A reconfigurable hybrid intelligent system for robot navigation

Soft computing has come of age to o er us a wide array of powerful and e cient algorithms that independently matured and in uenced our approach to solving problems in robotics, search and optimisation. The steady progress of technology, however, induced a ux of new real-world applications that demand for more robust and adaptive computational paradigms, tailored speci cally for the problem domain. This gave rise to hybrid intelligent systems, and to name a few of the successful ones, we have the integration of fuzzy logic, genetic algorithms and neural networks. As noted in the literature, they are signi cantly more powerful than individual algorithms, and therefore have been the subject of research activities in the past decades. There are problems, however, that have not succumbed to traditional hybridisation approaches, pushing the limits of current intelligent systems design, questioning their solutions of a guarantee of optimality, real-time execution and self-calibration. This work presents an improved hybrid solution to the problem of integrated dynamic target pursuit and obstacle avoidance, comprising of a cascade of fuzzy logic systems, genetic algorithm, the A* search algorithm and the Voronoi diagram generation algorithm

Avalanches in self-organized critical neural networks: A minimal model for the neural SOC universality class

The brain keeps its overall dynamics in a corridor of intermediate activity and it has been a long standing question what possible mechanism could achieve this task. Mechanisms from the field of statistical physics have long been suggesting that this homeostasis of brain activity could occur even without a central regulator, via self-organization on the level of neurons and their interactions, alone. Such physical mechanisms from the class of self-organized criticality exhibit characteristic dynamical signatures, similar to seismic activity related to earthquakes. Measurements of cortex rest activity showed first signs of dynamical signatures potentially pointing to self-organized critical dynamics in the brain. Indeed, recent more accurate measurements allowed for a detailed comparison with scaling theory of non-equilibrium critical phenomena, proving the existence of criticality in cortex dynamics. We here compare this new evaluation of cortex activity data to the predictions of the earliest physics spin model of self-organized critical neural networks. We find that the model matches with the recent experimental data and its interpretation in terms of dynamical signatures for criticality in the brain. The combination of signatures for criticality, power law distributions of avalanche sizes and durations, as well as a specific scaling relationship between anomalous exponents, defines a universality class characteristic of the particular critical phenomenon observed in the neural experiments. The spin model is a candidate for a minimal model of a self-organized critical adaptive network for the universality class of neural criticality. As a prototype model, it provides the background for models that include more biological details, yet share the same universality class characteristic of the homeostasis of activity in the brain.Comment: 17 pages, 5 figure

Generating predictions to aid the scientific discovery process

NGLAUBER is a system which models the scientific discovery of qualitative empirical laws. As such, it falls into the category of scientific discovery systems. However, the program can also be viewed as a conceptual clustering system since it forms classes of objects and characterizes these classes. NGLAUBER differs from existing scientific discovery and conceptual clustering systems in a number of ways: It uses an incremental method to group objects into classes; these classes are formed based on the relationships between objects rather than just the attributes of objects; the system describes the relationships between classes rather than simply describing the classes; and most importantly, NGLAUBER proposes experiments by predicting future data. The experiments help the system guide itself through the search for regularities in the data

The relative dynamics of investment and the current account in the G-7 economies

This paper contributes to the empirics of the intertemporal approach to the current account. We use a cointegrated VAR framework to identify permanent and transitory components of country-specific and global shocks. Our approach allows us to empirically investigate the sensitivity to persistence implied by many forward-looking models and our results shed new light on the excess volatility of investment encountered by Glick and Rogoff (JME 1995). In G7 data, we find the relative current-account and investment response to be in line with the intertemporal approach

House Prices and Monetary Policy in Colombia

This paper investigates the possible responses of an inflation-targeting monetary policy in the face of asset price deviations from fundamental values. Focusing on the housing sector of the Colombian economy, we consider a general equilibrium model with frictions in credit market and bubbles in housing prices. We show that monetary policy is less efficient when it responds directly to asset price of housing than a policy that reacts only to deviations of expected inflation (CPI) from target. Some prudential regulation may provide a better outcome in terms of output and inflation variability.House price bubbles, interest rate rules, monetary policy, inflation Targeting.