Learning fuzzy controllers in mobile robotics with embedded preprocessing

The automatic design of controllers for mobile robots usually requires two stages. In the first stage, sensorial data are preprocessed or transformed into high level and meaningful values of variables which are usually defined from expert knowledge. In the second stage, a machine learning technique is applied to obtain a controller that maps these high level variables to the control commands that are actually sent to the robot. This paper describes an algorithm that is able to embed the preprocessing stage into the learning stage in order to get controllers directly starting from sensorial raw data with no expert knowledge involved. Due to the high dimensionality of the sensorial data, this approach uses Quantified Fuzzy Rules (QFRs), that are able to transform low-level input variables into high-level input variables, reducing the dimensionality through summarization. The proposed learning algorithm, called Iterative Quantified Fuzzy Rule Learning (IQFRL), is based on genetic programming. IQFRL is able to learn rules with different structures, and can manage linguistic variables with multiple granularities. The algorithm has been tested with the implementation of the wall-following behavior both in several realistic simulated environments with different complexity and on a Pioneer 3-AT robot in two real environments. Results have been compared with several well-known learning algorithms combined with different data preprocessing techniques, showing that IQFRL exhibits a better and statistically significant performance. Moreover, three real world applications for which IQFRL plays a central role are also presented: path and object tracking with static and moving obstacles avoidance.     

Error in the UNITY substitution rule for subscripted operators

UNITY, introduced by Chandy and Misra [ChM88], is a programming logic intended to reason about temporal properties of distributed programs. Despite the fact that UNITY does not have the full power of, for example, linear temporal logic, it enjoys popularity due to its simplicity.There was however a serious problem with the Substitution Rule. The logic is incomplete without the rule, and with the rule it is inconsistent.     

应用于空间关联规则挖掘的ILP方法

文章介绍了应用于空间关联规则挖掘的ILP方法。ILP方法全称为归纳逻辑程序设计,这种方法有利于从空间领域发现有价值的知识,系统地研究地理层的层次结构,处理诸多空间对象的空间特性。这种方法已在一个ILP系统SPADA中实现,该文将通过SPADA应用空间数据的一些实例来说明ILP方法的特点。     

Pruning Algorithms for Rule Learning

Pre-pruning and Post-pruning are two standard techniques for handling noise in decision tree learning. Pre-pruning deals with noise during learning, while post-pruning addresses this problem after an overfitting theory has been learned. We first review several adaptations of pre- and post-pruning techniques for separate-and-conquer rule learning algorithms and discuss some fundamental problems. The primary goal of this paper is to show how to solve these problems with two new algorithms that combine and integrate pre- and post-pruning.     

Coliphage prevalence in high school septic effluent and associated ground water

At the present time, somatic and male-specific coliphage and human enterovirus groups are being considered as indicators of possible pathogenic human enteric virus contamination from fecal contamination. A primary attribute for any indicator of fecal contamination is its prevalence at the source and in associated ground water. It must be consistently found in the source material at concentrations that are measurable with available techniques. Over a period of ten months, male-specific and somatic coliphage ranged from 7000 to 4,000,000 PFU/L in the effluent from a multi-user septic-tank. Unlike the values determined for septic-tank effluent, coliphage concentrations measured in ground water over this same period only varied by five-fold. Coliphage concentration in ground water under the down-gradient edge of the drainfield contained 1000 PFU/L. This concentration decreased at −1 log₁₀/5 m during 17.4 m of ground-water transport. From these data, coliphage concentrations in septic-tank effluent seem sufficient to allow their use as indicators of fecal contamination in ground water.     

Web服务提供方安全模型的分析与设计

讨论了Web服务提供方的安全问题,通过对Web服务调用方式的分析,为Web服务的提供方设计了安全模型.所设计的模型不依赖于服务提供方选用的安全策略,方便策略的更改和安全检查机制的更新.该模型同样适用于Web服务的需求方.     

Inference and learning in hybrid probabilistic network

This paper proposed a novel hybrid probabilistic network, which is a good tradeoff between the model complexity and learnability in practice. It relaxes the conditional independence assumptions of Naive Bayes while still permitting efficient inference and learning. Experimental studies on a set of natural domains prove its clear advantages with respect to the generalization ability.     

Methodological Challenges in Union Commitment Studies.

Methodological problems in studies of union commitment were identified and illustrated with data from 4,641 members and 479 stewards in 297 local teachers' unions. Using a 20-item union commitment scale, results confirmed the existence of 3 substantive factors and 1 method factor at the individual level of analysis: loyalty to the union, responsibility to the union, willingness to work for the union, and a factor of negatively worded items. Tests of measurement invariance showed that the scale captured commitment for rank-and-file members but not for union stewards. The authors also found partial measurement invariance between long-time and newer members and full measurement invariance between men and women. Finally, the authors found that violation of the statistical assumption of independence reduced model fit when individual commitment scores were analyzed without attention to the hierarchical nature of the data. (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

各种状态的液体通过核孔膜的规律

介绍了液体通过核孔膜规律方面取得的新认识，包括：（１）纯净液体通过核孔膜的规律；（２）核孔膜测定液体粘滞系数的各种方法；（３）各种物质溶液浓度的核孔膜测定；（４）液相混合物快速分离和化学分离；（５）流体中固体微粒对核孔膜的堵塞及其公式；（６）用核孔膜滤除液中各各斩规律。