Abstract: Medical applications are among the most impactful
areas of microrobotics. The ultimate goal of medical microrobots is
to reach currently inaccessible areas of the human body and carry out
a host of complex operations such as minimally invasive surgery
(MIS), highly localized drug delivery, and screening for diseases at
their very early stages. Miniature, safe and efficient propulsion
systems hold the key to maturing this technology but they pose
significant challenges. A new type of propulsion developed recently,
uses multi-flagella architecture inspired by the motility mechanism of
prokaryotic microorganisms. There is a lack of efficient methods for
designing this type of propulsion system. The goal of this paper is to
overcome the lack and this way, a numerical strategy is proposed to
design multi-flagella propulsion systems. The strategy is based on the
implementation of the regularized stokeslet and rotlet theory, RFT
theory and new approach of “local corrected velocity". The effects of
shape parameters and angular velocities of each flagellum on overall
flow field and on the robot net forces and moments are considered.
Then a multi-layer perceptron artificial neural network is designed
and employed to adjust the angular velocities of the motors for
propulsion control. The proposed method applied successfully on a
sample configuration and useful demonstrative results is obtained.
Abstract: We present a hybrid architecture of recurrent neural
networks (RNNs) inspired by hidden Markov models (HMMs). We
train the hybrid architecture using genetic algorithms to learn and
represent dynamical systems. We train the hybrid architecture on a
set of deterministic finite-state automata strings and observe the
generalization performance of the hybrid architecture when presented
with a new set of strings which were not present in the training data
set. In this way, we show that the hybrid system of HMM and RNN
can learn and represent deterministic finite-state automata. We ran
experiments with different sets of population sizes in the genetic
algorithm; we also ran experiments to find out which weight
initializations were best for training the hybrid architecture. The
results show that the hybrid architecture of recurrent neural networks
inspired by hidden Markov models can train and represent dynamical
systems. The best training and generalization performance is
achieved when the hybrid architecture is initialized with random real
weight values of range -15 to 15.
Abstract: The increasing importance of FlexRay systems in
automotive domain inspires unceasingly relative researches. One
primary issue among researches is to verify the reliability of FlexRay
systems either from protocol aspect or from system design aspect.
However, research rarely discusses the effect of network topology on
the system reliability. In this paper, we will illustrate how to model
the reliability of FlexRay systems with various network topologies by
a well-known probabilistic reasoning technology, Bayesian Network.
In this illustration, we especially investigate the effectiveness of error
containment built in star topology and fault-tolerant midpoint
synchronization algorithm adopted in FlexRay communication
protocol. Through a FlexRay steer-by-wire case study, the influence
of different topologies on the failure probability of the FlexRay steerby-
wire system is demonstrated. The notable value of this research is
to show that the Bayesian Network inference is a powerful and
feasible method for the reliability assessment of FlexRay systems.
Abstract: The physical methods for RNA secondary structure prediction are time consuming and expensive, thus methods for computational prediction will be a proper alternative. Various algorithms have been used for RNA structure prediction including dynamic programming and metaheuristic algorithms. Musician's behaviorinspired harmony search is a recently developed metaheuristic algorithm which has been successful in a wide variety of complex optimization problems. This paper proposes a harmony search algorithm (HSRNAFold) to find RNA secondary structure with minimum free energy and similar to the native structure. HSRNAFold is compared with dynamic programming benchmark mfold and metaheuristic algorithms (RnaPredict, SetPSO and HelixPSO). The results showed that HSRNAFold is comparable to mfold and better than metaheuristics in finding the minimum free energies and the number of correct base pairs.
Abstract: Conceptualization strengthens intelligent systems in generalization skill, effective knowledge representation, real-time inference, and managing uncertain and indefinite situations in addition to facilitating knowledge communication for learning agents situated in real world. Concept learning introduces a way of abstraction by which the continuous state is formed as entities called concepts which are connected to the action space and thus, they illustrate somehow the complex action space. Of computational concept learning approaches, action-based conceptualization is favored because of its simplicity and mirror neuron foundations in neuroscience. In this paper, a new biologically inspired concept learning approach based on the probabilistic framework is proposed. This approach exploits and extends the mirror neuron-s role in conceptualization for a reinforcement learning agent in nondeterministic environments. In the proposed method, instead of building a huge numerical knowledge, the concepts are learnt gradually from rewards through interaction with the environment. Moreover the probabilistic formation of the concepts is employed to deal with uncertain and dynamic nature of real problems in addition to the ability of generalization. These characteristics as a whole distinguish the proposed learning algorithm from both a pure classification algorithm and typical reinforcement learning. Simulation results show advantages of the proposed framework in terms of convergence speed as well as generalization and asymptotic behavior because of utilizing both success and failures attempts through received rewards. Experimental results, on the other hand, show the applicability and effectiveness of the proposed method in continuous and noisy environments for a real robotic task such as maze as well as the benefits of implementing an incremental learning scenario in artificial agents.
Abstract: Many artificial intelligence (AI) techniques are inspired
by problem-solving strategies found in nature. Robustness is a key
feature in many natural systems. This paper studies robustness in
artificial neural networks (ANNs) and proposes several novel, nature
inspired ANN architectures. The paper includes encouraging results
from experimental studies on these networks showing increased
robustness.
Abstract: The paper considers a novel modular and intrinsically safe redundant robotic system with biologically inspired actuators (pneumatic artificial muscles and rubber bellows actuators). Similarly to the biological systems, the stiffness of the internal parallel modules, representing 2 DOF joints in the serial robotic chains, is controlled by co-activation of opposing redundant actuator groups in the null-space of the module Jacobian, without influencing the actual robot position. The decoupled position/stiffness control allows the realization of variable joint stiffness according to different force-displacement relationships. The variable joint stiffness, as well as limited pneumatic muscle/bellows force ability, ensures internal system safety that is crucial for development of human-friendly robots intended for human-robot collaboration. The initial experiments with the system prototype demonstrate the capabilities of independently, simultaneously controlling both joint (Cartesian) motion and joint stiffness. The paper also presents the possible industrial applications of snake-like robots built using the new modules.
Abstract: Routing in MANET is extremely challenging because
of MANETs dynamic features, its limited bandwidth, frequent
topology changes caused by node mobility and power energy
consumption. In order to efficiently transmit data to destinations, the
applicable routing algorithms must be implemented in mobile ad-hoc
networks. Thus we can increase the efficiency of the routing by
satisfying the Quality of Service (QoS) parameters by developing
routing algorithms for MANETs. The algorithms that are inspired by
the principles of natural biological evolution and distributed
collective behavior of social colonies have shown excellence in
dealing with complex optimization problems and are becoming more
popular. This paper presents a survey on few meta-heuristic
algorithms and naturally-inspired algorithms.
Abstract: This paper presents a new method which applies an
artificial bee colony algorithm (ABC) for capacitor placement in
distribution systems with an objective of improving the voltage profile
and reduction of power loss. The ABC algorithm is a new population
based meta heuristic approach inspired by intelligent foraging behavior
of honeybee swarm. The advantage of ABC algorithm is that
it does not require external parameters such as cross over rate and
mutation rate as in case of genetic algorithm and differential evolution
and it is hard to determine these parameters in prior. The other
advantage is that the global search ability in the algorithm is implemented
by introducing neighborhood source production mechanism
which is a similar to mutation process. To demonstrate the validity
of the proposed algorithm, computer simulations are carried out on
69-bus system and compared the results with the other approach
available in the literature. The proposed method has outperformed the
other methods in terms of the quality of solution and computational
efficiency.
Abstract: Economic Load Dispatch (ELD) is a method of determining
the most efficient, low-cost and reliable operation of a power
system by dispatching available electricity generation resources to
supply load on the system. The primary objective of economic
dispatch is to minimize total cost of generation while honoring
operational constraints of available generation resources. In this paper
an intelligent water drop (IWD) algorithm has been proposed to
solve ELD problem with an objective of minimizing the total cost of
generation. Intelligent water drop algorithm is a swarm-based natureinspired
optimization algorithm, which has been inspired from natural
rivers. A natural river often finds good paths among lots of possible
paths in its ways from source to destination and finally find almost
optimal path to their destination. These ideas are embedded into
the proposed algorithm for solving economic load dispatch problem.
The main advantage of the proposed technique is easy is implement
and capable of finding feasible near global optimal solution with
less computational effort. In order to illustrate the effectiveness of
the proposed method, it has been tested on 6-unit and 20-unit test
systems with incremental fuel cost functions taking into account the
valve point-point loading effects. Numerical results shows that the
proposed method has good convergence property and better in quality
of solution than other algorithms reported in recent literature.
Abstract: Biological sequences from different species are called or-thologs if they evolved from a sequence of a common ancestor species and they have the same biological function. Approximations of Kolmogorov complexity or entropy of biological sequences are already well known to be useful in extracting similarity information between such sequences -in the interest, for example, of ortholog detection. As is well known, the exact Kolmogorov complexity is not algorithmically computable. In prac-tice one can approximate it by computable compression methods. How-ever, such compression methods do not provide a good approximation to Kolmogorov complexity for short sequences. Herein is suggested a new ap-proach to overcome the problem that compression approximations may notwork well on short sequences. This approach is inspired by new, conditional computations of Kolmogorov entropy. A main contribution of the empir-ical work described shows the new set of entropy-based machine learning attributes provides good separation between positive (ortholog) and nega-tive (non-ortholog) data - better than with good, previously known alter-natives (which do not employ some means to handle short sequences well).Also empirically compared are the new entropy based attribute set and a number of other, more standard similarity attributes sets commonly used in genomic analysis. The various similarity attributes are evaluated by cross validation, through boosted decision tree induction C5.0, and by Receiver Operating Characteristic (ROC) analysis. The results point to the conclu-sion: the new, entropy based attribute set by itself is not the one giving the best prediction; however, it is the best attribute set for use in improving the other, standard attribute sets when conjoined with them.
Abstract: Biologically human brain processes information in both unimodal and multimodal approaches. In fact, information is progressively abstracted and seamlessly fused. Subsequently, the fusion of multimodal inputs allows a holistic understanding of a problem. The proliferation of technology has exponentially produced various sources of data, which could be likened to being the state of multimodality in human brain. Therefore, this is an inspiration to develop a methodology for exploring multimodal data and further identifying multi-view patterns. Specifically, we propose a brain inspired conceptual model that allows exploration and identification of patterns at different levels of granularity, different types of hierarchies and different types of modalities. A structurally adaptive neural network is deployed to implement the proposed model. Furthermore, the acquisition of multi-view patterns with the proposed model is demonstrated and discussed with some experimental results.
Abstract: This article presents the development of a neural
network cognitive model for the classification and detection of
different frequency signals. The basic structure of the implemented
neural network was inspired on the perception process that humans
generally make in order to visually distinguish between high and low
frequency signals. It is based on the dynamic neural network concept,
with delays. A special two-layer feedforward neural net structure was
successfully implemented, trained and validated, to achieve
minimum target error. Training confirmed that this neural net
structure descents and converges to a human perception classification
solution, even when far away from the target.
Abstract: Inspired by the recent experiments [1]-[3] indicating
unusual doubly magic nucleus 24O which lies just at the neutron
drip-line and encouraged by the success of our relativistic mean-field
(RMF) plus state dependent BCS approach for the description of
the ground state properties of the drip-line nuclei [23]-[27], we have
further employed this approach, across the entire periodic table, to
explore the unusual shell closures in exotic nuclei. In our RMF+BCS
approach the single particle continuum corresponding to the RMF is
replaced by a set of discrete positive energy states for the calculations
of pairing energy. Detailed analysis of the single particle spectrum,
pairing energies and densities of the nuclei predict the unusual proton
shell closures at Z = 6, 14, 16, 34, and unusual neutron shell closures
at N = 6, 14, 16, 34, 40, 70, 112.
Abstract: Various intelligences and inspirations have been
adopted into the iterative searching process called as meta-heuristics.
They intelligently perform the exploration and exploitation in the
solution domain space aiming to efficiently seek near optimal
solutions. In this work, the bee algorithm, inspired by the natural
foraging behaviour of honey bees, was adapted to find the near
optimal solutions of the transportation management system, dynamic
multi-zone dispatching. This problem prepares for an uncertainty and
changing customers- demand. In striving to remain competitive,
transportation system should therefore be flexible in order to cope
with the changes of customers- demand in terms of in-bound and outbound
goods and technological innovations. To remain higher service
level but lower cost management via the minimal imbalance scenario,
the rearrangement penalty of the area, in each zone, including time
periods are also included. However, the performance of the algorithm
depends on the appropriate parameters- setting and need to be
determined and analysed before its implementation. BEE parameters
are determined through the linear constrained response surface
optimisation or LCRSOM and weighted centroid modified simplex
methods or WCMSM. Experimental results were analysed in terms
of best solutions found so far, mean and standard deviation on the
imbalance values including the convergence of the solutions
obtained. It was found that the results obtained from the LCRSOM
were better than those using the WCMSM. However, the average
execution time of experimental run using the LCRSOM was longer
than those using the WCMSM. Finally a recommendation of proper
level settings of BEE parameters for some selected problem sizes is
given as a guideline for future applications.
Abstract: The Ant Colony Optimization (ACO) is a metaheuristic inspired by the behavior of real ants in their search for the shortest paths to food sources. It has recently attracted a lot of attention and has been successfully applied to a number of different optimization problems. Due to the importance of the feature selection problem and the potential of ACO, this paper presents a novel method that utilizes the ACO algorithm to implement a feature subset search procedure. Initial results obtained using the classification of speech segments are very promising.
Abstract: This paper presents the design, fabrication and
evaluation of magneto-rheological damper. Semi-active control
devices have received significant attention in recent years because
they offer the adaptability of active control devices without requiring
the associated large power sources. Magneto-Rheological (MR)
dampers are semi- active control devices that use MR fluids to
produce controllable dampers. They potentially offer highly reliable
operation and can be viewed as fail-safe in that they become passive
dampers if the control hardware malfunction. The advantage of MR
dampers over conventional dampers are that they are simple in
construction, compromise between high frequency isolation and
natural frequency isolation, they offer semi-active control, use very
little power, have very quick response, has few moving parts, have a
relax tolerances and direct interfacing with electronics. Magneto-
Rheological (MR) fluids are Controllable fluids belonging to the
class of active materials that have the unique ability to change
dynamic yield stress when acted upon by an electric or magnetic
field, while maintaining viscosity relatively constant. This property
can be utilized in MR damper where the damping force is changed by
changing the rheological properties of the fluid magnetically. MR
fluids have a dynamic yield stress over Electro-Rheological fluids
(ER) and a broader operational temperature range. The objective of
this papert was to study the application of an MR damper to vibration
control, design the vibration damper using MR fluids, test and
evaluate its performance. In this paper the Rheology and the theory
behind MR fluids and their use on vibration control were studied.
Then a MR vibration damper suitable for vehicle suspension was
designed and fabricated using the MR fluid. The MR damper was
tested using a dynamic test rig and the results were obtained in the
form of force vs velocity and the force vs displacement plots. The
results were encouraging and greatly inspire further research on the
topic.
Abstract: Starting from a biologically inspired framework, Gabor filters were built up from retinal filters via LMSE algorithms. Asubset of retinal filter kernels was chosen to form a particular Gabor filter by using a weighted sum. One-dimensional optimization approaches were shown to be inappropriate for the problem. All model parameters were fixed with biological or image processing constraints. Detailed analysis of the optimization procedure led to the introduction of a minimization constraint. Finally, quantization of weighting factors was investigated. This resulted in an optimized cascaded structure of a Gabor filter bank implementation with lower computational cost.
Abstract: There are two common types of operational research techniques, optimisation and metaheuristic methods. The latter may be defined as a sequential process that intelligently performs the exploration and exploitation adopted by natural intelligence and strong inspiration to form several iterative searches. An aim is to effectively determine near optimal solutions in a solution space. In this work, a type of metaheuristics called Ant Colonies Optimisation, ACO, inspired by a foraging behaviour of ants was adapted to find optimal solutions of eight non-linear continuous mathematical models. Under a consideration of a solution space in a specified region on each model, sub-solutions may contain global or multiple local optimum. Moreover, the algorithm has several common parameters; number of ants, moves, and iterations, which act as the algorithm-s driver. A series of computational experiments for initialising parameters were conducted through methods of Rigid Simplex, RS, and Modified Simplex, MSM. Experimental results were analysed in terms of the best so far solutions, mean and standard deviation. Finally, they stated a recommendation of proper level settings of ACO parameters for all eight functions. These parameter settings can be applied as a guideline for future uses of ACO. This is to promote an ease of use of ACO in real industrial processes. It was found that the results obtained from MSM were pretty similar to those gained from RS. However, if these results with noise standard deviations of 1 and 3 are compared, MSM will reach optimal solutions more efficiently than RS, in terms of speed of convergence.
Abstract: The study is about the designed and decorative fabric printing that derived from the Five-color porcelain (Benjarong). The
researcher examined the pattern and creativity of the decorative design
of the Five-color porcelain (Benjarong) by the artists in order to apply
for contemporary arts so that young generation will acknowledge the
importance of the Five-color porcelain (Benjarong). The research methodology is both quantitative and qualitative. The researcher
conducted an in-depth interview with the operator of five-color
porcelain (Benjarong) at Ampawa, Samutsongkram. The information
from the interview can be useful and implemented for designing the
fabric patterns. The researcher found that there were many formats
and designs of the Five-color porcelain (Benjarong) from the past to the present. Its unique design can be applied for the fabric patterns
and ready-to-wear clothes properly. After advertising and showing
the work of the Five-color porcelain (Benjarong) publicly, there were
more young people interested in the Five-color porcelain (Benjarong)
than expected which exceeded the objective with positive attitudes
towards the Five-color porcelain (Benjarong).