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Title: A New Concept of Modular Parallel Mechanism for Machining Applications
Abstract: The subject of this paper is the design of a new concept of modular parallel mechanisms for three, four or five-axis machining applications. Most parallel mechanisms are designed for three- or six-axis machining applications. In the last case, the position and the orientation of the tool are coupled and the shape of the workspace is complex. The aim of this paper is to use a simple parallel mechanism with two-degree-of-freedom (dof) for translation motions and to add one or two legs to add one or two-dofs for rotation motions. The kinematics and singular configurations are studied for each mechanism.
Title: A Workspace based Classification of 3R Orthogonal Manipulators
Abstract: A classification of a family of 3-revolute (3R) positioning manipulators is established. This classification is based on the topology of their workspace. The workspace is characterized in a half-cross section by the singular curves of the manipulator. The workspace topology is defined by the number of cusps and nodes that appear on these singular curves. The design parameters space is shown to be partitioned into nine subspaces of distinct workspace topologies. Each separating surface is given as an explicit expression in the DH-parameters.
Title: Singularity Surfaces and Maximal Singularity-Free Boxes in the Joint Space of Planar 3-RPR Parallel Manipulators
Abstract: In this paper, a method to compute joint space singularity surfaces of 3-RPR planar parallel manipulators is first presented. Then, a procedure to determine maximal joint space singularity-free boxes is introduced. Numerical examples are given in order to illustrate graphically the results. This study is of high interest for planning trajectories in the joint space of 3-RPR parallel manipulators and for manipulators design as it may constitute a tool for choosing appropriate joint limits and thus for sizing the link lengths of the manipulator.
Title: Kinematics analysis of the parallel module of the VERNE machine
Abstract: The paper derives the inverse and forward kinematic equations of a spatial three-degree-of-freedom parallel mechanism, which is the parallel module of a hybrid serial-parallel 5-axis machine tool. This parallel mechanism consists of a moving platform that is connected to a fixed base by three non-identical legs. Each leg is made up of one prismatic and two pair spherical joint, which are connected in a way that the combined effects of the three legs lead to an over-constrained mechanism with complex motion. This motion is defined as a simultaneous combination of rotation and translation.
Title: An Algorithm for Computing Cusp Points in the Joint Space of 3-RPR Parallel Manipulators
Abstract: This paper presents an algorithm for detecting and computing the cusp points in the joint space of 3-RPR planar parallel manipulators. In manipulator kinematics, cusp points are special points, which appear on the singular curves of the manipulators. The nonsingular change of assembly mode of 3-RPR parallel manipulators was shown to be associated with the existence of cusp points. At each of these points, three direct kinematic solutions coincide. In the literature, a condition for the existence of three coincident direct kinematic solutions was established, but has never been exploited, because the algebra involved was too complicated to be solved. The algorithm presented in this paper solves this equation and detects all the cusp points in the joint space of these manipulators.
Title: HMM Speaker Identification Using Linear and Non-linear Merging Techniques
Abstract: Speaker identification is a powerful, non-invasive and in-expensive biometric technique. The recognition accuracy, however, deteriorates when noise levels affect a specific band of frequency. In this paper, we present a sub-band based speaker identification that intends to improve the live testing performance. Each frequency sub-band is processed and classified independently. We also compare the linear and non-linear merging techniques for the sub-bands recognizer. Support vector machines and Gaussian Mixture models are the non-linear merging techniques that are investigated. Results showed that the sub-band based method used with linear merging techniques enormously improved the performance of the speaker identification over the performance of wide-band recognizers when tested live. A live testing improvement of 9.78% was achieved
Title: Application of Girsanov Theorem to Particle Filtering of Discretely Observed Continuous-Time Non-Linear Systems
Abstract: This article considers the application of particle filtering to continuous-discrete optimal filtering problems, where the system model is a stochastic differential equation, and noisy measurements of the system are obtained at discrete instances of time. It is shown how the Girsanov theorem can be used for evaluating the likelihood ratios needed in importance sampling. It is also shown how the methodology can be applied to a class of models, where the driving noise process is lower in the dimensionality than the state and thus the laws of state and noise are not absolutely continuous. Rao-Blackwellization of conditionally Gaussian models and unknown static parameter models is also considered.
Title: Determining full conditional independence by low-order conditioning
Abstract: A concentration graph associated with a random vector is an undirected graph where each vertex corresponds to one random variable in the vector. The absence of an edge between any pair of vertices (or variables) is equivalent to full conditional independence between these two variables given all the other variables. In the multivariate Gaussian case, the absence of an edge corresponds to a zero coefficient in the precision matrix, which is the inverse of the covariance matrix. It is well known that this concentration graph represents some of the conditional independencies in the distribution of the associated random vector. These conditional independencies correspond to the "separations" or absence of edges in that graph. In this paper we assume that there are no other independencies present in the probability distribution than those represented by the graph. This property is called the perfect Markovianity of the probability distribution with respect to the associated concentration graph. We prove in this paper that this particular concentration graph, the one associated with a perfect Markov distribution, can be determined by only conditioning on a limited number of variables. We demonstrate that this number is equal to the maximum size of the minimal separators in the concentration graph.
Title: Non-Computability of Consciousness
Abstract: With the great success in simulating many intelligent behaviors using computing devices, there has been an ongoing debate whether all conscious activities are computational processes. In this paper, the answer to this question is shown to be no. A certain phenomenon of consciousness is demonstrated to be fully represented as a computational process using a quantum computer. Based on the computability criterion discussed with Turing machines, the model constructed is shown to necessarily involve a non-computable element. The concept that this is solely a quantum effect and does not work for a classical case is also discussed.
Title: Using artificial intelligence for data reduction in mechanical engineering
Abstract: In this paper artificial neural networks and support vector machines are used to reduce the amount of vibration data that is required to estimate the Time Domain Average of a gear vibration signal. Two models for estimating the time domain average of a gear vibration signal are proposed. The models are tested on data from an accelerated gear life test rig. Experimental results indicate that the required data for calculating the Time Domain Average of a gear vibration signal can be reduced by up to 75% when the proposed models are implemented.
Title: Evolutionary Optimisation Methods for Template Based Image Registration
Abstract: This paper investigates the use of evolutionary optimisation techniques to register a template with a scene image. An error function is created to measure the correspondence of the template to the image. The problem presented here is to optimise the horizontal, vertical and scaling parameters that register the template with the scene. The Genetic Algorithm, Simulated Annealing and Particle Swarm Optimisations are compared to a Nelder-Mead Simplex optimisation with starting points chosen in a pre-processing stage. The paper investigates the precision and accuracy of each method and shows that all four methods perform favourably for image registration. SA is the most precise, GA is the most accurate. PSO is a good mix of both and the Simplex method returns local minima the most. A pre-processing stage should be investigated for the evolutionary methods in order to improve performance. Discrete versions of the optimisation methods should be investigated to further improve computational performance.
Title: A first-order Temporal Logic for Actions
Abstract: We present a multi-modal action logic with first-order modalities, which contain terms which can be unified with the terms inside the subsequent formulas and which can be quantified. This makes it possible to handle simultaneously time and states. We discuss applications of this language to action theory where it is possible to express many temporal aspects of actions, as for example, beginning, end, time points, delayed preconditions and results, duration and many others. We present tableaux rules for a decidable fragment of this logic.
Title: Multi-Dimensional Recurrent Neural Networks
Abstract: Recurrent neural networks (RNNs) have proved effective at one dimensional sequence learning tasks, such as speech and online handwriting recognition. Some of the properties that make RNNs suitable for such tasks, for example robustness to input warping, and the ability to access contextual information, are also desirable in multidimensional domains. However, there has so far been no direct way of applying RNNs to data with more than one spatio-temporal dimension. This paper introduces multi-dimensional recurrent neural networks (MDRNNs), thereby extending the potential applicability of RNNs to vision, video processing, medical imaging and many other areas, while avoiding the scaling problems that have plagued other multi-dimensional models. Experimental results are provided for two image segmentation tasks.
Title: Bagging multiple comparisons from microarray data
Abstract: The problem of large-scale simultaneous hypothesis testing is re-visited. Bagging and subagging procedures are put forth with the purpose of improving the discovery power of the tests. The procedures are implemented in both simulated and real data. It is shown that bagging and subagging significantly improve power at the cost of a small increase in false discovery rate with the proposed `maximum contrast' subagging having an edge over bagging, i.e., yielding similar power but significantly smaller false discovery rates.
Title: Response Prediction of Structural System Subject to Earthquake Motions using Artificial Neural Network
Abstract: This paper uses Artificial Neural Network (ANN) models to compute response of structural system subject to Indian earthquakes at Chamoli and Uttarkashi ground motion data. The system is first trained for a single real earthquake data. The trained ANN architecture is then used to simulate earthquakes with various intensities and it was found that the predicted responses given by ANN model are accurate for practical purposes. When the ANN is trained by a part of the ground motion data, it can also identify the responses of the structural system well. In this way the safeness of the structural systems may be predicted in case of future earthquakes without waiting for the earthquake to occur for the lessons. Time period and the corresponding maximum response of the building for an earthquake has been evaluated, which is again trained to predict the maximum response of the building at different time periods. The trained time period versus maximum response ANN model is also tested for real earthquake data of other place, which was not used in the training and was found to be in good agreement.
Title: Fault Classification using Pseudomodal Energies and Neuro-fuzzy modelling
Abstract: This paper presents a fault classification method which makes use of a Takagi-Sugeno neuro-fuzzy model and Pseudomodal energies calculated from the vibration signals of cylindrical shells. The calculation of Pseudomodal Energies, for the purposes of condition monitoring, has previously been found to be an accurate method of extracting features from vibration signals. This calculation is therefore used to extract features from vibration signals obtained from a diverse population of cylindrical shells. Some of the cylinders in the population have faults in different substructures. The pseudomodal energies calculated from the vibration signals are then used as inputs to a neuro-fuzzy model. A leave-one-out cross-validation process is used to test the performance of the model. It is found that the neuro-fuzzy model is able to classify faults with an accuracy of 91.62%, which is higher than the previously used multilayer perceptron.
Title: Variance reduction for particle filters of systems with time-scale separation
Abstract: We present a particle filter construction for a system that exhibits time-scale separation. The separation of time-scales allows two simplifications that we exploit: i) The use of the averaging principle for the dimensional reduction of the system needed to solve for each particle and ii) the factorization of the transition probability which allows the Rao-Blackwellization of the filtering step. Both simplifications can be implemented using the coarse projective integration framework. The resulting particle filter is faster and has smaller variance than the particle filter based on the original system. The method is tested on a multiscale stochastic differential equation and on a multiscale pure jump diffusion motivated by chemical reactions.
Title: Fuzzy and Multilayer Perceptron for Evaluation of HV Bushings
Abstract: The work proposes the application of fuzzy set theory (FST) to diagnose the condition of high voltage bushings. The diagnosis uses dissolved gas analysis (DGA) data from bushings based on IEC60599 and IEEE C57-104 criteria for oil impregnated paper (OIP) bushings. FST and neural networks are compared in terms of accuracy and computational efficiency. Both FST and NN simulations were able to diagnose the bushings condition with 10% error. By using fuzzy theory, the maintenance department can classify bushings and know the extent of degradation in the component.
Title: A Study in a Hybrid Centralised-Swarm Agent Community
Abstract: This paper describes a systems architecture for a hybrid Centralised/Swarm based multi-agent system. The issue of local goal assignment for agents is investigated through the use of a global agent which teaches the agents responses to given situations. We implement a test problem in the form of a Pursuit game, where the Multi-Agent system is a set of captor agents. The agents learn solutions to certain board positions from the global agent if they are unable to find a solution. The captor agents learn through the use of multi-layer perceptron neural networks. The global agent is able to solve board positions through the use of a Genetic Algorithm. The cooperation between agents and the results of the simulation are discussed here. .
Title: On-Line Condition Monitoring using Computational Intelligence
Abstract: This paper presents bushing condition monitoring frameworks that use multi-layer perceptrons (MLP), radial basis functions (RBF) and support vector machines (SVM) classifiers. The first level of the framework determines if the bushing is faulty or not while the second level determines the type of fault. The diagnostic gases in the bushings are analyzed using the dissolve gas analysis. MLP gives superior performance in terms of accuracy and training time than SVM and RBF. In addition, an on-line bushing condition monitoring approach, which is able to adapt to newly acquired data are introduced. This approach is able to accommodate new classes that are introduced by incoming data and is implemented using an incremental learning algorithm that uses MLP. The testing results improved from 67.5% to 95.8% as new data were introduced and the testing results improved from 60% to 95.3% as new conditions were introduced. On average the confidence value of the framework on its decision was 0.92.
Title: Statistical Mechanics of Nonlinear On-line Learning for Ensemble Teachers
Abstract: We analyze the generalization performance of a student in a model composed of nonlinear perceptrons: a true teacher, ensemble teachers, and the student. We calculate the generalization error of the student analytically or numerically using statistical mechanics in the framework of on-line learning. We treat two well-known learning rules: Hebbian learning and perceptron learning. As a result, it is proven that the nonlinear model shows qualitatively different behaviors from the linear model. Moreover, it is clarified that Hebbian learning and perceptron learning show qualitatively different behaviors from each other. In Hebbian learning, we can analytically obtain the solutions. In this case, the generalization error monotonically decreases. The steady value of the generalization error is independent of the learning rate. The larger the number of teachers is and the more variety the ensemble teachers have, the smaller the generalization error is. In perceptron learning, we have to numerically obtain the solutions. In this case, the dynamical behaviors of the generalization error are non-monotonic. The smaller the learning rate is, the larger the number of teachers is; and the more variety the ensemble teachers have, the smaller the minimum value of the generalization error is.
Title: Lasso type classifiers with a reject option
Abstract: We consider the problem of binary classification where one can, for a particular cost, choose not to classify an observation. We present a simple proof for the oracle inequality for the excess risk of structural risk minimizers using a lasso type penalty.
Title: Using Genetic Algorithms to Optimise Rough Set Partition Sizes for HIV Data Analysis
Abstract: In this paper, we present a method to optimise rough set partition sizes, to which rule extraction is performed on HIV data. The genetic algorithm optimisation technique is used to determine the partition sizes of a rough set in order to maximise the rough sets prediction accuracy. The proposed method is tested on a set of demographic properties of individuals obtained from the South African antenatal survey. Six demographic variables were used in the analysis, these variables are; race, age of mother, education, gravidity, parity, and age of father, with the outcome or decision being either HIV positive or negative. Rough set theory is chosen based on the fact that it is easy to interpret the extracted rules. The prediction accuracy of equal width bin partitioning is 57.7% while the accuracy achieved after optimising the partitions is 72.8%. Several other methods have been used to analyse the HIV data and their results are stated and compared to that of rough set theory (RST).
Title: Condition Monitoring of HV Bushings in the Presence of Missing Data Using Evolutionary Computing
Abstract: The work proposes the application of neural networks with particle swarm optimisation (PSO) and genetic algorithms (GA) to compensate for missing data in classifying high voltage bushings. The classification is done using DGA data from 60966 bushings based on IEEEc57.104, IEC599 and IEEE production rates methods for oil impregnated paper (OIP) bushings. PSO and GA were compared in terms of accuracy and computational efficiency. Both GA and PSO simulations were able to estimate missing data values to an average 95% accuracy when only one variable was missing. However PSO rapidly deteriorated to 66% accuracy with two variables missing simultaneously, compared to 84% for GA. The data estimated using GA was found to classify the conditions of bushings than the PSO.
Title: On the monotonization of the training set
Abstract: We consider the problem of minimal correction of the training set to make it consistent with monotonic constraints. This problem arises during analysis of data sets via techniques that require monotone data. We show that this problem is NP-hard in general and is equivalent to finding a maximal independent set in special orgraphs. Practically important cases of that problem considered in detail. These are the cases when a partial order given on the replies set is a total order or has a dimension 2. We show that the second case can be reduced to maximization of a quadratic convex function on a convex set. For this case we construct an approximate polynomial algorithm based on convex optimization.
Title: Scanning and Sequential Decision Making for Multi-Dimensional Data - Part II: the Noisy Case
Abstract: We consider the problem of sequential decision making on random fields corrupted by noise. In this scenario, the decision maker observes a noisy version of the data, yet judged with respect to the clean data. In particular, we first consider the problem of sequentially scanning and filtering noisy random fields. In this case, the sequential filter is given the freedom to choose the path over which it traverses the random field (e.g., noisy image or video sequence), thus it is natural to ask what is the best achievable performance and how sensitive this performance is to the choice of the scan. We formally define the problem of scanning and filtering, derive a bound on the best achievable performance and quantify the excess loss occurring when non-optimal scanners are used, compared to optimal scanning and filtering. We then discuss the problem of sequential scanning and prediction of noisy random fields. This setting is a natural model for applications such as restoration and coding of noisy images. We formally define the problem of scanning and prediction of a noisy multidimensional array and relate the optimal performance to the clean scandictability defined by Merhav and Weissman. Moreover, bounds on the excess loss due to sub-optimal scans are derived, and a universal prediction algorithm is suggested. This paper is the second part of a two-part paper. The first paper dealt with sequential decision making on noiseless data arrays, namely, when the decision maker is judged with respect to the same data array it observes.
Title: Codage arithmetique pour la description d'une distribution
Abstract: Using predictive adaptive arithmetic coding and the Minimum Description Length principle, we derive an efficient tool for model selection problems : the RIC information criterion. We then present an extension of these coding techniques to non-parametrical estimation of a distribution and illustrate it on the gray scales histogram of an image. Key-words : Information criteria, MDL, model selection, non-parametrical estimation, histograms.
Title: The Road to Quantum Artificial Intelligence
Abstract: This paper overviews the basic principles and recent advances in the emerging field of Quantum Computation (QC), highlighting its potential application to Artificial Intelligence (AI). The paper provides a very brief introduction to basic QC issues like quantum registers, quantum gates and quantum algorithms and then it presents references, ideas and research guidelines on how QC can be used to deal with some basic AI problems, such as search and pattern matching, as soon as quantum computers become widely available.
Title: Generalizing Consistency and other Constraint Properties to Quantified Constraints
Abstract: Quantified constraints and Quantified Boolean Formulae are typically much more difficult to reason with than classical constraints, because quantifier alternation makes the usual notion of solution inappropriate. As a consequence, basic properties of Constraint Satisfaction Problems (CSP), such as consistency or substitutability, are not completely understood in the quantified case. These properties are important because they are the basis of most of the reasoning methods used to solve classical (existentially quantified) constraints, and one would like to benefit from similar reasoning methods in the resolution of quantified constraints. In this paper, we show that most of the properties that are used by solvers for CSP can be generalized to quantified CSP. This requires a re-thinking of a number of basic concepts; in particular, we propose a notion of outcome that generalizes the classical notion of solution and on which all definitions are based. We propose a systematic study of the relations which hold between these properties, as well as complexity results regarding the decision of these properties. Finally, and since these problems are typically intractable, we generalize the approach used in CSP and propose weaker, easier to check notions based on locality, which allow to detect these properties incompletely but in polynomial time.
Title: MI image registration using prior knowledge
Abstract: Subtraction of aligned images is a means to assess changes in a wide variety of clinical applications. In this paper we explore the information theoretical origin of Mutual Information (MI), which is based on Shannon's entropy.However, the interpretation of standard MI registration as a communication channel suggests that MI is too restrictive a criterion. In this paper the concept of Mutual Information (MI) is extended to (Normalized) Focussed Mutual Information (FMI) to incorporate prior knowledge to overcome some shortcomings of MI. We use this to develop new methodologies to successfully address specific registration problems, the follow-up of dental restorations, cephalometry, and the monitoring of implants.
Title: Structural Health Monitoring Using Neural Network Based Vibrational System Identification
Abstract: Composite fabrication technologies now provide the means for producing high-strength, low-weight panels, plates, spars and other structural components which use embedded fiber optic sensors and piezoelectric transducers. These materials, often referred to as smart structures, make it possible to sense internal characteristics, such as delaminations or structural degradation. In this effort we use neural network based techniques for modeling and analyzing dynamic structural information for recognizing structural defects. This yields an adaptable system which gives a measure of structural integrity for composite structures.
Title: Morphing Ensemble Kalman Filters
Abstract: A new type of ensemble filter is proposed, which combines an ensemble Kalman filter (EnKF) with the ideas of morphing and registration from image processing. This results in filters suitable for nonlinear problems whose solutions exhibit moving coherent features, such as thin interfaces in wildfire modeling. The ensemble members are represented as the composition of one common state with a spatial transformation, called registration mapping, plus a residual. A fully automatic registration method is used that requires only gridded data, so the features in the model state do not need to be identified by the user. The morphing EnKF operates on a transformed state consisting of the registration mapping and the residual. Essentially, the morphing EnKF uses intermediate states obtained by morphing instead of linear combinations of the states.
Title: On complexity of optimized crossover for binary representations
Abstract: We consider the computational complexity of producing the best possible offspring in a crossover, given two solutions of the parents. The crossover operators are studied on the class of Boolean linear programming problems, where the Boolean vector of variables is used as the solution representation. By means of efficient reductions of the optimized gene transmitting crossover problems (OGTC) we show the polynomial solvability of the OGTC for the maximum weight set packing problem, the minimum weight set partition problem and for one of the versions of the simple plant location problem. We study a connection between the OGTC for linear Boolean programming problem and the maximum weight independent set problem on 2-colorable hypergraph and prove the NP-hardness of several special cases of the OGTC problem in Boolean linear programming.
Title: Fast computation by block permanents of cumulative distribution functions of order statistics from several populations