3,238 research outputs found

    PAC: A Novel Self-Adaptive Neuro-Fuzzy Controller for Micro Aerial Vehicles

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    There exists an increasing demand for a flexible and computationally efficient controller for micro aerial vehicles (MAVs) due to a high degree of environmental perturbations. In this work, an evolving neuro-fuzzy controller, namely Parsimonious Controller (PAC) is proposed. It features fewer network parameters than conventional approaches due to the absence of rule premise parameters. PAC is built upon a recently developed evolving neuro-fuzzy system known as parsimonious learning machine (PALM) and adopts new rule growing and pruning modules derived from the approximation of bias and variance. These rule adaptation methods have no reliance on user-defined thresholds, thereby increasing the PAC's autonomy for real-time deployment. PAC adapts the consequent parameters with the sliding mode control (SMC) theory in the single-pass fashion. The boundedness and convergence of the closed-loop control system's tracking error and the controller's consequent parameters are confirmed by utilizing the LaSalle-Yoshizawa theorem. Lastly, the controller's efficacy is evaluated by observing various trajectory tracking performance from a bio-inspired flapping-wing micro aerial vehicle (BI-FWMAV) and a rotary wing micro aerial vehicle called hexacopter. Furthermore, it is compared to three distinctive controllers. Our PAC outperforms the linear PID controller and feed-forward neural network (FFNN) based nonlinear adaptive controller. Compared to its predecessor, G-controller, the tracking accuracy is comparable, but the PAC incurs significantly fewer parameters to attain similar or better performance than the G-controller.Comment: This paper has been accepted for publication in Information Science Journal 201

    Complexity-entropy causality plane: a useful approach for distinguishing songs

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    Nowadays we are often faced with huge databases resulting from the rapid growth of data storage technologies. This is particularly true when dealing with music databases. In this context, it is essential to have techniques and tools able to discriminate properties from these massive sets. In this work, we report on a statistical analysis of more than ten thousand songs aiming to obtain a complexity hierarchy. Our approach is based on the estimation of the permutation entropy combined with an intensive complexity measure, building up the complexity-entropy causality plane. The results obtained indicate that this representation space is very promising to discriminate songs as well as to allow a relative quantitative comparison among songs. Additionally, we believe that the here-reported method may be applied in practical situations since it is simple, robust and has a fast numerical implementation.Comment: Accepted for publication in Physica

    Predicting Skin Permeability by means of Computational Approaches : Reliability and Caveats in Pharmaceutical Studies

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    © 2019 American Chemical Society.The skin is the main barrier between the internal body environment and the external one. The characteristics of this barrier and its properties are able to modify and affect drug delivery and chemical toxicity parameters. Therefore, it is not surprising that permeability of many different compounds has been measured through several in vitro and in vivo techniques. Moreover, many different in silico approaches have been used to identify the correlation between the structure of the permeants and their permeability, to reproduce the skin behavior, and to predict the ability of specific chemicals to permeate this barrier. A significant number of issues, like interlaboratory variability, experimental conditions, data set building rationales, and skin site of origin and hydration, still prevent us from obtaining a definitive predictive skin permeability model. This review wants to show the main advances and the principal approaches in computational methods used to predict this property, to enlighten the main issues that have arisen, and to address the challenges to develop in future research.Peer reviewedFinal Accepted Versio

    A New Adaptive LSSVR with Online Multikernel RBF Tuning to Evaluate Analog Circuit Performance

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    Focusing on the analog circuit performance evaluation demand of fast time responding online, a novel evaluation strategy based on adaptive Least Squares Support Vector Regression (LSSVR) which employs multikernel RBF is proposed in this paper. The superiority of the multi-kernel RBF has more flexibility to the kernel function online such as the bandwidths tuning. And then the decision parameters of the kernel parameters determine the input signal to map to the feature space deduced that a well plant model by discarding redundant features. Experiment adopted the typical circuit Sallen-Key low pass filter to prove the proposed evaluation strategy via the eight performance indexes. Simulation results reveal that the testing speed together with the evaluation performance, especially the testing speed of the proposed, is superior to that of the traditional LSSVR and ε-SVR, which is suitable for promotion online

    Visa trial of international trade: evidence from support vector machines and neural networks

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    International trade depends on networking, interaction and in-person meetings which stimulate cross-border travels. The countries are seeking policies to encourage inbound mobility to support bilateral trade, tourism, and foreign direct investments. Some nations have been implementing liberal visa regimes as an important part of facilitating policies in view of security concerns. Turkey has been among the nations introducing liberal visa policies to support trade in the last decade and recorded significant increases in the volumes of exports. In this paper, we employed machine learning methodologies, Support vector machines (SVM) and Neural networks (NN), to investigate the facilitating impact of liberal visa policies on bilateral trade, using the export data from Turkey for the period of 2000–2014. The research disentangled the variables that have the strongest impact on trade utilizing SVM and NN models and exhibited that visa policies have significant impacts on the bilateral trade. More relaxed visa policies are recommended for the countries in the pursuit of increasing exports

    Computational intelligence approaches for energy load forecasting in smart energy management grids: state of the art, future challenges, and research directions and Research Directions

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    Energy management systems are designed to monitor, optimize, and control the smart grid energy market. Demand-side management, considered as an essential part of the energy management system, can enable utility market operators to make better management decisions for energy trading between consumers and the operator. In this system, a priori knowledge about the energy load pattern can help reshape the load and cut the energy demand curve, thus allowing a better management and distribution of the energy in smart grid energy systems. Designing a computationally intelligent load forecasting (ILF) system is often a primary goal of energy demand management. This study explores the state of the art of computationally intelligent (i.e., machine learning) methods that are applied in load forecasting in terms of their classification and evaluation for sustainable operation of the overall energy management system. More than 50 research papers related to the subject identified in existing literature are classified into two categories: namely the single and the hybrid computational intelligence (CI)-based load forecasting technique. The advantages and disadvantages of each individual techniques also discussed to encapsulate them into the perspective into the energy management research. The identified methods have been further investigated by a qualitative analysis based on the accuracy of the prediction, which confirms the dominance of hybrid forecasting methods, which are often applied as metaheurstic algorithms considering the different optimization techniques over single model approaches. Based on extensive surveys, the review paper predicts a continuous future expansion of such literature on different CI approaches and their optimizations with both heuristic and metaheuristic methods used for energy load forecasting and their potential utilization in real-time smart energy management grids to address future challenges in energy demand managemen

    Robotic Unicycle Intelligent Robust Control Pt I: Soft Computational Intelligence Toolkit

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    The concept of an intelligent control system for a complex nonlinear biomechanical system of an extension cableless robotic unicycle discussed. A thermodynamic approach to study optimal control processes in complex nonlinear dynamic systems applied. The results of stochastic simulation of a fuzzy intelligent control system for various types of external / internal excitations for a dynamic, globally unstable control object - extension cableless robotic unicycle based on Soft Computing (Computational Intelligence Toolkit - SCOptKBTM) technology presented. A new approach to design an intelligent control system based on the principle of the minimum entropy production (minimum of useful resource losses) determination in the movement of the control object and the control system is developed. This determination as a fitness function in the genetic algorithm is used to achieve robust control of a robotic unicycle. An algorithm for entropy production computing and representation of their relationship with the Lyapunov function (a measure of stochastic robust stability) described
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