sensing data falsification attack

ANFIS Based Data Rate Prediction For Cognitive Radio

Intelligence is needed to keep up with the rapid evolution of wireless communications, especially in terms of managing and allocating the scarce, radio spectrum in the highly varying and disparate modern environments. Cognitive radio systems promise to handle this situation by utilizing intelligent software packages that enrich their transceiver with radio-awareness, adaptability and capability to learn. A cognitive radio system participates in a continuous process, the ‘‘cognition cycle”, during which it adjusts its operating parameters, observes the results and, eventually takes actions, that is to say, decides to operate in a specific radio configuration (i.e., radio access technology, carrier frequency, modulation type, etc.) expecting to move the radio toward some optimized operational state. In such a process, learning mechanisms utilize information from measurements sensed from the environment, gathered experience and stored knowledge and guide in decision making. This thesis introduces and evaluates learning schemes that are based on adaptive neuro-fuzzy inference system (ANFIS) for predicting the capabilities (e.g. data rate) that can be achieved by a specific radio configuration in cognitive radio. First a ANFIS based scheme is proposed. The work reported here is compare previous neural network based learning schemes. Cognitive radio is a intelligent emergent technology, where learning schemes are needed to assist in its functioning. ANFIS based scheme is one of the good learning Artificial intelligence method, that combines best features of neural network and fuzzy logic. Here ANFIS and neural networks methods are able to assist a cognitive radio system to help in selecting the best one radio configuration to operate in. Performance metric like RMSE, prediction accuracy of ANFIS learning has been used as performance index

An improved data classification framework based on fractional particle swarm optimization

Particle Swarm Optimization (PSO) is a population based stochastic optimization technique which consist of particles that move collectively in iterations to search for the most optimum solutions. However, conventional PSO is prone to lack of convergence and even stagnation in complex high dimensional-search problems with multiple local optima. Therefore, this research proposed an improved Mutually-Optimized Fractional PSO (MOFPSO) algorithm based on fractional derivatives and small step lengths to ensure convergence to global optima by supplying a fine balance between exploration and exploitation. The proposed algorithm is tested and verified for optimization performance comparison on ten benchmark functions against six existing established algorithms in terms of Mean of Error and Standard Deviation values. The proposed MOFPSO algorithm demonstrated lowest Mean of Error values during the optimization on all benchmark functions through all 30 runs (Ackley = 0.2, Rosenbrock = 0.2, Bohachevsky = 9.36E-06, Easom = -0.95, Griewank = 0.01, Rastrigin = 2.5E-03, Schaffer = 1.31E-06, Schwefel 1.2 = 3.2E-05, Sphere = 8.36E-03, Step = 0). Furthermore, the proposed MOFPSO algorithm is hybridized with Back-Propagation (BP), Elman Recurrent Neural Networks (RNN) and Levenberg-Marquardt (LM) Artificial Neural Networks (ANNs) to propose an enhanced data classification framework, especially for data classification applications. The proposed classification framework is then evaluated for classification accuracy, computational time and Mean Squared Error on five benchmark datasets against seven existing techniques. It can be concluded from the simulation results that the proposed MOFPSO-ERNN classification algorithm demonstrated good classification performance in terms of classification accuracy (Breast Cancer = 99.01%, EEG = 99.99%, PIMA Indian Diabetes = 99.37%, Iris = 99.6%, Thyroid = 99.88%) as compared to the existing hybrid classification techniques. Hence, the proposed technique can be employed to improve the overall classification accuracy and reduce the computational time in data classification applications

Quadri-dimensional approach for data analytics in mobile networks

The telecommunication market is growing at a very fast pace with the evolution of new technologies to support high speed throughput and the availability of a wide range of services and applications in the mobile networks. This has led to a need for communication service providers (CSPs) to shift their focus from network elements monitoring towards services monitoring and subscribers’ satisfaction by introducing the service quality management (SQM) and the customer experience management (CEM) that require fast responses to reduce the time to find and solve network problems, to ensure efficiency and proactive maintenance, to improve the quality of service (QoS) and the quality of experience (QoE) of the subscribers. While both the SQM and the CEM demand multiple information from different interfaces, managing multiple data sources adds an extra layer of complexity with the collection of data. While several studies and researches have been conducted for data analytics in mobile networks, most of them did not consider analytics based on the four dimensions involved in the mobile networks environment which are the subscriber, the handset, the service and the network element with multiple interface correlation. The main objective of this research was to develop mobile network analytics models applied to the 3G packet-switched domain by analysing data from the radio network with the Iub interface and the core network with the Gn interface to provide a fast root cause analysis (RCA) approach considering the four dimensions involved in the mobile networks. This was achieved by using the latest computer engineering advancements which are Big Data platforms and data mining techniques through machine learning algorithms.Electrical and Mining EngineeringM. Tech. (Electrical Engineering

Investigations into controllers for adaptive autonomous agents based on artificial neural networks.

This thesis reports the development and study of novel architectures for the simulation of adaptive behaviour based on artificial neural networks. There are two distinct levels of enquiry. At the primary level, the initial aim was to design and implement a unified architecture integrating sensorimotor learning and overall control. This was intended to overcome shortcomings of typical behaviour-based approaches in reactive control settings. It was achieved in two stages. Initially, feedforward neural networks were used at the sensorimotor level of a modular architecture and overall control was provided by an algorithm. The algorithm was then replaced by a recurrent neural network. For training, a form of reinforcement learning was used. This posed an intriguing composite of the well-known action selection and credit assignment problems. The solution was demonstrated in two sets of simulation studies involving variants of each architecture. These studies also showed: firstly that the expected advantages over the standard behaviour-based approach were realised, and secondly that the new integrated architecture preserved these advantages, with the added value of a unified control approach. The secondary level of enquiry addressed the more foundational question of whether the choice of processing mechanism is critical if the simulation of adaptive behaviour is to progress much beyond the reactive stage in more than a trivial sense. It proceeded by way of a critique of the standard behaviourbased approach to make a positive assessment of the potential for recurrent neural networks to fill such a role. The findings were used to inform further investigations at the primary level of enquiry. These were based on a framework for the simulation of delayed response learning using supervised learning techniques. A further new architecture, based on a second-order recurrent neural network, was designed for this set of studies. It was then compared with existing architectures. Some interesting results are presented to indicate the appropriateness of the design and the potential of the approach, though limitations in the long run are not discounted