IEEE Transactions on Systems, Man, and Cybernetics

Texture is one of the important characteristics used in identifying objects or regions of interest in an image, whether the image be a photomicrograph, an aerial photograph, or a satellite image. This paper describes some easily computable textural features based on gray-tone spatial dependancies, and illustrates their application in category-identification tasks of three different kinds of image ... View full abstract»

The architecture and learning procedure underlying ANFIS (adaptive-network-based fuzzy inference system) is presented, which is a fuzzy inference system implemented in the framework of adaptive networks. By using a hybrid learning procedure, the proposed ANFIS can construct an input-output mapping based on both human knowledge (in the form of fuzzy if-then rules) and stipulated input-output data p... View full abstract»

A mathematical tool to build a fuzzy model of a system where fuzzy implications and reasoning are used is presented. The premise of an implication is the description of fuzzy subspace of inputs and its consequence is a linear input-output relation. The method of identification of a system using its input-output data is then shown. Two applications of the method to industrial processes are also dis... View full abstract»

A survey is presented of current methods for decision tree classifier (DTC) designs and the various existing issues. After considering potential advantages of DTCs over single-state classifiers, the subjects of tree structure design, feature selection at each internal node, and decision and search strategies are discussed. The relation between decision trees and neutral networks (NN) is also discu... View full abstract»

It is shown how a system consisting of two neuronlike adaptive elements can solve a difficult learning control problem. The task is to balance a pole that is hinged to a movable cart by applying forces to the cart's base. It is argued that the learning problems faced by adaptive elements that are components of adaptive networks are at least as difficult as this version of the pole-balancing proble... View full abstract»

The introduction of information technology based on digital computers for the design of man-machine interface systems has led to a requirement for consistent models of human performance in routine task environments and during unfamiliar task conditions. A discussion is presented of the requirement for different types of models for representing performance at the skill-, rule-, and knowledge-based ... View full abstract»

For pt.I see ibid., vol.20, no.2, p.404-18, 1990. The basic aspects of the FLC (fuzzy logic controller) decision-making logic are examined. Several issues, including the definitions of a fuzzy implication, compositional operators, the interpretations of the sentence connectives 'and' and 'also', and fuzzy inference mechanisms, are investigated. Defuzzification strategies, are discussed. Some of th... View full abstract»

Classification of objects is an important area of research and application in a variety of fields. In the presence of full knowledge of the underlying probabilities, Bayes decision theory gives optimal error rates. In those cases where this information is not present, many algorithms make use of distance or similarity among samples as a means of classification. The <i>K</i>-nearest nei... View full abstract»

The author is primarily concerned with the problem of aggregating multicriteria to form an overall decision function. He introduces a type of operator for aggregation called an ordered weighted aggregation (OWA) operator and investigates the properties of this operator. The OWA's performance is found to be between those obtained using the AND operator, which requires all criteria to be satisfied, ... View full abstract»

In this paper we describe an efficient approach for multimodal function optimization using genetic algorithms (GAs). We recommend the use of adaptive probabilities of crossover and mutation to realize the twin goals of maintaining diversity in the population and sustaining the, convergence capacity of the GA. In the adaptive genetic algorithm (AGA), the probabilities of crossover and mutation, p/s... View full abstract»

Textural features corresponding to human visual perception are very useful for optimum feature selection and texture analyzer design. We approximated in computational form six basic textural features, namely, coarseness, contrast, directionality, line-likeness, regularity, and roughness. In comparison with psychological measurements for human subjects, the computational measures gave good correspo... View full abstract»

Among the simplest and most intuitively appealing classes of nonprobabilistic classification procedures are those that weight the evidence of nearby sample observations most heavily. More specifically, one might wish to weight the evidence of a neighbor close to an unclassified observation more heavily than the evidence of another neighbor which is at a greater distance from the unclassified obser... View full abstract»

A general method is developed to generate fuzzy rules from numerical data. The method consists of five steps: divide the input and output spaces of the given numerical data into fuzzy regions; generate fuzzy rules from the given data; assign a degree of each of the generated rules for the purpose of resolving conflicts among the generated rules; create a combined fuzzy rule base based on both the ... View full abstract»

The task of optimizing a complex system presents at least two levels of problems for the system designer. First, a class of optimization algorithms must be chosen that is suitable for application to the system. Second, various parameters of the optimization algorithm need to be tuned for efficiency. A class of adaptive search procedures called genetic algorithms (GA) has been used to optimize a wi... View full abstract»

This paper describes the development of a fuzzy gain scheduling scheme of PID controllers for process control. Fuzzy rules and reasoning are utilized online to determine the controller parameters based on the error signal and its first difference. Simulation results demonstrate that better control performance can be achieved in comparison with Ziegler-Nichols controllers and Kitamori's PID control... View full abstract»

A critical decision method is described for modeling tasks in naturalistic environments characterized by high time pressure, high information content, and changing conditions. The method is a variant of a J.C. Flanagan's (1954) critical incident technique extended to include probes that elicit aspects of expertise such as the basis for making perceptual discriminations, conceptual discriminations,... View full abstract»

The fuzzy logic controller (FLC) provides a means of converting a linguistic control strategy. A survey of the FLC is presented, and a general methodology for constructing an FLC and assessing its performance is described. In particular, attention is given to fuzzification and defuzzification strategies, the derivation of the database and fuzzy control rules, the definition of fuzzy implication, a... View full abstract»

A real-time obstacle avoidance approach for mobile robots has been developed and implemented. It permits the detection of unknown obstacles simultaneously with the steering of the mobile robot to avoid collisions and advance toward the target. The novelty of this approach, entitled the virtual force field method, lies in the integration of two known concepts: certainty grids for obstacle represent... View full abstract»

The approach described in this paper represents a substantive departure from the conventional quantitative techniques of system analysis. It has three main distinguishing features: 1) use of so-called ``linguistic'' variables in place of or in addition to numerical variables; 2) characterization of simple relations between variables by fuzzy conditional statements; and 3) characterization of compl... View full abstract»

A new evidential reasoning based approach is proposed that may be used to deal with uncertain decision knowledge in multiple-attribute decision making (MADM) problems with both quantitative and qualitative attributes. This approach is based on an evaluation analysis model and the evidence combination rule of the Dempster-Shafer theory. It is akin to a preference modeling approach, comprising an ev... View full abstract»

Direct comparisons were made of expert highway engineers' use of analytical, quasirational, and intuitive cognition on three different tasks, each displayed in three different ways. Use of a systems approach made it possible to develop indices for measuring the location of each of the nine information display conditions on a continuum ranging from intuition-inducing to analysis-inducing and for me... View full abstract»

Compliant motion of a manipulator occurs when the manipulator position is constrained by the task geometry. Compliant motion may be produced either by a passive mechanical compliance built in to the manipulator, or by an active compliance implemented in the control servo loop. The second method, called force control, is the subject of this paper. In particular a theory of force control based on fo... View full abstract»

Various practical systems capable of extracting descriptive decision-making knowledge from data have been developed and evaluated. Techniques that represent knowledge about classified tasks in the form of decision trees are examined. A sample of techniques is sketched, ranging from basic methods of constructing decision trees to ways of using them noncategorically. Some characteristics that sugges... View full abstract»

Stochastic automata operating in an unknown random environment have been proposed earlier as models of learning. These automata update their action probabilities in accordance with the inputs received from the environment and can improve their own performance during operation. In this context they are referred to as learning automata. A survey of the available results in the area of learning autom... View full abstract»

Fractal dimension is an interesting feature proposed to characterize roughness and self-similarity in a picture. This feature has been used in texture segmentation and classification, shape analysis and other problems. An efficient differential box-counting approach to estimate fractal dimension is proposed in this note. By comparison with four other methods, it has been shown that the authors, me... View full abstract»

In this paper, the problem of classifying an unseen pattern on the basis of its nearest neighbors in a recorded data set is addressed from the point of view of Dempster-Shafer theory. Each neighbor of a sample to be classified is considered as an item of evidence that supports certain hypotheses regarding the class membership of that pattern. The degree of support is defined as a function of the d... View full abstract»

An approach to robot path planning that consists of incrementally building a graph connecting the local minima of a potential field defined in the robot's configuration space and concurrently searching this graph until a goal configuration is attained is proposed. Unlike the so-called global path planning methods, this approach does not require an expensive computation step before the search for a... View full abstract»

A theoretical framework for designing interfaces for complex human-machine systems is proposed. The framework, called ecological interface design (EID), is based on the skills, rules, and knowledge taxonomy of cognitive control. The basic goals of EID are not to force processing to a higher level than the demands of the task require, and to support each of the three levels of cognitive control. Th... View full abstract»

An optimal preview control method is applied to the automobile path following problem. The technique is first used to examine the straight-line regulatory driving task and results compared with similar experimental measurements. The method is further demonstrated by closedloop simulation of an automobile driver/vehicle system during transient lane-change maneuvers. The computer simulation results ... View full abstract»

Kinematically redundant manipulators have a number of potential advantages over current manipulator designs. For this type of arm, velocity control through pseudoinverses is suggested. Questions associated with pseudoinverse control are examined in detail and show that in some cases this control leads to undesired arm configurations. A method for distributing joint angles of a redundant arm in a g... View full abstract»

The proposed navigator consists of an avoidance behavior and goal-seeking behavior. Two behaviors are independently designed at the design stage and then combined them by a behavior selector at the running stage. A behavior selector using a bistable switching function chooses a behavior at each action step so that the mobile robot can go for the goal position without colliding with obstacles. Fuzz... View full abstract»

A method to determine a distance measure between two nonhierarchical attributed relational graphs is presented. In order to apply this distance measure, the graphs are characterised by descriptive graph grammars (DGG). The proposed distance measure is based on the computation of the minimum number of modifications required to transform an input graph into the reference one. Specifically, the dista... View full abstract»

The convergence properties of a nearest neighbor rule that uses an editing procedure to reduce the number of preclassified samples and to improve the performance of the rule are developed. Editing of the preclassified samples using the three-nearest neighbor rule followed by classification using the single-nearest neighbor rule with the remaining preclassified samples appears to produce a decision... View full abstract»

Systems that are competitive and possess symmetric interactions admit a global Lyapunov function. However, a global Lyapunov function whose equilibrium set can be effectively analyzed has not yet been discovered. It remains an open question whether the Lyapunov function approach, which requires a study of equilibrium points, or an alternative global approach, such as the Lyapunov functional approa... View full abstract»

An overview of present computer techniques of partitioning continuous-tone images into meaningful segments and of characterizing these segments by sets of "features" is presented. Segmentation often consists of two methods:boundary detection and texture analysis. Both of these are discussed. The design of the segmenter and feature extractor are intimately related to the design of the rest of the i... View full abstract»

A systems model is proposed to relate a profile of athletic performance to a profile of training. The general model assumes that performance has four components: endurance, strength, skill, and psychological factors. Each of these factors is discussed and ascribed a transfer function. A major problem is the quantification of both training and performance. The case of a swimmer is studied in detail... View full abstract»

A theoretical procedure is developed for comparing the performance of arbitrarily selected admissible controls among themselves and with the optimal solution of a nonlinear optimal control problem. A recursive algorithm is proposed for sequential improvement of the control law which converges to the optimal. It is based on the monotonicity between the changes of the Hamiltonian and the value funct... View full abstract»

Description or discrimination of boundary curves (shapes) is an important problem in picture processing and pattern recognition. Fourier descriptors (FD's) have interesting properties in this respect. First, a critical review is given of two kinds of FD's. Some properties of the FD's are given and a distance measure is proposed, in terms of FD's, that measures the difference between two boundary c... View full abstract»

Two kinds of new methods are developed to obtain effective representations of hierarchies automatically: theoretical and heuristic methods. The methods determine the positions of vertices in two steps. First the order of the vertices in each level is determined to reduce the number of crossings of edges. Then horizontal positions of the vertices are determined to improve further the readability of... View full abstract»

A stochastic approach called the annealing-genetic algorithm is presented for solving some well-known combinatorial optimization problems. This approach incorporates genetic algorithms into simulated annealing to improve the performance of simulated annealing. The authors' approach can be viewed as a simulated annealing algorithm with population-based state transition and with genetic-operator-bas... View full abstract»

The issues involved in integrating multiple sensors into the operation of a system are presented in the context of the type of information these sensors can uniquely provide. A survey is provided of the variety of approaches to the problem of multisensor integration and fusion that have appeared in the literature in recent years ranging from general paradigms, frameworks, and methods for integrati... View full abstract»

A complex multidimensional decision hypersurface can be approximated by a set of polynomials in the input signals (properties) which contain information about the hypersurface of interest. The hypersurface is usually described by a number of experimental (vector) points and simple functions of their coordinates. The approach taken in this paper to approximating the decision hypersurface, and hence... View full abstract»

Speckles appearing in synthetic aperture radar (SAR) images are generated by the coherent processing of radar signals. Basically the speckles have the nature of a multiplicative noise. A simple and effective method of smoothing speckle-corrupted images by a digital computer is discussed, based on the recently developed sigma filter. The sigma filter is motivated by the sigma probability of a Gauss... View full abstract»

Constrained motion in a class of human-controlled robotic manipulators called extenders is discussed. Extenders are defined as a class of robot manipulators worn by humans to increase mechanical strength while the wearer's intellect remains the central control system for manipulating the extender. The human, in physical contact with the extender, exchanges power and information signals with the ex... View full abstract»

Inverse kinematic solutions are used in manipulator controllers to determine corrective joint motions for errors in end-effector position and orientation. Previous formulations of these solutions, based on the Jacobian matrix, are inefficient and fail near kinematic singularities. Vector formulations of inverse kinematic problems are developed that lead to efficient computer algorithms. To overcom... View full abstract»

Work done on the implementation of a fuzzy logic controller in a single intersection of two one-way streets is presented. The model of the intersection is described and validated, and the use of the theory of fuzzy sets in constructing a controller based on linguistic control instructions is introduced. The results obtained from the implementation of the fuzzy logic controller are tabulated agains... View full abstract»

Possible solutions to the problem of combining classifiers can be divided into three categories according to the levels of information available from the various classifiers. Four approaches based on different methodologies are proposed for solving this problem. One is suitable for combining individual classifiers such as Bayesian, k-nearest-neighbor, and various distance classifiers. The other th... View full abstract»

Closed-form equations of motion are presented for planar lightweight robot arms with multiple flexible links. The kinematic model is based on standard frame transformation matrices describing both rigid rotation and flexible displacement, under small deflection assumption. The Lagrangian approach is used to derive the dynamic model of the structure. Links are modeled as Euler-Bernoulli beams with ... View full abstract»

Multifunctional control of artificial limbs via electromyographic (EMG) actuation requires means for reliably recognizing or distinguishing between the various functions on the basis of the recorded EMG data. Furthermore, constraints of weight, cost, and computation time on practical prosthesis application must be satisfied. An approach to the aforementioned recognition problem is given in terms o... View full abstract»

This book provides a clearly written, authoritative, and detailed development of adaptive-control systems analysis and design. The book incorporates many new results and techniques fordesigning adaptive-control systems, and derives many previously known results in novel ways that simplify and lend new insights to the theory. Above all, the book is written in a manner that is comprehensible to a br... View full abstract»