IEEE transactions on neural networks最新文献

Multiple robot cooperation is a challenging and critical issue in robotics. To conduct the cooperative hunting by multirobots in unknown and dynamic environments, the robots not only need to take into account basic problems (such as searching, path planning, and collision avoidance), but also need to cooperate in order to pursue and catch the evaders efficiently. In this paper, a novel approach based on a bioinspired neural network is proposed for the real-time cooperative hunting by multirobots, where the locations of evaders and the environment are unknown and changing. The bioinspired neural network is used for cooperative pursuing by the multirobot team. Some other algorithms are used to enable the robots to catch the evaders efficiently, such as the dynamic alliance and formation construction algorithm. In the proposed approach, the pursuing alliances can dynamically change and the robot motion can be adjusted in real-time to pursue the evader cooperatively, to guarantee that all the evaders can be caught efficiently. The proposed approach can deal with various situations such as when some robots break down, the environment has different boundary shapes, or the obstacles are linked with different shapes. The simulation results show that the proposed approach is capable of guiding the robots to achieve the hunting of multiple evaders in real-time efficiently.

This paper is reports an extension of our previous investigations on adding transparency to neural networks. We focus on a class of linear priors (LPs), such as symmetry, ranking list, boundary, monotonicity, etc., which represent either linear-equality or linear-inequality priors. A generalized constraint neural network-LPs (GCNN-LPs) model is studied. Unlike other existing modeling approaches, the GCNN-LP model exhibits its advantages. First, any LP is embedded by an explicitly structural mode, which may add a higher degree of transparency than using a pure algorithm mode. Second, a direct elimination and least squares approach is adopted to study the model, which produces better performances in both accuracy and computational cost over the Lagrange multiplier techniques in experiments. Specific attention is paid to both "hard (strictly satisfied)" and "soft (weakly satisfied)" constraints for regression problems. Numerical investigations are made on synthetic examples as well as on the real-world datasets. Simulation results demonstrate the effectiveness of the proposed modeling approach in comparison with other existing approaches.

This paper analyzes the expected time evolution of an auto-regressive (AR) process using self-organized maps (SOM). It investigates how a SOM captures the time information given by the AR input process and how the transitions from one neuron to another one can be understood under a probabilistic perspective. In particular, regions of the map into which the AR process is expected to move are identified. This characterization allows detecting anomalous changes in the AR process structure or parameters. On the basis of the theoretical results, an anomaly detection method is proposed and applied to a real industrial process.

For a complex industrial system, its multivariable and nonlinear nature generally make it very difficult, if not impossible, to obtain an accurate model, especially when the model structure is unknown. The control of this class of complex systems is difficult to handle by the traditional controller designs around their operating points. This paper, however, explores the concepts of controller-driven model and virtual unmodeled dynamics to propose a new design framework. The design consists of two controllers with distinct functions. First, using input and output data, a self-tuning controller is constructed based on a linear controller-driven model. Then the output signals of the controller-driven model are compared with the true outputs of the system to produce so-called virtual unmodeled dynamics. Based on the compensator of the virtual unmodeled dynamics, the second controller based on a nonlinear controller-driven model is proposed. Those two controllers are integrated by an adaptive switching control algorithm to take advantage of their complementary features: one offers stabilization function and another provides improved performance. The conditions on the stability and convergence of the closed-loop system are analyzed. Both simulation and experimental tests on a heavily coupled nonlinear twin-tank system are carried out to confirm the effectiveness of the proposed method.

The multidimensional blast furnace system is one of the most complex industrial systems and, as such, there are still many unsolved theoretical and experimental difficulties, such as silicon prediction and blast furnace automation. For this reason, this paper is concerned with developing data-driven models based on the Volterra series for this complex system. Three kinds of different low-order Volterra filters are designed to predict the hot metal silicon content collected from a pint-sized blast furnace, in which a sliding window technique is used to update the filter kernels timely. The predictive results indicate that the linear Volterra predictor can describe the evolvement of the studied silicon sequence effectively with the high percentage of hitting the target, very low root mean square error and satisfactory confidence level about the reliability of the future prediction. These advantages and the low computational complexity reveal that the sliding-window linear Volterra filter is full of potential for multidimensional blast furnace system. Also, the lack of the constructed Volterra models is analyzed and the possible direction of future investigation is pointed out.

Spiking neural networks (SNNs) are considered to be computationally more powerful than conventional NNs. However, the capability of SNNs in solving complex real-world problems remains to be demonstrated. In this paper, we propose a substantial extension of the Bienenstock, Cooper, and Munro (BCM) SNN model, in which the plasticity parameters are regulated by a gene regulatory network (GRN). Meanwhile, the dynamics of the GRN is dependent on the activation levels of the BCM neurons. We term the whole model "GRN-BCM." To demonstrate its computational power, we first compare the GRN-BCM with a standard BCM, a hidden Markov model, and a reservoir computing model on a complex time series classification problem. Simulation results indicate that the GRN-BCM significantly outperforms the compared models. The GRN-BCM is then applied to two widely used datasets for human behavior recognition. Comparative results on the two datasets suggest that the GRN-BCM is very promising for human behavior recognition, although the current experiments are still limited to the scenarios in which only one object is moving in the considered video sequences.

In this brief, we develop data-based methods for analyzing the controllability and observability of linear discrete-time systems which have unknown system parameters. These data-based methods will only use measured data to construct the controllability matrix as well as the observability matrix, in order to verify the corresponding properties. The advantages of our methods are threefold. First, they can directly verify system properties based on measured data without knowing system parameters. Second, our calculation precision is higher than traditional approaches, which need to identify the unknown parameters. Third, our methods have lower computational complexities when constructing the controllability and observability matrices.

This brief paper focuses on the identification of nonlinear hybrid dynamical systems, i.e., systems switching between multiple nonlinear dynamical behaviors. Thus the aim is to learn an ensemble of submodels from a single set of input-output data in a regression setting with no prior knowledge on the grouping of the data points into similar behaviors. To be able to approximate arbitrary nonlinearities, kernel submodels are considered. However, in order to maintain efficiency when applying the method to large data sets, a preprocessing step is required in order to fix the submodel sizes and limit the number of optimization variables. This brief paper proposes four approaches, respectively inspired by the fixed-size least-squares support vector machines, the feature vector selection method, the kernel principal component regression and a modification of the latter, in order to deal with this issue and build sparse kernel submodels. These are compared in numerical experiments, which show that the proposed approach achieves the simultaneous classification of data points and approximation of the nonlinear behaviors in an efficient and accurate manner.

In this paper, a data-driven model-free adaptive control (MFAC) approach is proposed based on a new dynamic linearization technique (DLT) with a novel concept called pseudo-partial derivative for a class of general multiple-input and multiple-output nonlinear discrete-time systems. The DLT includes compact form dynamic linearization, partial form dynamic linearization, and full form dynamic linearization. The main feature of the approach is that the controller design depends only on the measured input/output data of the controlled plant. Analysis and extensive simulations have shown that MFAC guarantees the bounded-input bounded-output stability and the tracking error convergence.