Modified Hopfield Neural Network Classification Algorithm For Satellite Images

Air adalah bahan yang penting bagi kehidupan mahkluk di atas muka bumi ini. Aktiviti manusia dan pengaruh alam semula jadi memberi kesan terhadap kualiti air, dan ia dianggap satu daripada masalah terbesar yang membelenggui kehidupan. Water is an essential material for living creatures. Human activities and natural influences have an effecting on water quality, and this is considered one of the largest problems facing living forms

Pattern Recognition and Event Reconstruction in Particle Physics Experiments

This report reviews methods of pattern recognition and event reconstruction used in modern high energy physics experiments. After a brief introduction into general concepts of particle detectors and statistical evaluation, different approaches in global and local methods of track pattern recognition are reviewed with their typical strengths and shortcomings. The emphasis is then moved to methods which estimate the particle properties from the signals which pattern recognition has associated. Finally, the global reconstruction of the event is briefly addressed.Comment: 101 pages, 58 figure

Fuzzy cognitive maps for stereovision matching

This paper outlines a method for solving the stereovision matching problem using edge segments as the primitives. In stereovision matching the following constraints are commonly used: epipolar, similarity, smoothness, ordering and uniqueness. We propose a new matching strategy under a fuzzy context in which such constraints are mapped. The fuzzy context integrates both Fuzzy Clustering and Fuzzy Cognitive Maps. With such purpose a network of concepts (nodes) is designed, each concept represents a pair of primitives to be matched. Each concept has associated a fuzzy value which determines the degree of the correspondence. The goal is to achieve high performance in terms of correct matches. The main findings of this paper are reflected in the use of the fuzzy context that allows building the network of concepts where the matching constraints are mapped. Initially, each concept value is loaded via the Fuzzy Clustering and then updated by the Fuzzy Cognitive Maps framework. This updating is achieved through the influence of the remainder neighboring concepts until a good global matching solution is achieved. Under this fuzzy approach we gain quantitative and qualitative matching correspondences. This method works as a relaxation matching approach and its performance is illustrated by comparative analysis against some existing global matching methods. (c) 2006 Pattern Recognition Society. Published by Elsevier Ltd. All rights reserved

Deep Burst Denoising

Noise is an inherent issue of low-light image capture, one which is exacerbated on mobile devices due to their narrow apertures and small sensors. One strategy for mitigating noise in a low-light situation is to increase the shutter time of the camera, thus allowing each photosite to integrate more light and decrease noise variance. However, there are two downsides of long exposures: (a) bright regions can exceed the sensor range, and (b) camera and scene motion will result in blurred images. Another way of gathering more light is to capture multiple short (thus noisy) frames in a "burst" and intelligently integrate the content, thus avoiding the above downsides. In this paper, we use the burst-capture strategy and implement the intelligent integration via a recurrent fully convolutional deep neural net (CNN). We build our novel, multiframe architecture to be a simple addition to any single frame denoising model, and design to handle an arbitrary number of noisy input frames. We show that it achieves state of the art denoising results on our burst dataset, improving on the best published multi-frame techniques, such as VBM4D and FlexISP. Finally, we explore other applications of image enhancement by integrating content from multiple frames and demonstrate that our DNN architecture generalizes well to image super-resolution

Design of Cooperative Networks

In this paper we analyse several approaches to the design of Cooperative Algorithms for solving a general problem: That of computing the values of some property over a spatial domain, when these values are constrained (but not uniquely determined) by some observations, and by some a priori knowledge about the nature of the solution (smoothness, for example). Specifically, we discuss the use of: Variational techniques; stochastic approximation methods for global optimization, and linear threshold networks. Finally, we present a new approach, based on the interconnection of Winner-take-all networks, for which it is possible to establish precise convergence results, including bounds on the rate of convergence.MIT Artificial Intelligence Laborator

Event-Driven Technologies for Reactive Motion Planning: Neuromorphic Stereo Vision and Robot Path Planning and Their Application on Parallel Hardware

Die Robotik wird immer mehr zu einem Schlüsselfaktor des technischen Aufschwungs. Trotz beeindruckender Fortschritte in den letzten Jahrzehnten, übertreffen Gehirne von Säugetieren in den Bereichen Sehen und Bewegungsplanung noch immer selbst die leistungsfähigsten Maschinen. Industrieroboter sind sehr schnell und präzise, aber ihre Planungsalgorithmen sind in hochdynamischen Umgebungen, wie sie für die Mensch-Roboter-Kollaboration (MRK) erforderlich sind, nicht leistungsfähig genug. Ohne schnelle und adaptive Bewegungsplanung kann sichere MRK nicht garantiert werden. Neuromorphe Technologien, einschließlich visueller Sensoren und Hardware-Chips, arbeiten asynchron und verarbeiten so raum-zeitliche Informationen sehr effizient. Insbesondere ereignisbasierte visuelle Sensoren sind konventionellen, synchronen Kameras bei vielen Anwendungen bereits überlegen. Daher haben ereignisbasierte Methoden ein großes Potenzial, schnellere und energieeffizientere Algorithmen zur Bewegungssteuerung in der MRK zu ermöglichen. In dieser Arbeit wird ein Ansatz zur flexiblen reaktiven Bewegungssteuerung eines Roboterarms vorgestellt. Dabei wird die Exterozeption durch ereignisbasiertes Stereosehen erreicht und die Pfadplanung ist in einer neuronalen Repräsentation des Konfigurationsraums implementiert. Die Multiview-3D-Rekonstruktion wird durch eine qualitative Analyse in Simulation evaluiert und auf ein Stereo-System ereignisbasierter Kameras übertragen. Zur Evaluierung der reaktiven kollisionsfreien Online-Planung wird ein Demonstrator mit einem industriellen Roboter genutzt. Dieser wird auch für eine vergleichende Studie zu sample-basierten Planern verwendet. Ergänzt wird dies durch einen Benchmark von parallelen Hardwarelösungen wozu als Testszenario Bahnplanung in der Robotik gewählt wurde. Die Ergebnisse zeigen, dass die vorgeschlagenen neuronalen Lösungen einen effektiven Weg zur Realisierung einer Robotersteuerung für dynamische Szenarien darstellen. Diese Arbeit schafft eine Grundlage für neuronale Lösungen bei adaptiven Fertigungsprozesse, auch in Zusammenarbeit mit dem Menschen, ohne Einbußen bei Geschwindigkeit und Sicherheit. Damit ebnet sie den Weg für die Integration von dem Gehirn nachempfundener Hardware und Algorithmen in die Industrierobotik und MRK

Development of Cognitive Capabilities in Humanoid Robots

Merged with duplicate record 10026.1/645 on 03.04.2017 by CS (TIS)Building intelligent systems with human level of competence is the ultimate grand challenge for science and technology in general, and especially for the computational intelligence community. Recent theories in autonomous cognitive systems have focused on the close integration (grounding) of communication with perception, categorisation and action. Cognitive systems are essential for integrated multi-platform systems that are capable of sensing and communicating. This thesis presents a cognitive system for a humanoid robot that integrates abilities such as object detection and recognition, which are merged with natural language understanding and refined motor controls. The work includes three studies; (1) the use of generic manipulation of objects using the NMFT algorithm, by successfully testing the extension of the NMFT to control robot behaviour; (2) a study of the development of a robotic simulator; (3) robotic simulation experiments showing that a humanoid robot is able to acquire complex behavioural, cognitive, and linguistic skills through individual and social learning. The robot is able to learn to handle and manipulate objects autonomously, to cooperate with human users, and to adapt its abilities to changes in internal and environmental conditions. The model and the experimental results reported in this thesis, emphasise the importance of embodied cognition, i.e. the humanoid robot's physical interaction between its body and the environment