Decision tree learning for intelligent mobile robot navigation

The replication of human intelligence, learning and reasoning by means of computer algorithms is termed Artificial Intelligence (Al) and the interaction of such algorithms with the physical world can be achieved using robotics. The work described in this thesis investigates the applications of concept learning (an approach which takes its inspiration from biological motivations and from survival instincts in particular) to robot control and path planning. The methodology of concept learning has been applied using learning decision trees (DTs) which induce domain knowledge from a finite set of training vectors which in turn describe systematically a physical entity and are used to train a robot to learn new concepts and to adapt its behaviour. To achieve behaviour learning, this work introduces the novel approach of hierarchical learning and knowledge decomposition to the frame of the reactive robot architecture. Following the analogy with survival instincts, the robot is first taught how to survive in very simple and homogeneous environments, namely a world without any disturbances or any kind of "hostility". Once this simple behaviour, named a primitive, has been established, the robot is trained to adapt new knowledge to cope with increasingly complex environments by adding further worlds to its existing knowledge. The repertoire of the robot behaviours in the form of symbolic knowledge is retained in a hierarchy of clustered decision trees (DTs) accommodating a number of primitives. To classify robot perceptions, control rules are synthesised using symbolic knowledge derived from searching the hierarchy of DTs. A second novel concept is introduced, namely that of multi-dimensional fuzzy associative memories (MDFAMs). These are clustered fuzzy decision trees (FDTs) which are trained locally and accommodate specific perceptual knowledge. Fuzzy logic is incorporated to deal with inherent noise in sensory data and to merge conflicting behaviours of the DTs. In this thesis, the feasibility of the developed techniques is illustrated in the robot applications, their benefits and drawbacks are discussed

A Review of Fault Diagnosing Methods in Power Transmission Systems

Transient stability is important in power systems. Disturbances like faults need to be segregated to restore transient stability. A comprehensive review of fault diagnosing methods in the power transmission system is presented in this paper. Typically, voltage and current samples are deployed for analysis. Three tasks/topics; fault detection, classification, and location are presented separately to convey a more logical and comprehensive understanding of the concepts. Feature extractions, transformations with dimensionality reduction methods are discussed. Fault classification and location techniques largely use artificial intelligence (AI) and signal processing methods. After the discussion of overall methods and concepts, advancements and future aspects are discussed. Generalized strengths and weaknesses of different AI and machine learning-based algorithms are assessed. A comparison of different fault detection, classification, and location methods is also presented considering features, inputs, complexity, system used and results. This paper may serve as a guideline for the researchers to understand different methods and techniques in this field

A novel approach to dynamic profiling of e-customers considering click stream data and online reviews

In this paper, we present an approach for mining change in customer’s behavior for the purpose of maintaining robust profiling model over time. Most of previous studies leave important questions unanswered: In developing B2C e-commerce strategies, how do managers implicitly load customer’s profiles based on their satisfaction over the online store characteristics? And: What kind of feedback segments do they have? Our proposed approach does not force customers to explicitly express their preference information over the online service but rather capture their preference from their online activities. The challenge does not only lay in analyzing how customer’s classifier model change and when it does so but also to adapt it to the customer’s click stream data using a new decision tree generation algorithm which takes as inputs new set of variables; categorical, continuous and fuzzy variables. Customer’s online reviews rates are considered as classes. Experiments show that this work performed well in identifying relevant customer’s stream data to judge the chinese e-commerce website “Tmall”. The extracted values of the website’s features are also useful to identifying the satisfaction level when the customer’s rate is not available.

Machine learning based data pre-processing for the purpose of medical data mining and decision support

Building an accurate and reliable model for prediction for different application domains, is one of the most significant challenges in knowledge discovery and data mining. Sometimes, improved data quality is itself the goal of the analysis, usually to improve processes in a production database and the designing of decision support. As medicine moves forward there is a need for sophisticated decision support systems that make use of data mining to support more orthodox knowledge engineering and Health Informatics practice. However, the real-life medical data rarely complies with the requirements of various data mining tools. It is often inconsistent, noisy, containing redundant attributes, in an unsuitable format, containing missing values and imbalanced with regards to the outcome class label.Many real-life data sets are incomplete, with missing values. In medical data mining the problem with missing values has become a challenging issue. In many clinical trials, the medical report pro-forma allow some attributes to be left blank, because they are inappropriate for some class of illness or the person providing the information feels that it is not appropriate to record the values for some attributes. The research reported in this thesis has explored the use of machine learning techniques as missing value imputation methods. The thesis also proposed a new way of imputing missing value by supervised learning. A classifier was used to learn the data patterns from a complete data sub-set and the model was later used to predict the missing values for the full dataset. The proposed machine learning based missing value imputation was applied on the thesis data and the results are compared with traditional Mean/Mode imputation. Experimental results show that all the machine learning methods which we explored outperformed the statistical method (Mean/Mode).The class imbalance problem has been found to hinder the performance of learning systems. In fact, most of the medical datasets are found to be highly imbalance in their class label. The solution to this problem is to reduce the gap between the minority class samples and the majority class samples. Over-sampling can be applied to increase the number of minority class sample to balance the data. The alternative to over-sampling is under-sampling where the size of majority class sample is reduced. The thesis proposed one cluster based under-sampling technique to reduce the gap between the majority and minority samples. Different under-sampling and over-sampling techniques were explored as ways to balance the data. The experimental results show that for the thesis data the new proposed modified cluster based under-sampling technique performed better than other class balancing techniques.In further research it is found that the class imbalance problem not only affects the classification performance but also has an adverse effect on feature selection. The thesis proposed a new framework for feature selection for class imbalanced datasets. The research found that, using the proposed framework the classifier needs less attributes to show high accuracy, and more attributes are needed if the data is highly imbalanced.The research described in the thesis contains the flowing four novel main contributions.a) Improved data mining methodology for mining medical datab) Machine learning based missing value imputation methodc) Cluster Based semi-supervised class balancing methodd) Feature selection framework for class imbalance datasetsThe performance analysis and comparative study show that the use of proposed method of missing value imputation, class balancing and feature selection framework can provide an effective approach to data preparation for building medical decision support

On Predicting Learning Styles in Conversational Intelligent Tutoring Systems using Fuzzy Decision Trees

Intelligent Tutoring Systems personalise learning for students with different backgrounds, abilities, behaviours and knowledge. One way to personalise learning is through consideration of individual differences in preferred learning style. OSCAR is the name of a Conversational Intelligent Tutoring System that models a person's learning style using natural language dialogue during tutoring in order to dynamically predict, and personalise, their tutoring session. Prediction of learning style is undertaken by capturing independent behaviour variables during the tutoring conversation with the highest value variable determining the student's learning style. A weakness of this approach is that it does not take into consideration the interactions between behaviour variables and, due to the uncertainty inherently present in modelling learning styles, small differences in behaviour can lead to incorrect predictions. Consequently, the learner is presented with tutoring material not suited to their learning style. This paper proposes a new method that uses fuzzy decision trees to build a series of fuzzy predictive models combining these variables for all dimensions of the Felder Silverman Learning Styles model. Results using live data show the fuzzy models have increased the predictive accuracy of OSCAR-CITS across four learning style dimensions and facilitated the discovery of some interesting relationships amongst behaviour variables

A soft computing decision support framework for e-learning

Tesi per compendi de publicacions.Supported by technological development and its impact on everyday activities, e-Learning and b-Learning (Blended Learning) have experienced rapid growth mainly in higher education and training. Its inherent ability to break both physical and cultural distances, to disseminate knowledge and decrease the costs of the teaching-learning process allows it to reach anywhere and anyone. The educational community is divided as to its role in the future. It is believed that by 2019 half of the world's higher education courses will be delivered through e-Learning. While supporters say that this will be the educational mode of the future, its detractors point out that it is a fashion, that there are huge rates of abandonment and that their massification and potential low quality, will cause its fall, assigning it a major role of accompanying traditional education. There are, however, two interrelated features where there seems to be consensus. On the one hand, the enormous amount of information and evidence that Learning Management Systems (LMS) generate during the e-Learning process and which is the basis of the part of the process that can be automated. In contrast, there is the fundamental role of e-tutors and etrainers who are guarantors of educational quality. These are continually overwhelmed by the need to provide timely and effective feedback to students, manage endless particular situations and casuistics that require decision making and process stored information. In this sense, the tools that e-Learning platforms currently provide to obtain reports and a certain level of follow-up are not sufficient or too adequate. It is in this point of convergence Information-Trainer, where the current developments of the LMS are centered and it is here where the proposed thesis tries to innovate. This research proposes and develops a platform focused on decision support in e-Learning environments. Using soft computing and data mining techniques, it extracts knowledge from the data produced and stored by e-Learning systems, allowing the classification, analysis and generalization of the extracted knowledge. It includes tools to identify models of students' learning behavior and, from them, predict their future performance and enable trainers to provide adequate feedback. Likewise, students can self-assess, avoid those ineffective behavior patterns, and obtain real clues about how to improve their performance in the course, through appropriate routes and strategies based on the behavioral model of successful students. The methodological basis of the mentioned functionalities is the Fuzzy Inductive Reasoning (FIR), which is particularly useful in the modeling of dynamic systems. During the development of the research, the FIR methodology has been improved and empowered by the inclusion of several algorithms. First, an algorithm called CR-FIR, which allows determining the Causal Relevance that have the variables involved in the modeling of learning and assessment of students. In the present thesis, CR-FIR has been tested on a comprehensive set of classical test data, as well as real data sets, belonging to different areas of knowledge. Secondly, the detection of atypical behaviors in virtual campuses was approached using the Generative Topographic Mapping (GTM) methodology, which is a probabilistic alternative to the well-known Self-Organizing Maps. GTM was used simultaneously for clustering, visualization and detection of atypical data. The core of the platform has been the development of an algorithm for extracting linguistic rules in a language understandable to educational experts, which helps them to obtain patterns of student learning behavior. In order to achieve this functionality, the LR-FIR algorithm (Extraction of Linguistic Rules in FIR) was designed and developed as an extension of FIR that allows both to characterize general behavior and to identify interesting patterns. In the case of the application of the platform to several real e-Learning courses, the results obtained demonstrate its feasibility and originality. The teachers' perception about the usability of the tool is very good, and they consider that it could be a valuable resource to mitigate the time requirements of the trainer that the e-Learning courses demand. The identification of student behavior models and prediction processes have been validated as to their usefulness by expert trainers. LR-FIR has been applied and evaluated in a wide set of real problems, not all of them in the educational field, obtaining good results. The structure of the platform makes it possible to assume that its use is potentially valuable in those domains where knowledge management plays a preponderant role, or where decision-making processes are a key element, e.g. ebusiness, e-marketing, customer management, to mention just a few. The Soft Computing tools used and developed in this research: FIR, CR-FIR, LR-FIR and GTM, have been applied successfully in other real domains, such as music, medicine, weather behaviors, etc.Soportado por el desarrollo tecnológico y su impacto en las diferentes actividades cotidianas, el e-Learning (o aprendizaje electrónico) y el b-Learning (Blended Learning o aprendizaje mixto), han experimentado un crecimiento vertiginoso principalmente en la educación superior y la capacitación. Su habilidad inherente para romper distancias tanto físicas como culturales, para diseminar conocimiento y disminuir los costes del proceso enseñanza aprendizaje le permite llegar a cualquier sitio y a cualquier persona. La comunidad educativa se encuentra dividida en cuanto a su papel en el futuro. Se cree que para el año 2019 la mitad de los cursos de educación superior del mundo se impartirá a través del e-Learning. Mientras que los partidarios aseguran que ésta será la modalidad educativa del futuro, sus detractores señalan que es una moda, que hay enormes índices de abandono y que su masificación y potencial baja calidad, provocará su caída, reservándole un importante papel de acompañamiento a la educación tradicional. Hay, sin embargo, dos características interrelacionadas donde parece haber consenso. Por un lado, la enorme generación de información y evidencias que los sistemas de gestión del aprendizaje o LMS (Learning Management System) generan durante el proceso educativo electrónico y que son la base de la parte del proceso que se puede automatizar. En contraste, está el papel fundamental de los e-tutores y e-formadores que son los garantes de la calidad educativa. Éstos se ven continuamente desbordados por la necesidad de proporcionar retroalimentación oportuna y eficaz a los alumnos, gestionar un sin fin de situaciones particulares y casuísticas que requieren toma de decisiones y procesar la información almacenada. En este sentido, las herramientas que las plataformas de e-Learning proporcionan actualmente para obtener reportes y cierto nivel de seguimiento no son suficientes ni demasiado adecuadas. Es en este punto de convergencia Información-Formador, donde están centrados los actuales desarrollos de los LMS y es aquí donde la tesis que se propone pretende innovar. La presente investigación propone y desarrolla una plataforma enfocada al apoyo en la toma de decisiones en ambientes e-Learning. Utilizando técnicas de Soft Computing y de minería de datos, extrae conocimiento de los datos producidos y almacenados por los sistemas e-Learning permitiendo clasificar, analizar y generalizar el conocimiento extraído. Incluye herramientas para identificar modelos del comportamiento de aprendizaje de los estudiantes y, a partir de ellos, predecir su desempeño futuro y permitir a los formadores proporcionar una retroalimentación adecuada. Así mismo, los estudiantes pueden autoevaluarse, evitar aquellos patrones de comportamiento poco efectivos y obtener pistas reales acerca de cómo mejorar su desempeño en el curso, mediante rutas y estrategias adecuadas a partir del modelo de comportamiento de los estudiantes exitosos. La base metodológica de las funcionalidades mencionadas es el Razonamiento Inductivo Difuso (FIR, por sus siglas en inglés), que es particularmente útil en el modelado de sistemas dinámicos. Durante el desarrollo de la investigación, la metodología FIR ha sido mejorada y potenciada mediante la inclusión de varios algoritmos. En primer lugar un algoritmo denominado CR-FIR, que permite determinar la Relevancia Causal que tienen las variables involucradas en el modelado del aprendizaje y la evaluación de los estudiantes. En la presente tesis, CR-FIR se ha probado en un conjunto amplio de datos de prueba clásicos, así como conjuntos de datos reales, pertenecientes a diferentes áreas de conocimiento. En segundo lugar, la detección de comportamientos atípicos en campus virtuales se abordó mediante el enfoque de Mapeo Topográfico Generativo (GTM), que es una alternativa probabilística a los bien conocidos Mapas Auto-organizativos. GTM se utilizó simultáneamente para agrupamiento, visualización y detección de datos atípicos. La parte medular de la plataforma ha sido el desarrollo de un algoritmo de extracción de reglas lingüísticas en un lenguaje entendible para los expertos educativos, que les ayude a obtener los patrones del comportamiento de aprendizaje de los estudiantes. Para lograr dicha funcionalidad, se diseñó y desarrolló el algoritmo LR-FIR, (extracción de Reglas Lingüísticas en FIR, por sus siglas en inglés) como una extensión de FIR que permite tanto caracterizar el comportamiento general, como identificar patrones interesantes. En el caso de la aplicación de la plataforma a varios cursos e-Learning reales, los resultados obtenidos demuestran su factibilidad y originalidad. La percepción de los profesores acerca de la usabilidad de la herramienta es muy buena, y consideran que podría ser un valioso recurso para mitigar los requerimientos de tiempo del formador que los cursos e-Learning exigen. La identificación de los modelos de comportamiento de los estudiantes y los procesos de predicción han sido validados en cuanto a su utilidad por los formadores expertos. LR-FIR se ha aplicado y evaluado en un amplio conjunto de problemas reales, no todos ellos del ámbito educativo, obteniendo buenos resultados. La estructura de la plataforma permite suponer que su utilización es potencialmente valiosa en aquellos dominios donde la administración del conocimiento juegue un papel preponderante, o donde los procesos de toma de decisiones sean una pieza clave, por ejemplo, e-business, e-marketing, administración de clientes, por mencionar sólo algunos. Las herramientas de Soft Computing utilizadas y desarrolladas en esta investigación: FIR, CR-FIR, LR-FIR y GTM, ha sido aplicadas con éxito en otros dominios reales, como música, medicina, comportamientos climáticos, etc.Postprint (published version

Vision-based neural network classifiers and their applications

A thesis submitted for the degree of Doctor of Philosophy of University of LutonVisual inspection of defects is an important part of quality assurance in many fields of production. It plays a very useful role in industrial applications in order to relieve human inspectors and improve the inspection accuracy and hence increasing productivity. Research has previously been done in defect classification of wood veneers using techniques such as neural networks, and a certain degree of success has been achieved. However, to improve results in tenus of both classification accuracy and running time are necessary if the techniques are to be widely adopted in industry, which has motivated this research. This research presents a method using rough sets based neural network with fuzzy input (RNNFI). Variable precision rough set (VPRS) method is proposed to remove redundant features utilising the characteristics of VPRS for data analysis and processing. The reduced data is fuzzified to represent the feature data in a more suitable foml for input to an improved BP neural network classifier. The improved BP neural network classifier is improved in three aspects: additional momentum, self-adaptive learning rates and dynamic error segmenting. Finally, to further consummate the classifier, a uniform design CUD) approach is introduced to optimise the key parameters because UD can generate a minimal set of uniform and representative design points scattered within the experiment domain. Optimal factor settings are achieved using a response surface (RSM) model and the nonlinear quadratic programming algorithm (NLPQL). Experiments have shown that the hybrid method is capable of classifying the defects of wood veneers with a fast convergence speed and high classification accuracy, comparing with other methods such as a neural network with fuzzy input and a rough sets based neural network. The research has demonstrated a methodology for visual inspection of defects, especially for situations where there is a large amount of data and a fast running speed is required. It is expected that this method can be applied to automatic visual inspection for production lines of other products such as ceramic tiles and strip steel

Generalized FLIC: Learning with Misclassification for Binary Classifiers

This work formally introduces a generalized fuzzy logic and interval clustering (FLIC) technique which, when integrated with existing supervised learning algorithms, improves their performance. FLIC is a method that was first integrated with neural network in order to improve neural network's performance in drug discovery using high throughput screening (HTS). This research strictly focuses on binary classification problems and generalizes the FLIC in order to incorporate it with other machine learning algorithms. In most binary classification problems, the class boundary is not linear. This pose a major problem when the number of outliers are significantly high, degrading the performance of the supervised learning function. FLIC identifies these misclassifications before the training set is introduced to the learning algorithm. This allows the supervised learning algorithm to learn more efficiently since it is now aware of those misclassifications. Although the proposed method performs well with most binary classification problems, it does significantly well for data set with high class asymmetry. The proposed method has been tested on four well known data sets of which three are from UCI Machine Learning repository and one from BigML. Tests have been conducted with three well known supervised learning techniques: Decision Tree, Logistic Regression and Naive Bayes. The results from the experiments show significant improvement in performance. The paper begins with a formal introduction to the core idea this research is based upon. It then discusses a list of other methods that have either inspired this research or have been referred to, in order to formalize the techniques. Subsequent sections discuss the methodology and the algorithm which is followed by results and conclusion

DESIGN OF REAL-TIME FUZZY LOGIC PSS BASED ON PMUs FOR DAMPING LOW FREQUENCY OSCILLATIONS

Poorly damped low frequency oscillations is one of the main problems threatening safe and stable operation of the interconnected power systems and reducing the capability of transmission the power. The generator's excitation system has been supplemented with the Power System Stabilizer (PSS) in order to improve the damping of these low oscillations. In the latest smart power grids, the Phasor Measurement Units (PMUs) become a fundamental element in the monitoring, protection and control applications as PMU signals are more accurate than the conventional measurement units and real time GPS stamped. In this study, Fuzzy Power System Stabilizer (FPSS) has been designed and its performance in damping inter-are oscillations compared with the conventional PSS (CPSS) based on the simulation with MATLAB/Simulink model. The results of the simulation with the Simulink model proved that the performance of the designed FPSS in damping inter-area oscillation is better than the CPSS. One of the main features of fuzzy controller is that it doesn't require mathematical modeling as it is designed based on the time-domain and the operator experience while, in contrast, the conventional PSS requires to be designed in the frequency domain. Real Time Digital Simulator (RTDS) has been used to develop the real-time models of the test systems. The time-domain simulations with the RTDS model when the system subjected to the large disturbance (three-phase to ground fault) have been performed to show that the designed FPSS improved the damping of the oscillations effectively. The simulation results have been verified by modal analysis

Methods of condition monitoring and fault detection for electrical machines

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