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Evolution of robotic neurocontrollers with intrinsic noise and their behavior in noisy environments

Helmut A. Mayer
2011 The 2011 International Joint Conference on Neural Networks  
The neurocontrollers are evolved in a noise-free environment, and the best-performing networks are then tested in noisy environments, where peg movement and sensor signals are afflicted by noise.  ...  We report on experiments with robotic neurocontrollers with intrinsic noise evolved for a peg pushing task.  ...  We evolve these networks with intrinsic noise for the same robotic task as presented in [1] (Section IV), and compare the performance of the noisy robotic controllers in noise-free and noisy environments  ... 
doi:10.1109/ijcnn.2011.6033467 dblp:conf/ijcnn/Mayer11 fatcat:ml4gq6cw3bhwhn5q6wk3izd5li

Immune robustness from top to down: bio-inspired immune- based behavior coordination for autonomous mobile robot navigation

Jose A. Fernandez-Leon, Gerardo G Acosta, Miguel A. Mayosky
2011 Ciencia y Tecnología  
The robustness of the immune response that drives an autonomous mobile robot is examined with computational experiments in the trajectory generation context in unknown environments.  ...  These behaviors are activated when a robot sense the appropriate conditions in the environment in relation to the network current state.  ...  Despite recognized robust properties of most modular neural networks to noisy data [3] , a considerably high amount of noise still reduces drastically their filtering capacity.  ... 
doi:10.18682/cyt.v1i11.753 fatcat:vty2iceaynbatimhf6ljc5acui

Neurocontrol and fuzzy logic: Connections and designs

Paul J. Werbos
1992 International Journal of Approximate Reasoning  
These designs can copy what experts do instead of what they say, learn to track trajectories, generalize adaptive control, and maximize performance or minimize cost over time, even in noisy environments  ...  Ideally, the two sources of information should be combined. For example, one can learn rules in a hybrid fashion and then calibrate them for better whole-system performance.  ...  In summary, the best solution to the long-term planning problem, in a noisy environment, may well be an adaptive critic structure with a recurrent Critic network.  ... 
doi:10.1016/0888-613x(92)90017-t fatcat:ebkzw6hoejeldhginfnvtxz2pi

Evolutionary robotics: A survey of applications and problems [chapter]

Jean-Arcady Meyer, Phil Husbands, Inman Harvey
1998 Lecture Notes in Computer Science  
This paper reviews evolutionary approaches to the automatic design of real robots exhibiting a given behavior in a given environment.  ...  Such a methodology has been successfully applied to various wheeled and legged robots, and to numerous behaviors including wall-following, obstacle-avoidance, light-seeking, arena cleaning and target seeking  ...  of a robust behavior in simple environments and a good transfer into the real world.  ... 
doi:10.1007/3-540-64957-3_61 fatcat:in2zgeu56zcvjjdmw366vnql2m

Evolutionary Robotics and Neuroscience [chapter]

2014 The Horizons of Evolutionary Robotics  
The gantry robot shown in the figure was used. Evolution took place in a special validated simulation of the robot and its environment.  ...  robotic agents with inverted vision have their left sensors stimulated, and then centre in on the object.  ... 
doi:10.7551/mitpress/8493.003.0003 fatcat:qvhpttno25f4zpjhhjzblesr7q

Evolution and development of neural controllers for locomotion, gradient-following, and obstacle-avoidance in artificial insects

J. Kodjabachian, J.-A. Meyer
1998 IEEE Transactions on Neural Networks  
Biol. 205 1389-1409 Meyer J-A and Guillot A In press Biologically-inspired robots. In Siciliano B and Khatib O editors, Handbook of Robotics.  ...  Evolution of closed-loop neuro-controllers for flapping-wing animats Muratet L, Doncieux S, Brière Y and Meyer J-A 2005 A contribution to vision-based autonomous helicopter flight in urban environments  ...  The authors wish to thank Thierry Druot for the development of the flight simulator and for his help with the analysis of the huge amount of data produced by the simulation.  ... 
doi:10.1109/72.712153 pmid:18255767 fatcat:iy4zjzgcjzc6pmwoqp3c5xpfga

A modular neurocontroller for creative mobile autonomous robots learning by temporal difference

H.A. Mayer
2004 IEEE International Conference on Systems, Man and Cybernetics (IEEE Cat. No.04CH37583)  
One of the most prominent research goals in the field of mobile autonomous robots is to create robots that are able to adapt to new environments, i.e., the robots should be able to learn during their "  ...  A problem with RL applied to robot learning is that the state (and action) space of a robot is typically not discrete.  ...  More importantly, it suggests novel actions (generated by noise in the creative memory), which are essential for adaptations of the robotic behavior to a changed environment.  ... 
doi:10.1109/icsmc.2004.1401110 dblp:conf/smc/Mayer04 fatcat:l3qqsmllv5gudej74nsns6qd3q

Modular Neural Architectures for Robotics [chapter]

J. L. Buessler, J. P. Urban
2003 Studies in Fuzziness and Soft Computing  
Based on a bi-directional architecture, multiple networks can be trained online with simple local learning rules, while the robotic systems interact with their environment.  ...  A review of a number of works presents some implementations in robotics, describing the purpose of the modular architecture, its structure, and the learning technique that was applied.  ...  Their responses, as well as their learning parameters, are weighted by a responsibility signal that is obtained by comparing the prediction of each forward model with the real evolution of the system's  ... 
doi:10.1007/978-3-7908-1775-1_10 fatcat:zdg4ozhvg5hjtd5romjxfbwnqm

Table of contents

2009 2009 17th Mediterranean Conference on Control and Automation  
This paper deals with the problem of delay-dependent stability and stabilization of Takagi-Sugeno (T-S) fuzzy systems with a time-varying delay.  ...  Univ. of the Negev This paper establishes control strategies for a wheeled mobile robot model that includes the kinematic and dynamic equations of motion.  ...  We demonstrate the use on the puck clustering and TSP problems, generating improved reliability and quick evolution of the system. 13:00-13:20 FrB2.4 Polynomial Methods in Noisy Network Localization, pp  ... 
doi:10.1109/med.2009.5164498 fatcat:bi37lbkbhfaihj7lbc64vvplo4

2020 Index IEEE Transactions on Instrumentation and Measurement Vol. 69

2020 IEEE Transactions on Instrumentation and Measurement  
Meenalochani, M., and Sudha, S., Influence of Received Signal Strength on Prediction of Cluster Head and Number of Rounds; TIM June 2020 3739-3749 Hendeby, G., see Kasebzadeh, P., TIM Aug. 2020 5862  ...  Converter Using All-Digital Nested Delay-Locked Loops With 50-ps Resolution and High Throughput for LiDAR TIM Nov. 2020 9262-9271 Helsen, J., see Huchel, L., TIM July 2020 4145-4153 Hemavathi, N.,  ...  ., +, TIM July 2020 4103-4113 FBG Smart Bolts and Their Application in Power Grids. Duan, C., +, TIM May 2020 2515-2521 Guest Editorial Special Section on Robotic and Sensors Environments.  ... 
doi:10.1109/tim.2020.3042348 fatcat:a5f4fsqs45fbbetre6zwsg3dly

Mathematics of Human Motion: from Animation towards Simulation (A View form the Outside) [article]

A.I. Zhmakin
2011 arXiv   pre-print
Simulation of human motion is the subject of study in a number of disciplines: Biomechanics, Robotics, Computer Animation, Control Theory, Neurophysiology, Medicine, Ergonomics.  ...  On the other hand, he happens to be a human (who occasionally is moving) and, as everybody else, rates himself an expert in Applied Common Sense.  ...  The animation system will accept natural language input and will store libraries of parameterized "self-knowledgeable" characters that can understand the context of the environment and adjust their behaviors  ... 
arXiv:1102.4992v1 fatcat:vf63c7dtqfdsra562sxlb7uh2m

Proceedings_of_Measuring_Behavior_2014.pdf [article]

Andrew Spink, Egon Van Den Broek, Leanne Loijens, Marta Woloszynowska-Fraser, Lucas P. J. J. Noldus
2020 Figshare  
Proceedings of the 9th International Conference on Methods and Techniques in Behavioral Research  ...  and EEMCS TU Delft) for their support.  ...  Ethical statement All experiments reported here were performed with the permission of the Animal Ethics Committee ('Lely-DEC') and in full compliance with the legal requirements of Dutch legislation on  ... 
doi:10.6084/m9.figshare.11708187 fatcat:62o74kbgczf2tp2dk64jeszxr4

Guest Editorial Special Issue on Perception and Emotion Based Reasoning many thanks go to the referees: Perception and Emotion Based Reasoning: A Connectionist Approach

Anton Železnikar, Franz Kurfess, Zhongzhi Shi, George Tecuci, Marco Botta, Woo Cheon, Ralf Birkenhead, Peter Innocent, Jenny Carter, John, Aladdin Ayesh
2003 Informatica   unpublished
Our reasoning process uses and is influenced by our perception model of the environment stimuli and by our memorization of related experiences, beliefs, and emotions that are associated with each stimulus  ...  In this paper we provide a simplified model of this complicated relationship between emotions, perceptions and our behaviour to produce a model that can be used in software agents and humanized robots.  ...  Acknowledgements This research was supported in part by Eli Lilly and Company.  ... 

5. Adaptive control in the presence of disturbances [chapter]

Adaptive Systems with Reduced Models  
The state of the art in industrial adaptive control is to combine a parameter estimator with an (existing) linear control-loop.  ...  Following this, three classes of disturbances and the corresponding methods to reject them are developed: external disturbances, unmodelled dynamics and time-variations.  ...  Once the evolution of the parameters towards their true values (or -more generally-towards a solution manifold) is governed by a differential equation, the long-term behavior of the adaptive system can  ... 
doi:10.1007/bfb0006362 fatcat:65rnimbnofa5via7gbfytlobla

Adaptive hand neuroprosthesis using inertial sensors for real-time motion tracking [article]

Christina Salchow-Hömmen, Technische Universität Berlin, Thomas Schauer, Jörg Raisch
People suffering from upper limb impairments after a stroke or spinal cord injury are not only restricted in their independence but also in their inclusion in professional and social life.  ...  Intersubject variability in neuroanatomy and tolerance of the FES make an individual adjustment of spatial and temporal stimulation parameters obligatory.  ...  Two main research fields in rehabilitation engineering are the evolution of rehabilitation robots and neuroprostheses.  ... 
doi:10.14279/depositonce-10136 fatcat:5vwxwbbdk5fdhlrbj2rqrhl3sq