28,569 research outputs found
Intelligent manipulation technique for multi-branch robotic systems
New analytical development in kinematics planning is reported. The INtelligent KInematics Planner (INKIP) consists of the kinematics spline theory and the adaptive logic annealing process. Also, a novel framework of robot learning mechanism is introduced. The FUzzy LOgic Self Organized Neural Networks (FULOSONN) integrates fuzzy logic in commands, control, searching, and reasoning, the embedded expert system for nominal robotics knowledge implementation, and the self organized neural networks for the dynamic knowledge evolutionary process. Progress on the mechanical construction of SRA Advanced Robotic System (SRAARS) and the real time robot vision system is also reported. A decision was made to incorporate the Local Area Network (LAN) technology in the overall communication system
A survey of outlier detection methodologies
Outlier detection has been used for centuries to detect and, where appropriate, remove anomalous observations from data. Outliers arise due to mechanical faults, changes in system behaviour, fraudulent behaviour, human error, instrument error or simply through natural deviations in populations. Their detection can identify system faults and fraud before they escalate with potentially catastrophic consequences. It can identify errors and remove their contaminating effect on the data set and as such to purify the data for processing. The original outlier detection methods were arbitrary but now, principled and systematic techniques are used, drawn from the full gamut of Computer Science and Statistics. In this paper, we introduce a survey of contemporary techniques for outlier detection. We identify their respective motivations and distinguish their advantages and disadvantages in a comparative review
The VEX-93 environment as a hybrid tool for developing knowledge systems with different problem solving techniques
The paper describes VEX-93 as a hybrid environment for developing
knowledge-based and problem solver systems. It integrates methods and
techniques from artificial intelligence, image and signal processing and
data analysis, which can be mixed. Two hierarchical levels of reasoning
contains an intelligent toolbox with one upper strategic inference engine
and four lower ones containing specific reasoning models: truth-functional
(rule-based), probabilistic (causal networks), fuzzy (rule-based) and
case-based (frames). There are image/signal processing-analysis capabilities
in the form of programming languages with more than one hundred primitive
functions.
User-made programs are embeddable within knowledge basis, allowing the
combination of perception and reasoning. The data analyzer toolbox contains
a collection of numerical classification, pattern recognition and ordination
methods, with neural network tools and a data base query language at
inference engines's disposal.
VEX-93 is an open system able to communicate with external computer programs
relevant to a particular application. Metaknowledge can be used for
elaborate conclusions, and man-machine interaction includes, besides windows
and graphical interfaces, acceptance of voice commands and production of
speech output.
The system was conceived for real-world applications in general domains, but
an example of a concrete medical diagnostic support system at present under
completion as a cuban-spanish project is mentioned.
Present version of VEX-93 is a huge system composed by about one and half
millions of lines of C code and runs in microcomputers under Windows 3.1.Postprint (published version
Biologically Inspired Approaches to Automated Feature Extraction and Target Recognition
Ongoing research at Boston University has produced computational models of biological vision and learning that embody a growing corpus of scientific data and predictions. Vision models perform long-range grouping and figure/ground segmentation, and memory models create attentionally controlled recognition codes that intrinsically cornbine botton-up activation and top-down learned expectations. These two streams of research form the foundation of novel dynamically integrated systems for image understanding. Simulations using multispectral images illustrate road completion across occlusions in a cluttered scene and information fusion from incorrect labels that are simultaneously inconsistent and correct. The CNS Vision and Technology Labs (cns.bu.edulvisionlab and cns.bu.edu/techlab) are further integrating science and technology through analysis, testing, and development of cognitive and neural models for large-scale applications, complemented by software specification and code distribution.Air Force Office of Scientific Research (F40620-01-1-0423); National Geographic-Intelligence Agency (NMA 201-001-1-2016); National Science Foundation (SBE-0354378; BCS-0235298); Office of Naval Research (N00014-01-1-0624); National Geospatial-Intelligence Agency and the National Society of Siegfried Martens (NMA 501-03-1-2030, DGE-0221680); Department of Homeland Security graduate fellowshi
Self-Organizing Hierarchical Knowledge Discovery by an ARTMAP Image Fusion System
Classifying novel terrain or objects front sparse, complex data may require the resolution of conflicting information from sensors working at different times, locations, and scales, and from sources with different goals and situations. Information fusion methods can help resolve inconsistencies, as when evidence variously suggests that an object's class is car, truck, or airplane. The methods described here consider a complementary problem, supposing that information from sensors and experts is reliable though inconsistent, as when evidence suggests that an object's class is car, vehicle, and man-made. Underlying relationships among objects are assumed to be unknown to the automated system or the human user. The ARTMAP information fusion system used distributed code representations that exploit the neural network's capacity for one-to-many learning in order to produce self-organizing expert systems that discover hierarchical knowledge structures. The system infers multi-level relationships among groups of output classes, without any supervised labeling of these relationships.Air Force Office of Scientific Research (F49620-01-1-0397, AFOSR F49620-01-1-0423); Office of Naval Research (N00014-01-1-0624); National Imagery and Mapping Agency and the National Science Foundation for Siegfried Martens (NMA501-03-1-2030, DGE-0221680); Department of Homeland Securit
Survey of the State of the Art in Natural Language Generation: Core tasks, applications and evaluation
This paper surveys the current state of the art in Natural Language
Generation (NLG), defined as the task of generating text or speech from
non-linguistic input. A survey of NLG is timely in view of the changes that the
field has undergone over the past decade or so, especially in relation to new
(usually data-driven) methods, as well as new applications of NLG technology.
This survey therefore aims to (a) give an up-to-date synthesis of research on
the core tasks in NLG and the architectures adopted in which such tasks are
organised; (b) highlight a number of relatively recent research topics that
have arisen partly as a result of growing synergies between NLG and other areas
of artificial intelligence; (c) draw attention to the challenges in NLG
evaluation, relating them to similar challenges faced in other areas of Natural
Language Processing, with an emphasis on different evaluation methods and the
relationships between them.Comment: Published in Journal of AI Research (JAIR), volume 61, pp 75-170. 118
pages, 8 figures, 1 tabl
Self-Organizing Information Fusion and Hierarchical Knowledge Discovery: A New Framework Using Artmap Neural Networks
Classifying novel terrain or objects from sparse, complex data may require the resolution of conflicting information from sensors woring at different times, locations, and scales, and from sources with different goals and situations. Information fusion methods can help resolve inconsistencies, as when eveidence variously suggests that and object's class is car, truck, or airplane. The methods described her address a complementary problem, supposing that information from sensors and experts is reliable though inconsistent, as when evidence suggests that an object's class is car, vehicle, and man-made. Underlying relationships among classes are assumed to be unknown to the autonomated system or the human user. The ARTMAP information fusion system uses distributed code representations that exploit the neural network's capacity for one-to-many learning in order to produce self-organizing expert systems that discover hierachical knowlege structures. The fusion system infers multi-level relationships among groups of output classes, without any supervised labeling of these relationships. The procedure is illustrated with two image examples, but is not limited to image domain.Air Force Office of Scientific Research (F49620-01-1-0423); National Geospatial-Intelligence Agency (NMA 201-01-1-2016, NMA 501-03-1-2030); National Science Foundation (SBE-0354378, DGE-0221680); Office of Naval Research (N00014-01-1-0624); Department of Homeland Securit
QuesNet: A Unified Representation for Heterogeneous Test Questions
Understanding learning materials (e.g. test questions) is a crucial issue in
online learning systems, which can promote many applications in education
domain. Unfortunately, many supervised approaches suffer from the problem of
scarce human labeled data, whereas abundant unlabeled resources are highly
underutilized. To alleviate this problem, an effective solution is to use
pre-trained representations for question understanding. However, existing
pre-training methods in NLP area are infeasible to learn test question
representations due to several domain-specific characteristics in education.
First, questions usually comprise of heterogeneous data including content text,
images and side information. Second, there exists both basic linguistic
information as well as domain logic and knowledge. To this end, in this paper,
we propose a novel pre-training method, namely QuesNet, for comprehensively
learning question representations. Specifically, we first design a unified
framework to aggregate question information with its heterogeneous inputs into
a comprehensive vector. Then we propose a two-level hierarchical pre-training
algorithm to learn better understanding of test questions in an unsupervised
way. Here, a novel holed language model objective is developed to extract
low-level linguistic features, and a domain-oriented objective is proposed to
learn high-level logic and knowledge. Moreover, we show that QuesNet has good
capability of being fine-tuned in many question-based tasks. We conduct
extensive experiments on large-scale real-world question data, where the
experimental results clearly demonstrate the effectiveness of QuesNet for
question understanding as well as its superior applicability
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