Development of c-means Clustering Based Adaptive Fuzzy Controller for A Flapping Wing Micro Air Vehicle

Advanced and accurate modelling of a Flapping Wing Micro Air Vehicle (FW MAV) and its control is one of the recent research topics related to the field of autonomous Unmanned Aerial Vehicles (UAVs). In this work, a four wing Natureinspired (NI) FW MAV is modeled and controlled inspiring by its advanced features like quick flight, vertical take-off and landing, hovering, and fast turn, and enhanced manoeuvrability when contrasted with comparable-sized fixed and rotary wing UAVs. The Fuzzy C-Means (FCM) clustering algorithm is utilized to demonstrate the NIFW MAV model, which has points of interest over first principle based modelling since it does not depend on the system dynamics, rather based on data and can incorporate various uncertainties like sensor error. The same clustering strategy is used to develop an adaptive fuzzy controller. The controller is then utilized to control the altitude of the NIFW MAV, that can adapt with environmental disturbances by tuning the antecedent and consequent parameters of the fuzzy system.Comment: this paper is currently under review in Journal of Artificial Intelligence and Soft Computing Researc

A survey of fuzzy rule-based image segmentation techniques

This paper describes the various fuzzy rule based techniques for image segmentation. Fuzzy rule based segmentation techniques can incorporate domain expert knowledge and manipulate numerical as well as linguistic data. They are also capable of drawing partial inference using fuzzy IF-THEN rules. For these reasons they have been extensively applied in medical imaging. But these rules are application domain specific and it is very difficult to define the rules either manually or automatically so that the segementation can be achieved successfully

An intelligent recommendation system framework for student relationship management

In order to enhance student satisfaction, many services have been provided in order to meet student needs. A recommendation system is a significant service which can be used to assist students in several ways. This paper proposes a conceptual framework of an Intelligent Recommendation System in order to support Student Relationship Management (SRM) for a Thai private university. This article proposed the system architecture of an Intelligent Recommendation System (IRS) which aims to assist students to choose an appropriate course for their studies. Moreover, this study intends to compare different data mining techniques in various recommendation systems and to determine appropriate algorithms for the proposed electronic Intelligent Recommendation System (IRS). The IRS also aims to support Student Relationship Management (SRM) in the university. The IRS has been designed using data mining and artificial intelligent techniques such as clustering, association rule and classification

Analysis of fuzzy clustering and a generic fuzzy rule-based image segmentation technique

Many fuzzy clustering based techniques when applied to image segmentation do not incorporate spatial relationships of the pixels, while fuzzy rule-based image segmentation techniques are generally application dependent. Also for most of these techniques, the structure of the membership functions is predefined and parameters have to either automatically or manually derived. This paper addresses some of these issues by introducing a new generic fuzzy rule based image segmentation (GFRIS) technique, which is both application independent and can incorporate the spatial relationships of the pixels as well. A qualitative comparison is presented between the segmentation results obtained using this method and the popular fuzzy c-means (FCM) and possibilistic c-means (PCM) algorithms using an empirical discrepancy method. The results demonstrate this approach exhibits significant improvements over these popular fuzzy clustering algorithms for a wide range of differing image types

A hierarchical Mamdani-type fuzzy modelling approach with new training data selection and multi-objective optimisation mechanisms: A special application for the prediction of mechanical properties of alloy steels

In this paper, a systematic data-driven fuzzy modelling methodology is proposed, which allows to construct Mamdani fuzzy models considering both accuracy (precision) and transparency (interpretability) of fuzzy systems. The new methodology employs a fast hierarchical clustering algorithm to generate an initial fuzzy model efficiently; a training data selection mechanism is developed to identify appropriate and efficient data as learning samples; a high-performance Particle Swarm Optimisation (PSO) based multi-objective optimisation mechanism is developed to further improve the fuzzy model in terms of both the structure and the parameters; and a new tolerance analysis method is proposed to derive the confidence bands relating to the final elicited models. This proposed modelling approach is evaluated using two benchmark problems and is shown to outperform other modelling approaches. Furthermore, the proposed approach is successfully applied to complex high-dimensional modelling problems for manufacturing of alloy steels, using ‘real’ industrial data. These problems concern the prediction of the mechanical properties of alloy steels by correlating them with the heat treatment process conditions as well as the weight percentages of the chemical compositions

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

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