Microservices and Machine Learning Algorithms for Adaptive Green Buildings

In recent years, the use of services for Open Systems development has consolidated and strengthened. Advances in the Service Science and Engineering (SSE) community, promoted by the reinforcement of Web Services and Semantic Web technologies and the presence of new Cloud computing techniques, such as the proliferation of microservices solutions, have allowed software architects to experiment and develop new ways of building open and adaptable computer systems at runtime. Home automation, intelligent buildings, robotics, graphical user interfaces are some of the social atmosphere environments suitable in which to apply certain innovative trends. This paper presents a schema for the adaptation of Dynamic Computer Systems (DCS) using interdisciplinary techniques on model-driven engineering, service engineering and soft computing. The proposal manages an orchestrated microservices schema for adapting component-based software architectural systems at runtime. This schema has been developed as a three-layer adaptive transformation process that is supported on a rule-based decision-making service implemented by means of Machine Learning (ML) algorithms. The experimental development was implemented in the Solar Energy Research Center (CIESOL) applying the proposed microservices schema for adapting home architectural atmosphere systems on Green Buildings

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

Humanoid robot walking control on inclined planes

The humanoid bipedal structure is suitable for a assitive robot functioning in the human environment. However, the bipedal walk is a difficult control problem. Walking just on even floor is not satisfactory for the applicability of a humanoid robot. This paper presents a study on bipedal walk on inclined planes. A Zero Moment Point (ZMP) based reference generation technique is employed. The orientation of the feet is adjusted online by a fuzzy logic system to adapt to different walking surface slopes. This system uses a sampling time larger than the one of the joint space position controllers. The average value of the body pitch angle is used as the inputs to the fuzzy logic system. A foot pitch orientation compensator implemented independently for the two feet complements the fuzyy controller. A 12-degrees-of-freedom (DOF) biped robot model is used in the full-dynamics 3-D simulations. Simulations are carried out on even floor and inclined planes with different slopes. The results indicate that the control method presented is successful in enabling the robot to climb slopes of 8.5 degrees (15 percent grade)

Improvement of flight simulator feeling using adaptive fuzzy backlash compensation

In this paper we addressed the problem of improving the control of DC motors used for the specific application of a 3 degrees of freedom moving base flight simulator. Indeed the presence of backlash in DC motors gearboxes induces shocks and naturally limits the flight feeling. In this paper, dynamic inversion with Fuzzy Logic is used to design an adaptive backlash compensator. The classification property of fuzzy logic techniques makes them a natural candidate for the rejection of errors induced by the backlash. A tuning algorithm is given for the fuzzy logic parameters, so that the output backlash compensation scheme becomes adaptive. The fuzzy backlash compensator is first validated using a realistic model of the mechanical system and is actually tested on the real flight simulator

Artificial Immune Systems - Models, algorithms and applications

Copyright © 2010 Academic Research Publishing Agency.This article has been made available through the Brunel Open Access Publishing Fund.Artificial Immune Systems (AIS) are computational paradigms that belong to the computational intelligence family and are inspired by the biological immune system. During the past decade, they have attracted a lot of interest from researchers aiming to develop immune-based models and techniques to solve complex computational or engineering problems. This work presents a survey of existing AIS models and algorithms with a focus on the last five years.This article is available through the Brunel Open Access Publishing Fun

CBR and MBR techniques: review for an application in the emergencies domain

The purpose of this document is to provide an in-depth analysis of current reasoning engine practice and the integration strategies of Case Based Reasoning and Model Based Reasoning that will be used in the design and development of the RIMSAT system. RIMSAT (Remote Intelligent Management Support and Training) is a European Commission funded project designed to: a.. Provide an innovative, 'intelligent', knowledge based solution aimed at improving the quality of critical decisions b.. Enhance the competencies and responsiveness of individuals and organisations involved in highly complex, safety critical incidents - irrespective of their location. In other words, RIMSAT aims to design and implement a decision support system that using Case Base Reasoning as well as Model Base Reasoning technology is applied in the management of emergency situations. This document is part of a deliverable for RIMSAT project, and although it has been done in close contact with the requirements of the project, it provides an overview wide enough for providing a state of the art in integration strategies between CBR and MBR technologies.Postprint (published version

A Survey of Adaptive Resonance Theory Neural Network Models for Engineering Applications

This survey samples from the ever-growing family of adaptive resonance theory (ART) neural network models used to perform the three primary machine learning modalities, namely, unsupervised, supervised and reinforcement learning. It comprises a representative list from classic to modern ART models, thereby painting a general picture of the architectures developed by researchers over the past 30 years. The learning dynamics of these ART models are briefly described, and their distinctive characteristics such as code representation, long-term memory and corresponding geometric interpretation are discussed. Useful engineering properties of ART (speed, configurability, explainability, parallelization and hardware implementation) are examined along with current challenges. Finally, a compilation of online software libraries is provided. It is expected that this overview will be helpful to new and seasoned ART researchers