GA-optimization for rapid prototype system demonstration

An application of the Genetic Algorithm (GA) is discussed. A novel scheme of Hierarchical GA was developed to solve complicated engineering problems which require optimization of a large number of parameters with high precision. High level GAs search for few parameters which are much more sensitive to the system performance. Low level GAs search in more detail and employ a greater number of parameters for further optimization. Therefore, the complexity of the search is decreased and the computing resources are used more efficiently

Implementation, integration, and optimization of a fuzzy foreground segmentation system

Foreground segmentation is often an important preliminary step for various video processing systems. By improving the accuracy of the foreground segmentation process, the overall performance of a video processing system has the potential for improvement. This work introduces a Fuzzy Foreground Segmentation System (FFSS) that uses Mamdani-type Fuzzy Inference Systems (FIS) to control pixel-level accumulated statistics. The error of the FFSS is quantified by comparing its output with hand-segmented ground-truth images from a set of image sequences that specifically model canonical problems of foreground segmentation. Optimization of the FFSS parameters is achieved using a Real-Coded Genetic Algorithm (RCGA). Additionally, multiple central composite designed experiments used to analyze the performance of RCGA under selected schemes and their respective parameters. The RCGA schemes and parameters are chosen as to reduce variation and execution time for a set of known multi-dimensional test functions. The selected multi-dimensional test functions represent assorted function landscapes. To demonstrate accuracy of the FFSS and implicate the importance of the foreground segmentation process, the system is applied to real-time human detection from a single-camera security system. The Human Detection System (HDS) is composed of an IP Camera networked to multiple heterogeneous computers for distributed parallel processing. The implementation of the HDS, adheres to a System of Systems (SoS) architecture which standardizes data/communication, reduces overall complexity, and maintains a high level of interoperability

Coordinated budget allocation in multi-district highway agencies

Ph.DDOCTOR OF PHILOSOPH

Probabilistic fuzzy logic framework in reinforcement learning for decision making

This dissertation focuses on the problem of uncertainty handling during learning by agents dealing in stochastic environments by means of reinforcement learning. Most previous investigations in reinforcement learning have proposed algorithms to deal with the learning performance issues but neglecting the uncertainty present in stochastic environments. Reinforcement learning is a valuable learning method when a system requires a selection of actions whose consequences emerge over long periods for which input-output data are not available. In most combinations of fuzzy systems with reinforcement learning, the environment is considered deterministic. However, for many cases, the consequence of an action may be uncertain or stochastic in nature. This work proposes a novel reinforcement learning approach combined with the universal function approximation capability of fuzzy systems within a probabilistic fuzzy logic theory framework, where the information from the environment is not interpreted in a deterministic way as in classic approaches but rather, in a statistical way that considers a probability distribution of long term consequences. The generalized probabilistic fuzzy reinforcement learning (GPFRL) method, presented in this dissertation, is a modified version of the actor-critic learning architecture where the learning is enhanced by the introduction of a probability measure into the learning structure where an incremental gradient descent weight- updating algorithm provides convergence. XXIABSTRACT Experiments were performed on simulated and real environments based on a travel planning spoken dialogue system. Experimental results provided evidence to support the following claims: first, the GPFRL have shown a robust performance when used in control optimization tasks. Second, its learning speed outperforms most of other similar methods. Third, GPFRL agents are feasible and promising for the design of adaptive behaviour robotics systems.EThOS - Electronic Theses Online ServiceGBUnited Kingdo

Probabilistic fuzzy logic framework in reinforcement learning for decision making

This dissertation focuses on the problem of uncertainty handling during learning by agents dealing in stochastic environments by means of reinforcement learning. Most previous investigations in reinforcement learning have proposed algorithms to deal with the learning performance issues but neglecting the uncertainty present in stochastic environments.Reinforcement learning is a valuable learning method when a system requires a selection of actions whose consequences emerge over long periods for which input-output data are not available. In most combinations of fuzzy systems with reinforcement learning, the environment is considered deterministic. However, for many cases, the consequence of an action may be uncertain or stochastic in nature. This work proposes a novel reinforcement learning approach combined with the universal function approximation capability of fuzzy systems within a probabilistic fuzzy logic theory framework, where the information from the environment is not interpreted in a deterministic way as in classic approaches but rather, in a statistical way that considers a probability distribution of long term consequences.The generalized probabilistic fuzzy reinforcement learning (GPFRL) method, presented in this dissertation, is a modified version of the actor-critic learning architecture where the learning is enhanced by the introduction of a probability measure into the learning structure where an incremental gradient descent weight- updating algorithm provides convergence.XXIABSTRACTExperiments were performed on simulated and real environments based on a travel planning spoken dialogue system. Experimental results provided evidence to support the following claims: first, the GPFRL have shown a robust performance when used in control optimization tasks. Second, its learning speed outperforms most of other similar methods. Third, GPFRL agents are feasible and promising for the design of adaptive behaviour robotics systems

On the Adaptation of Building Controls to the Envelope and the Occupants

The sun is the biggest known source of energy in our solar system. We feel its strength when it gets hot during the the day and we notice its absence during the night when we feel cold. So as to be less dependent on the sun as an energy source, we implemented additional heating and cooling sources to maintain the temperature within a comfortable range. The downside to this is that the majority of energy consumed within the housing sector is used up on the heating and cooling alone. To profit from the vast energy source of the sun we propose a user-adaptive and building-adaptive blind control for residential buildings, that is implemented in prefabricated modules for facade renovation. User-adaptive means that it is the occupant who is responsible for the temperature control within the home. Building-adaptive, in this context, means that the temperature control is established automatically without any user input. Through the evaluation of occupant queries we have shown that a general measure for thermal comfort is not possible for all occupants. Consequently, there is a need for a personalized measure of thermal comfort. In order to create this the occupant enters votes via the interface; from this we deduced statistically the probability of comfort relative to the indoor temperature. According to the profile the control sets its target temperature. The profile steadily adapts the user's preferences and through this we can also capture seasonal changes in comfort temperature. This guarantees that at each point in time the control system knows the desired temperature and is taking action to achieve it. The adaption to the building is achieved with the fitting of a simple thermal building model with data collected by the sensors of the control system. We showed that the monitored data sufficiently fits the model. With the help of the simple model we evaluated different control strategies and optimized them according to the thermal profile. For our performance tests we conducted computer simulations as well as a 6-month field study. For the simulations, a specific test bed was suggested that would assess the saving potential, which can then be compared to the performance of the tested control. Results showed that the suggested control system is capitalizing on most of the achievable energy savings and thermal comfort. A 6-month field study in the LESO-PB building was carried out to test the impact on energy demand as well as comfort under real conditions. It appeared that the automatically controlled office needed only approximately 50% of the average heating energy that was used in the manually controlled offices. Furthermore, the probability of thermal comfort was, on average, 10% higher in the automatically controlled offices when compared to those that were controlled manually

Multi-objective reinforcement learning framework for unknown stochastic & uncertain environments

This dissertation focuses on the problem of uncertainty handling during learning, by agents dealing in stochastic environments by means of Multi Objective Reinforcement Learning (MORL). Most previous investigations into multi objective reinforcement learning have proposed algorithms to deal with the learning performance issues but have neglected the uncertainty present in stochastic environments. The realisation that multiple long term objectives are exhibited in many risky and uncertain real-world decision making problems forms the principle motivation of this research.This dissertation proposes a novel modification to the single objective GPFRL algorithm (Hinojosa et al, 2008) where, the implementation of a linear scalarisation methodology provides a way to automatically find an optimal policy for multiple objectives under different kinds of uncertainty. The proposed Generalised Probabilistic Fuzzy Multi Objective Reinforcement Learning (GPFMORL) algorithm is further enhanced by the introduction of prospect theory to guarantee convergence by the means of risk evaluation. The simulated grid world increased in complexity as a further two complementary and conflicting objectives were specified whilst also introducing uncertainty in the form of stochastic cross winds. Results obtained from the GPFMORL grid world simulations were compared against two more classical multi objective algorithms, MOQ and MOSARSA, showing not only a stronger convergence but also a much faster one. Experiments performed on an actual Quad-Copter/Drone demonstrated that the proposed algorithm and developed framework are both feasible and promising for the control of Artificially Intelligent (AI) Unmanned Aerial Vehicles (UAV) in a variety of real-world multi objective applications such as; autonomous landing/delivery or search and rescue. Furthermore, the observed results of this work showed that the GPFMORL method can find its major real world application in the un-calibrated control of non-linear, multiple inputs, and multiple output systems, especially in multi objective situations with high uncertainty. Proposed novel case study research prototype examples include: Controlled Environment Agriculture for optimising Hydroponic Crop Growth by the proposed “Automated Solar Powered Environmental Controller” (ASPEC). Finally the “Robotic Dementia Medication Administration System” (RDMAS) attempts to optimise liquid medication dispensing via intelligent scheduling to more appropriate times of the day when the patient is more likely to remember to take their medication, based upon previous learned knowledge and experience