Pub Date : 2008-12-01DOI: 10.1504/IJISTA.2010.030201
Tian Fuxiang, Wang Xingsong
In some cases, tendon-sheath transmission systems were used to transmit power into work places through complex paths, such as the small narrow crevices possibly existed in the ruins of disasters or complex pipelines. Thus, the tendon-sheath systems might work in arbitrarily curved shape. Based on the results in constant curvature, the transmission characteristics of tendon-sheath in arbitrarily curved shape were investigated in this paper. It was showed that the transmission characteristics were independent of the tendon torsion. By considering static balance of a differential tendon element with Coulomb friction, the transmission characteristics were formulated in terms of total curvature and friction coefficient. The experiment results showed that the formulas of the transmission characteristics were correct only when the change of the input force was slow enough, which was inconsistent with the static balance assumption during formulation. A robot with a tendon-sheath transmission system was designed, which could finish some dexterous actions in the narrow spaces.
{"title":"The design of a tendon-sheath-driven robot","authors":"Tian Fuxiang, Wang Xingsong","doi":"10.1504/IJISTA.2010.030201","DOIUrl":"https://doi.org/10.1504/IJISTA.2010.030201","url":null,"abstract":"In some cases, tendon-sheath transmission systems were used to transmit power into work places through complex paths, such as the small narrow crevices possibly existed in the ruins of disasters or complex pipelines. Thus, the tendon-sheath systems might work in arbitrarily curved shape. Based on the results in constant curvature, the transmission characteristics of tendon-sheath in arbitrarily curved shape were investigated in this paper. It was showed that the transmission characteristics were independent of the tendon torsion. By considering static balance of a differential tendon element with Coulomb friction, the transmission characteristics were formulated in terms of total curvature and friction coefficient. The experiment results showed that the formulas of the transmission characteristics were correct only when the change of the input force was slow enough, which was inconsistent with the static balance assumption during formulation. A robot with a tendon-sheath transmission system was designed, which could finish some dexterous actions in the narrow spaces.","PeriodicalId":38712,"journal":{"name":"International Journal of Intelligent Systems Technologies and Applications","volume":"8 1","pages":"215-230"},"PeriodicalIF":0.0,"publicationDate":"2008-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://sci-hub-pdf.com/10.1504/IJISTA.2010.030201","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"67209170","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-06-01DOI: 10.1504/IJISTA.2007.012478
R. Schatten, N. Goerke
This paper describes a supervised, edge adaptive map. The map is defined similar to a SOM consisting of neurons connected by edges. In contradiction to a SOM it is not the positions of the neurons which are adapted, rather it is the distance between them. Thus, after the learning process the neurons represent a mapping of the input data while the neurons are soleley trained using the distances between the input data points. A supervised, edge adaptive map can be used to learn lower dimensional representations of high dimensional input data. Furthermore, it can be applied to determine the positions of landmarks when only the distances between the landmarks are known.
{"title":"Supervised, edge adaptive maps","authors":"R. Schatten, N. Goerke","doi":"10.1504/IJISTA.2007.012478","DOIUrl":"https://doi.org/10.1504/IJISTA.2007.012478","url":null,"abstract":"This paper describes a supervised, edge adaptive map. The map is defined similar to a SOM consisting of neurons connected by edges. In contradiction to a SOM it is not the positions of the neurons which are adapted, rather it is the distance between them. Thus, after the learning process the neurons represent a mapping of the input data while the neurons are soleley trained using the distances between the input data points. A supervised, edge adaptive map can be used to learn lower dimensional representations of high dimensional input data. Furthermore, it can be applied to determine the positions of landmarks when only the distances between the landmarks are known.","PeriodicalId":38712,"journal":{"name":"International Journal of Intelligent Systems Technologies and Applications","volume":"37 3 1","pages":"23-32"},"PeriodicalIF":0.0,"publicationDate":"2007-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"90467698","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-06-01DOI: 10.1504/IJISTA.2007.012491
N. Goerke, Timo Henne
In this paper we describe an approach of controlling an autonomous robot by means of a hierarchical control structure, with a learning action selection. Since Damasio's "Descartes' error" in 1994 the number of approaches to action selection that use internal values, derived from psychological models of emotions or drives has increased significantly. The approach realises a learning action selection mechanism in a hierarchy of sensory and actuatory layers. The sensory values yield the internal states, as a basis for action selection. In addition they are used to calculate the reinforcement signal that trains the action selection.
{"title":"Controlling an autonomous agent using internal value based action selection","authors":"N. Goerke, Timo Henne","doi":"10.1504/IJISTA.2007.012491","DOIUrl":"https://doi.org/10.1504/IJISTA.2007.012491","url":null,"abstract":"In this paper we describe an approach of controlling an autonomous robot by means of a hierarchical control structure, with a learning action selection. Since Damasio's \"Descartes' error\" in 1994 the number of approaches to action selection that use internal values, derived from psychological models of emotions or drives has increased significantly. The approach realises a learning action selection mechanism in a hierarchy of sensory and actuatory layers. The sensory values yield the internal states, as a basis for action selection. In addition they are used to calculate the reinforcement signal that trains the action selection.","PeriodicalId":38712,"journal":{"name":"International Journal of Intelligent Systems Technologies and Applications","volume":"28 5","pages":"165-175"},"PeriodicalIF":0.0,"publicationDate":"2007-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72606593","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-06-01DOI: 10.1504/IJISTA.2007.012485
N. Goerke, F. Kintzler, Bernd Brüggemann
We propose a method to use the classification capabilities of self organising neural networks to extract symbolic information from raw data. The Multi-SOM (M-SOM) approach is a variant of Self Organising Maps (SOM). Multi-SOMS consist of a set of partner SOMs, trained simultaneously and in concurrence to each other, to adapt to different classes. The trained M-SOM transforms the non-linear time series of a strange attractor into a stream of symbols, adequate for further classification or for control tasks. We are convinced, that using the Multi-SOM approch for classification, gives a variety of new applications.
{"title":"Multi-SOMs for classification","authors":"N. Goerke, F. Kintzler, Bernd Brüggemann","doi":"10.1504/IJISTA.2007.012485","DOIUrl":"https://doi.org/10.1504/IJISTA.2007.012485","url":null,"abstract":"We propose a method to use the classification capabilities of self organising neural networks to extract symbolic information from raw data. The Multi-SOM (M-SOM) approach is a variant of Self Organising Maps (SOM). Multi-SOMS consist of a set of partner SOMs, trained simultaneously and in concurrence to each other, to adapt to different classes. The trained M-SOM transforms the non-linear time series of a strange attractor into a stream of symbols, adequate for further classification or for control tasks. We are convinced, that using the Multi-SOM approch for classification, gives a variety of new applications.","PeriodicalId":38712,"journal":{"name":"International Journal of Intelligent Systems Technologies and Applications","volume":"2008 1","pages":"99-107"},"PeriodicalIF":0.0,"publicationDate":"2007-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"89874056","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-06-01DOI: 10.1504/IJISTA.2007.012483
Mingwei Yuan, Ping Jiang, Zuren Feng
Internet based distributed collaborative commerce must resolve two problems first. One is what the organisation shape is and the other is how to establish an efficient and active organisation. In this paper, we focus on the organisation formation and propose a dynamic self-organising mechanism to form a Holonic organisation shape spontaneously. This mechanism is based on a task configuration tree in XML and via a backtracking algorithm to establish an efficient Holonic organisation.
{"title":"Event triggered Holonic organisation formation","authors":"Mingwei Yuan, Ping Jiang, Zuren Feng","doi":"10.1504/IJISTA.2007.012483","DOIUrl":"https://doi.org/10.1504/IJISTA.2007.012483","url":null,"abstract":"Internet based distributed collaborative commerce must resolve two problems first. One is what the organisation shape is and the other is how to establish an efficient and active organisation. In this paper, we focus on the organisation formation and propose a dynamic self-organising mechanism to form a Holonic organisation shape spontaneously. This mechanism is based on a task configuration tree in XML and via a backtracking algorithm to establish an efficient Holonic organisation.","PeriodicalId":38712,"journal":{"name":"International Journal of Intelligent Systems Technologies and Applications","volume":"1 1","pages":"79-88"},"PeriodicalIF":0.0,"publicationDate":"2007-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"79862518","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2007-06-01DOI: 10.1504/IJISTA.2007.012482
D. Mulvaney, I. Sillitoe, E. Swere, Yang Wang, Zhenhuan Zhu
This paper describes on-going research work into real-time machine learning using embedded software and reconfigurable hardware. The main focus of the work is to develop real-time incremental learning methods particularly targeted at demonstration in mobile robot environments. Three main areas are described. The first represents reactive robot navigation knowledge using a novel frequency table technique whose memory requirement is known a priori. The second area investigates a Genetic Algorithm (GA) method that combines planning and reactive approaches to allow navigation to proceed even in the face of time constraints. In the third area we are developing novel hardware-based machine learning systems suitable for implementation in reconfigurable platforms.
{"title":"Real-time machine learning in embedded software and hardware platforms","authors":"D. Mulvaney, I. Sillitoe, E. Swere, Yang Wang, Zhenhuan Zhu","doi":"10.1504/IJISTA.2007.012482","DOIUrl":"https://doi.org/10.1504/IJISTA.2007.012482","url":null,"abstract":"This paper describes on-going research work into real-time machine learning using embedded software and reconfigurable hardware. The main focus of the work is to develop real-time incremental learning methods particularly targeted at demonstration in mobile robot environments. Three main areas are described. The first represents reactive robot navigation knowledge using a novel frequency table technique whose memory requirement is known a priori. The second area investigates a Genetic Algorithm (GA) method that combines planning and reactive approaches to allow navigation to proceed even in the face of time constraints. In the third area we are developing novel hardware-based machine learning systems suitable for implementation in reconfigurable platforms.","PeriodicalId":38712,"journal":{"name":"International Journal of Intelligent Systems Technologies and Applications","volume":"97 10 1","pages":"65-78"},"PeriodicalIF":0.0,"publicationDate":"2007-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87697729","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper aims at demonstrating the validity of a hybrid content-based clustering architecture that combines personalisation techniques. The paper describes a hybrid content-based clustering archi...
{"title":"A hybrid content-based clustering architecture: minimising uncertainty in personalised multimedia content","authors":"VassiliouCharalampos, StamoulisDimitris, MartakosDrakoulis","doi":"10.5555/1359498.1359506","DOIUrl":"https://doi.org/10.5555/1359498.1359506","url":null,"abstract":"This paper aims at demonstrating the validity of a hybrid content-based clustering architecture that combines personalisation techniques. The paper describes a hybrid content-based clustering archi...","PeriodicalId":38712,"journal":{"name":"International Journal of Intelligent Systems Technologies and Applications","volume":"1 1","pages":""},"PeriodicalIF":0.0,"publicationDate":"2006-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"71114432","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2005-08-22DOI: 10.1504/IJISTA.2007.011569
R. Basra, K. Lu, P. Skobelev
We consider the scheduling issues for The London Underground (LU), which spans the entire city, and is a vast network of inter-related railway lines. By its very nature, it is a dynamic, complex and unpredictable environment; operating or being maintained 24 hours-a-day. This paper reports on an investigation into how a Multi-Agent System (MAS) may be used for resolving scheduling issues for LU. It is a previously unexplored domain. A prototype system MASLU is developed through the use of MAS technology, in an innovative and unique manner, with a view to resolving the London Undergrounds scheduling issues in real time.
{"title":"Resolving scheduling issues of the London Underground using a multi-agent system","authors":"R. Basra, K. Lu, P. Skobelev","doi":"10.1504/IJISTA.2007.011569","DOIUrl":"https://doi.org/10.1504/IJISTA.2007.011569","url":null,"abstract":"We consider the scheduling issues for The London Underground (LU), which spans the entire city, and is a vast network of inter-related railway lines. By its very nature, it is a dynamic, complex and unpredictable environment; operating or being maintained 24 hours-a-day. This paper reports on an investigation into how a Multi-Agent System (MAS) may be used for resolving scheduling issues for LU. It is a previously unexplored domain. A prototype system MASLU is developed through the use of MAS technology, in an innovative and unique manner, with a view to resolving the London Undergrounds scheduling issues in real time.","PeriodicalId":38712,"journal":{"name":"International Journal of Intelligent Systems Technologies and Applications","volume":"74 1","pages":"188-196"},"PeriodicalIF":0.0,"publicationDate":"2005-08-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85776770","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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