A sensory system for robots using evolutionary artificial neural networks.

The thesis presents the research involved with developing an Intelligent Vision System for an animat that can analyse a visual scene in uncontrolled environments. Inspiration was drawn both from Biological Visual Systems and Artificial Image Recognition Systems. Several Biological Systems including the Insect, Toad and Human Visual Systems were studied alongside popular Pattern Recognition Systems such as fully connected Feedforward Networks, Modular Neural Networks and the Neocognitron. The developed system, called the Distributed Neural Network (DNN) was based on the sensory-motor connections in the common toad, Bufo Bufo. The sparsely connected network architecture has features of modularity enhanced by the presence of lateral inhibitory connections. It was implemented using Evolutionary Artificial Neural Networks (EANN). A novel method called FUSION was used to train the DNN, which is an amalgamation of several concepts of learning in Artificial Neural Networks such as Unsupervised Learning, Supervised Learning, Reinforcement Learning, Competitive Learning, Self-organisation and Fuzzy Logic. The DNN has unique feature detecting capabilities. When the DNN was tested using images that comprised of combination of features used in the training set, the DNN was successful in recognising individual features. The combinations of features were never used in the training set. This is a unique feature of the DNN trained using Fusion that cannot be matched by any other popular ANN architecture or training method. The system proved to be robust in dealing with New and Noisy Images. The unique features of the DNN make the network suitable for applications in robotics such as obstacle avoidance and terrain recognition, where the environment is unpredictable. The network can also be used in the field of Medical Imaging, Biometrics (Face and Finger Print Recognition) and Quality Inspection in the Food Processing Industry and applications in other uncontrolled environments

Proceedings of the Second Joint Technology Workshop on Neural Networks and Fuzzy Logic, volume 2

Documented here are papers presented at the Neural Networks and Fuzzy Logic Workshop sponsored by NASA and the University of Texas, Houston. Topics addressed included adaptive systems, learning algorithms, network architectures, vision, robotics, neurobiological connections, speech recognition and synthesis, fuzzy set theory and application, control and dynamics processing, space applications, fuzzy logic and neural network computers, approximate reasoning, and multiobject decision making

Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS 1994), volume 1

The AIAA/NASA Conference on Intelligent Robotics in Field, Factory, Service, and Space (CIRFFSS '94) was originally proposed because of the strong belief that America's problems of global economic competitiveness and job creation and preservation can partly be solved by the use of intelligent robotics, which are also required for human space exploration missions. Individual sessions addressed nuclear industry, agile manufacturing, security/building monitoring, on-orbit applications, vision and sensing technologies, situated control and low-level control, robotic systems architecture, environmental restoration and waste management, robotic remanufacturing, and healthcare applications

Optical Character Recognition Using Morphological Attributes.

This dissertation addresses a fundamental computational strategy in image processing hand written English characters using traditional parallel computers. Image acquisition and processing is becoming a thriving industry because of the frequent availability of fax machines, video digitizers, flat-bed scanners, hand scanners, color scanners, and other image input devices that are now accessible to everyone. Optical Character Recognition (OCR) research increased as the technology for a robust OCR system became realistic. There is no commercial effective recognition system that is able to translate raw digital images of hand written text into pure ASCII. The reason is that a digital image comprises of a vast number of pixels. The traditional approach of processing the huge collection of pixel information is quite slow and cumbersome. In this dissertation we developed an approach and theory for a fast robust OCR system for images of hand written characters using morphological attribute features that are expected by the alphabet character set. By extracting specific morphological attributes from the scanned image, the dynamic OCR system is able to generalize and approximate similar images. This generalization is achieved with the usage of fuzzy logic and neural network. Since the main requirement for a commercially effective OCR is a fast and a high recognition rate system, the approach taken in this research is to shift the recognition computation into the system\u27s architecture and its learning phase. The recognition process constituted mainly simple integer computation, a preferred computation on digital computers. In essence, the system maintains the attribute envelope boundary upon which each English character could fall under. This boundary is based on extreme attributes extracted from images introduced to the system beforehand. The theory was implemented both on a SIMD-MC\sp2 and a SISD machine. The resultant system proved to be a fast robust dynamic system, given that a suitable learning had taken place. The principle contributions of this dissertation are: (1) Improving existing thinning algorithms for image preprocessing. (2) Development of an on-line cluster partitioning procedure for region oriented segmentation. (3) Expansion of a fuzzy knowledge base theory to maintain morphological attributes on digital computers. (4) Dynamic Fuzzy learning/recognition technique

Proceedings of the Third International Workshop on Neural Networks and Fuzzy Logic, volume 2

Papers presented at the Neural Networks and Fuzzy Logic Workshop sponsored by the National Aeronautics and Space Administration and cosponsored by the University of Houston, Clear Lake, held 1-3 Jun. 1992 at the Lyndon B. Johnson Space Center in Houston, Texas are included. During the three days approximately 50 papers were presented. Technical topics addressed included adaptive systems; learning algorithms; network architectures; vision; robotics; neurobiological connections; speech recognition and synthesis; fuzzy set theory and application, control and dynamics processing; space applications; fuzzy logic and neural network computers; approximate reasoning; and multiobject decision making

Generating gameplay scenarios through faction conflict modeling.

A gameplay scenario can be defined as a series of events that emerge from a given context. These events can potentially be influenced by the player through gameplay, which results in meaningful interaction with the simulation. Creating gameplay scenarios in computer games and training simulators is an immensely expensive and time consuming undertaking. A common trait for most scenarios created is that they tend to be static. Once a player has completed the scenario once, he knows exactly how it will behave the next time, reducing or removing the replay value of the gameplay scenario. This thesis investigates how artificial intelligence techniques can be used to define virtual worlds and interaction between entities, such as virtual humans, to dynamically generate gameplay scenarios by simulating the conflict between entities as they clash over conflicting interests in the world. The first part of this thesis introduces the vast field of artificial intelligence, how it is usually applied in games, and how new concepts are slowly trickling into the field of game artificial intelligence. Topics introduced include crowd simulation techniques, agent simulation and how one can describe arbitrary virtual worlds through the use of semantics, smart objects and fuzzy logic. The second part describes the practicalities of the implementation. Here, the game engine used to develop the prototype game world is presented and compared to other alternatives. Next, the design and implementation details of the proof of concept implementation, called the “Faction Interaction Framework”, are described in detail. The design allows for quickly defining the important resources, actions, and potential interactions between entities in a virtual world. Finally, the implementation can be run as an add-on to a virtual world, which can be used to drive scenario generation through conflict simulation. The work presented in this thesis provides a proof of concept solution for dynamically generating gameplay scenarios. By providing game developers with a pattern for defining the elements of their virtual world that is the source of conflict, the “Faction interaction framework” provides an approach to have the virtual world autonomously generate myriads of gameplay scenarios depending on user input. This has potential application especially to large, open world games, massively multiplayer online games and training simulators, where the generation of novel gameplay scenarios is challenging due to the large amount required

Development of a Self-Learning Approach Applied to Pattern Recognition and Fuzzy Control

Systeme auf Basis von Fuzzy-Regeln sind in der Entwicklung der Mustererkennung und Steuersystemen weit verbreitet verwendet. Die meisten aktuellen Methoden des Designs der Fuzzy-Regel-basierte Systeme leiden unter folgenden Problemen 1. Das Verfahren der Fuzzifizierung berücksichtigt weder die statistischen Eigenschaften noch reale Verteilung der betrachteten Daten / Signale nicht. Daher sind die generierten Fuzzy- Zugehörigkeitsfunktionen nicht wirklich in der Lage, diese Daten zu äußern. Darüber hinaus wird der Prozess der Fuzzifizierung manuell definiert. 2. Die ursprüngliche Größe der Regelbasis ist pauschal bestimmt. Diese Feststellung bedeutet, dass dieses Verfahren eine Redundanz in den verwendeten Regeln produzieren kann. Somit wird diese Redundanz zum Auftreten der Probleme von Komplexität und Dimensionalität führen. Der Prozess der Vermeidung dieser Probleme durch das Auswahlverfahren der einschlägigen Regeln kann zum Rechenaufwandsproblem führen. 3. Die Form der Fuzzy-Regel leidet unter dem Problem des Verlusts von Informationen, was wiederum zur Zuschreibung diesen betrachteten Variablen anderen unrealen Bereich führen kann. 4. Ferner wird die Anpassung der Fuzzy- Zugehörigkeitsfunktionen mit den Problemen von Komplexität und Rechenaufwand, wegen der damit verbundenen Iteration und mehrerer Parameter, zugeordnet. Auch wird diese Anpassung im Bereich jeder einzelner Regel realisiert; das heißt, der Anpassungsprozess im Bereich der gesamten Fuzzy-Regelbasis wird nicht durchgeführt

Advances in Robotics, Automation and Control

The book presents an excellent overview of the recent developments in the different areas of Robotics, Automation and Control. Through its 24 chapters, this book presents topics related to control and robot design; it also introduces new mathematical tools and techniques devoted to improve the system modeling and control. An important point is the use of rational agents and heuristic techniques to cope with the computational complexity required for controlling complex systems. Through this book, we also find navigation and vision algorithms, automatic handwritten comprehension and speech recognition systems that will be included in the next generation of productive systems developed by man