The fusion of information from sensors with different physical characteristics, such as sight, touch, sound, etc., enhances the understanding of our surroundings and provides the basis for planning, decision-making, and control of autonomous and intelligent machines. The minimal representation approach to multisensor fusion is based on the use of an information measure as a universal yardstick for fusion. Using models of sensor uncertainty, the representation size guides the integration of widely varying types of data and maximizes the information contributed to a consistent interpretation. In this book, the general theory of minimal representation multisensor fusion is developed and applied in a series of experimental studies of sensor-based robot manipulation. A novel application of differential evolutionary computation is introduced to achieve practical and effective solutions to this difficult computational problem.
In this book, efficient and scalable coevolutionary algorithms for distributed, network-based decision-making, which utilize objective functions are developed in a networked environment where internode communications are a primary factor in system performance. A theoretical foundation for this class of coevolutionary algorithms is introduced using techniques from stochastic process theory and mathematical analysis. A case study in distributed, network-based decision-making presents an implementation and detailed evaluation of the coevolutionary decision-making framework that incorporates distributed evolutionary agents and mobile agents. The methodology discussed in this book can have a fundamental impact on the principles and practice of engineering in the distributed, network-based environment that is emerging within and among corporate enterprise systems. In addition, the conceptual framework of the approach to distributed decision systems described may have much wider implications for network-based systems and applications. Contents: Background and Related Work; Problem Formulation and Analysis; Theory and Analysis of Evolutionary Optimization; Theory and Analysis of Distributed Coevolutionary Optimization; Performance Evaluation Based on Ideal Objectives; Coevolutionary Virtual Design Environment; Evaluation and Analysis. Readership: Researchers and engineers in artificial intelligence, evolutionary computation and decision sciences.
This book describes an approach to intelligent task planning in a robotic system. Petri net and fuzzy logic are integrated and used to represent task sequence planning and error recovery. During the generation and execution of task plans, different kinds of uncertainties need to be handled to ensure the efficiency and reliability of the system. Following a systematic modeling procedure, a fuzzy Petri net is constructed based on geometric relations, fuzzy variables, and reasoning structures. The resulting net can be used to analyze and control the system. Many examples are discussed to illustrate the theory and the applications of fuzzy Petri nets.
The fundamental theme of this book is theoretical study of differential evolution and algorithmic analysis of parameter adaptive schemes. The book offers real-world insights into a variety of large-scale complex industrial applications.
Robotic systems are characterized by the intersection of computer intelligence with the physical world. This blend of physical reasoning and computational intelligence is well illustrated by the Tetrobot study described in this book. Tetrobot: A Modular Approach to Reconfigurable Parallel Robotics describes a new approach to the design of robotic systems. The Tetrobot approach utilizes modular components which may be reconfigured into many different mechanisms which are suited to different applications. The Tetrobot system includes two unique contributions: a new mechanism (a multilink spherical joint design), and a new control architecture based on propagation of kinematic solutions through the structure. The resulting Tetrobot system consists of fundamental components which may be mechanically reassembled into any modular configuration, and the control architecture will provide position control of the resulting structure. A prototype Tetrobot system has been built and evaluated experimentally. Tetrobot arms, platforms, and walking machines have been built and controlled in a variety of motion and loading conditions. The Tetrobot system has applications in a variety of domains where reconfiguration, flexibility, load capacity, and failure recovery are important aspects of the task. A number of key research directions have been opened by the Tetrobot research activities. Continuing topics of interest include: development of a more distributed implementation of the computer control architecture, analysis of the dynamics of the Tetrobot system motion for improved control of high-speed motions, integration of sensor systems to control the motion and shape of the high-dimensionality systems, and exploration of self-reconfiguration of the system. Tetrobot: A Modular Approach to Reconfigurable Parallel Robotics will be of interest to research workers, specialists and professionals in the areas of robotics, mechanical systems and computer engineering.
The most misunderstood force driving health and disease The story of the invention and use of electricity has often been told before, but never from an environmental point of view. The assumption of safety, and the conviction that electricity has nothing to do with life, are by now so entrenched in the human psyche that new research, and testimony by those who are being injured, are not enough to change the course that society has set. Two increasingly isolated worlds--that inhabited by the majority, who embrace new electrical technology without question, and that inhabited by a growing minority, who are fighting for survival in an electrically polluted environment--no longer even speak the same language. In The Invisible Rainbow, Arthur Firstenberg bridges the two worlds. In a story that is rigorously scientific yet easy to read, he provides a surprising answer to the question, "How can electricity be suddenly harmful today when it was safe for centuries?
Six decades of fascinating stories from the legendary “colossus of science fiction” and creator of 2001: A Space Odyssey gathered in one compendium (The New Yorker). Arthur C. Clarke, along with H. G. Wells, Isaac Asimov, and Robert A. Heinlein, was a definitive voice in twentieth century science fiction. A prophetic thinker, undersea explorer, and “one of the true geniuses of our time,” Clarke not only won the highest science fiction honors, the Nebula and Hugo Awards, but also received nominations for an Academy Award and the Nobel Peace Prize, and was knighted for his services to literature (Ray Bradbury). Now, more than one hundred works of the sci-fi master’s short fiction are available in the “single-author collection of the decade” (Booklist, starred review). This definitive edition includes early work such as “Rescue Party” and “The Lion of Comarre,” classics like “The Nine Billion Names of God” and “The Sentinel” (which was the kernel of the later novel and movie, 2001: A Space Odyssey), and later works including “A Meeting with Medusa” and “The Hammer of God.” Encapsulating one of the great science fiction careers of all time, this immense volume “displays the author’s fertile imagination and irrepressible enthusiasm for both good storytelling and impeccable science” (Library Journal). “One of the most astounding imaginations ever encountered in print.” —The New York Times “As his Collected Stories helps to demonstrate, there has been no popular writer since the days of C S Lewis and Charles Williams whose disposition is more nakedly apocalyptic, who takes greater pleasure in cradling eternity in the palm of his hand.” —The Guardian
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