6,307 research outputs found
Learning Hybrid Neuro-Fuzzy Classifier Models From Data: To Combine or Not to Combine?
To combine or not to combine? Though not a question of the same gravity as the Shakespeare’s to be or not
to be, it is examined in this paper in the context of a hybrid neuro-fuzzy pattern classifier design process. A general fuzzy
min-max neural network with its basic learning procedure is used within six different algorithm independent learning
schemes. Various versions of cross-validation, resampling techniques and data editing approaches, leading to a generation
of a single classifier or a multiple classifier system, are scrutinised and compared. The classification performance on
unseen data, commonly used as a criterion for comparing different competing designs, is augmented by further four
criteria attempting to capture various additional characteristics of classifier generation schemes. These include: the ability
to estimate the true classification error rate, the classifier transparency, the computational complexity of the learning
scheme and the potential for adaptation to changing environments and new classes of data. One of the main questions
examined is whether and when to use a single classifier or a combination of a number of component classifiers within a
multiple classifier system
Designing fuzzy rule based classifier using self-organizing feature map for analysis of multispectral satellite images
We propose a novel scheme for designing fuzzy rule based classifier. An SOFM
based method is used for generating a set of prototypes which is used to
generate a set of fuzzy rules. Each rule represents a region in the feature
space that we call the context of the rule. The rules are tuned with respect to
their context. We justified that the reasoning scheme may be different in
different context leading to context sensitive inferencing. To realize context
sensitive inferencing we used a softmin operator with a tunable parameter. The
proposed scheme is tested on several multispectral satellite image data sets
and the performance is found to be much better than the results reported in the
literature.Comment: 23 pages, 7 figure
Land cover classification using fuzzy rules and aggregation of contextual information through evidence theory
Land cover classification using multispectral satellite image is a very
challenging task with numerous practical applications. We propose a multi-stage
classifier that involves fuzzy rule extraction from the training data and then
generation of a possibilistic label vector for each pixel using the fuzzy rule
base. To exploit the spatial correlation of land cover types we propose four
different information aggregation methods which use the possibilistic class
label of a pixel and those of its eight spatial neighbors for making the final
classification decision. Three of the aggregation methods use Dempster-Shafer
theory of evidence while the remaining one is modeled after the fuzzy k-NN
rule. The proposed methods are tested with two benchmark seven channel
satellite images and the results are found to be quite satisfactory. They are
also compared with a Markov random field (MRF) model-based contextual
classification method and found to perform consistently better.Comment: 14 pages, 2 figure
Online Robot Introspection via Wrench-based Action Grammars
Robotic failure is all too common in unstructured robot tasks. Despite
well-designed controllers, robots often fail due to unexpected events. How do
robots measure unexpected events? Many do not. Most robots are driven by the
sense-plan act paradigm, however more recently robots are undergoing a
sense-plan-act-verify paradigm. In this work, we present a principled
methodology to bootstrap online robot introspection for contact tasks. In
effect, we are trying to enable the robot to answer the question: what did I
do? Is my behavior as expected or not? To this end, we analyze noisy wrench
data and postulate that the latter inherently contains patterns that can be
effectively represented by a vocabulary. The vocabulary is generated by
segmenting and encoding the data. When the wrench information represents a
sequence of sub-tasks, we can think of the vocabulary forming a sentence (set
of words with grammar rules) for a given sub-task; allowing the latter to be
uniquely represented. The grammar, which can also include unexpected events,
was classified in offline and online scenarios as well as for simulated and
real robot experiments. Multiclass Support Vector Machines (SVMs) were used
offline, while online probabilistic SVMs were are used to give temporal
confidence to the introspection result. The contribution of our work is the
presentation of a generalizable online semantic scheme that enables a robot to
understand its high-level state whether nominal or abnormal. It is shown to
work in offline and online scenarios for a particularly challenging contact
task: snap assemblies. We perform the snap assembly in one-arm simulated and
real one-arm experiments and a simulated two-arm experiment. This verification
mechanism can be used by high-level planners or reasoning systems to enable
intelligent failure recovery or determine the next most optima manipulation
skill to be used.Comment: arXiv admin note: substantial text overlap with arXiv:1609.0494
Improvement of the sensory and autonomous capability of robots through olfaction: the IRO Project
Proyecto de Excelencia Junta de AndalucĂa TEP2012-530Olfaction is a valuable source of information about the environment that has not been su ciently exploited in mobile robotics
yet. Certainly, odor information can contribute to other sensing modalities, e.g. vision, to successfully accomplish high-level robot
activities, such as task planning or execution in human environments. This paper describes the developments carried out in the scope of the IRO project, which aims at making progress in this direction by investigating mechanisms that exploit odor information (usually coming in the form of the type of volatile and its concentration) in problems like object recognition and scene-activity understanding. A distinctive aspect of this research is the special attention paid to the role of semantics within the robot perception and decisionmaking processes. The results of the IRO project have improved the robot capabilities in terms of efciency, autonomy and usefulness.Universidad de Málaga. Campus de Excelencia Internacional AndalucĂa Tec
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