Robustness analysis of evolutionary controller tuning using real systems

A genetic algorithm (GA) presents an excellent method for controller parameter tuning. In our work, we evolved the heading as well as the altitude controller for a small lightweight helicopter. We use the real flying robot to evaluate the GA's individuals rather than an artificially consistent simulator. By doing so we avoid the ldquoreality gaprdquo, taking the controller from the simulator to the real world. In this paper we analyze the evolutionary aspects of this technique and discuss the issues that need to be considered for it to perform well and result in robust controllers

Web Usage Mining with Evolutionary Extraction of Temporal Fuzzy Association Rules

In Web usage mining, fuzzy association rules that have a temporal property can provide useful knowledge about when associations occur. However, there is a problem with traditional temporal fuzzy association rule mining algorithms. Some rules occur at the intersection of fuzzy sets' boundaries where there is less support (lower membership), so the rules are lost. A genetic algorithm (GA)-based solution is described that uses the flexible nature of the 2-tuple linguistic representation to discover rules that occur at the intersection of fuzzy set boundaries. The GA-based approach is enhanced from previous work by including a graph representation and an improved fitness function. A comparison of the GA-based approach with a traditional approach on real-world Web log data discovered rules that were lost with the traditional approach. The GA-based approach is recommended as complementary to existing algorithms, because it discovers extra rules. (C) 2013 Elsevier B.V. All rights reserved

Supervised Control of a Flying Performing Robot using its Intrinsic Sound

We present the current results of our ongoing research in achieving efficient control of a flying robot for a wide variety of possible applications. A lightweight small indoor helicopter has been equipped with an embedded system and relatively simple sensors to achieve autonomous stable flight. The controllers have been tuned using genetic algorithms to further enhance flight stability. A number of additional sensors would need to be attached to the helicopter to enable it to sense more of its environment such as its current location or the location of obstacles like the walls of the room it is flying in. The lightweight nature of the helicopter very much restricts the amount of sensors that can be attached to it. We propose utilising the intrinsic sound signatures of the helicopter to locate it and to extract features about its current state, using another supervising robot. The analysis of this information is then sent back to the helicopter using an uplink to enable the helicopter to further stabilise its flight and correct its position and flight path without the need for additional sensors

Managing uncertainty in sound based control for an autonomous helicopter

In this paper we present our ongoing research using a multi-purpose, small and low cost autonomous helicopter platform (Flyper ). We are building on previously achieved stable control using evolutionary tuning. We propose a sound based supervised method to localise the indoor helicopter and extract meaningful information to enable the helicopter to further stabilise its flight and correct its flightpath. Due to the high amount of uncertainty in the data, we propose the use of fuzzy logic in the signal processing of the sound signature. We discuss the benefits and difficulties using type-1 and type-2 fuzzy logic in this real-time systems and give an overview of our proposed system

Temporal fuzzy association rule mining with 2-tuple linguistic representation

This paper reports on an approach that contributes towards the problem of discovering fuzzy association rules that exhibit a temporal pattern. The novel application of the 2-tuple linguistic representation identifies fuzzy association rules in a temporal context, whilst maintaining the interpretability of linguistic terms. Iterative Rule Learning (IRL) with a Genetic Algorithm (GA) simultaneously induces rules and tunes the membership functions. The discovered rules were compared with those from a traditional method of discovering fuzzy association rules and results demonstrate how the traditional method can loose information because rules occur at the intersection of membership function boundaries. New information can be mined from the proposed approach by improving upon rules discovered with the traditional method and by discovering new rules

Real-time evolution of an embedded controller for an autonomous helicopter

In this paper we evolve the parameters of a proportional, integral, and derivative (PID) controller for an unstable, complex and nonlinear system. The individuals of the applied genetic algorithm (GA) are evaluated on the actual system rather than on a simulation of it, thus avoiding the ldquoreality gaprdquo. This makes implicit a formal model identification for the implementation of a simulator. This also calls for the GA to be approached in an unusual way, where we need to consider new aspects not normally present in the usual situations using an unnaturally consistent simulator for fitness evaluation. Although elitism is used in the GAs, no monotonic increase in fitness is exhibited by the algorithm. Instead, we show that the GApsilas individuals converge towards more robust solutions

Optimized Neural Network Using Differential Evolutionary and Swarm Intelligence Optimization Algorithms for RF Power Prediction in Cognitive Radio Network: A Comparative study

Cognitive radio (CR) technology has emerged as a promising solution to many wireless communication problems including spectrum scarcity and underutilization. The a priory knowledge of Radio Frequency (RF) power (primary signals and/ or interfering signals plus noise) in the channels to be exploited by CR is of paramount importance. This will enable the selection of channel with less noise among idle (free) channels. Computational Intelligence (CI) techniques can be applied to these scenarios to predict the required RF power in the available channels to achieve optimum Quality of Service (QoS). In this paper, we developed a time domain based optimized Artificial Neural Network (ANN) model for the prediction of real world RF power within the GSM 900, Very High Frequency (VHF) and Ultra High Frequency (UHF) TV bands. The application of the models produced was found to increase the robustness of CR applications, specifically where the CR had no prior knowledge of the RF power related parameters such as signal to noise ratio, bandwidth and bit error rate. The models used, implemented a novel and innovative initial weight optimization of the ANN’s through the use of differential evolutionary and swarm intelligence algorithms. This was found to enhance the accuracy and generalization of the ANN model. For this problem, DE/best/1/bin was found to yield a better performance as compared with the other algorithms implemented

Optimized Artificial Neural Network Using Differential Evolution for Prediction of RF Power in VHF/UHF TV and GSM 900 Bands for Cognitive Radio Networks

Cognitive radio (CR) technology has emerged as a promising solution to many wireless communication problems including spectrum scarcity and underutilization. The knowledge of Radio Frequency (RF) power (primary signals and/ or interfering signals plus noise) in the channels to be exploited by CR is of paramount importance, not just the existence or absence of primary users. If a channel is known to be noisy, even in the absence of primary users, using such channels will demand large quantities of radio resources (transmission power, bandwidth, etc) in order to deliver an acceptable quality of service to users. Computational Intelligence (CI) techniques can be applied to these scenarios to predict the required RF power in the available channels to achieve optimum Quality of Service (QoS). While most of the prediction schemes are based on the determination of spectrum holes, those designed for power prediction use known radio parameters such as signal to noise ratio (SNR), bandwidth, and bit error rate. Some of these parameters may not be available or known to cognitive users. In this paper, we developed a time domain based optimized Artificial Neural Network (ANN) model for the prediction of real world RF power within the GSM 900, Very High Frequency (VHF) and Ultra High Frequency (UHF) TV bands. The application of the models produced was found to increase the robustness of CR applications, specifically where the CR had no prior knowledge of the RF power related parameters. The models used implemented a novel and innovative initial weight optimization of the ANN’s through the use of differential evolutionary algorithms. This was found to enhance the accuracy and generalization of the approac

Spectrum Occupancy Survey in Leicester, UK, For Cognitive Radio Application

Cognitive radio (CR) technology has emerged as a promising solution to many wireless communication problems including spectrum scarcity and underutilization. Knowing the current state of spectrum utilization in frequency, time and spatial domain will enhance the implementation of CR network. In this paper, we evaluate the spectrum utilization of some selected bands in Leicester city, UK; based on long time spectrum measurements using energy detection method. This study provides evidence of gross underutilization of some licenses spectrum which can be exploited by CR for efficient spectrum utilization

Spectrum Hole Prediction And White Space Ranking For Cognitive Radio Network Using An Artificial Neural Network

With spectrum becoming an ever scarcer resource, it is critical that new communication systems utilize all the available frequency bands as efficiently as possible in time, frequency and spatial domain. rHowever, spectrum allocation policies most of the licensed spectrums grossly underutilized while the unlicensed spectrums are overcrowded. Hence, all future wireless communication devices beequipped with cognitive capability to maximize quality of service (QoS); require a lot of time and energartificial intelligence and machine learning in cognitive radio deliver optimum performance. In this paper, we proposed a novel way of spectrum holes prediction using artificial neural network (ANN). The ANN was trained to adapt to the radio spectrum traffic of 20 channels and the trained network was used for prediction of future spectrum holes. The input of the neural network consist of a time domain vector of length six i.e. minute, hour, date, day, week and month. The output is a vector of length 20 each representing the probability of the channel being idle. The channels are ranked in order of decreasing probability of being idleminimizing We assumed that all the channels have the same noise and quality of service; and only one vacant channel is needed for communication. The result of the spectrum holes search using ANN was compared with that of blind linear and blind stochastic search and was found to be superior. The performance of the ANN that was trained to predict the probability of the channels being idle outperformed the ANN that will predict the exact channel states (busy or idle). In the ANN that was trained to predict the exact channels states, all channels predicted to be idle are randomly searched until the first spectrum hole was found; no information about search direction regarding which channel should be sensed first