Incorporation　of　Perception-based　Information　in　Robot　Learning　Using　Fuzzy　Reinforcement　Learning　Agents     

ZHOUChangjiu MENGQingchun GUOZhongwen QUWeifen YINBo 《青岛海洋大学学报(英文版)》2002,1(1):93-100

Robot learning in unstructured environments has been proved to be an extremely challenging problem, mainly because of many uncertainties always present in the real world. Human beings, on the other hand, seem to cope very well with uncertain and unpredictable environments, often relying on perception-based information. Furthermore, humans beings can also utilize perceptions to guide their learning on those parts of the perception-action space that are actually relevant to the task. Therefore, we conduct a research aimed at improving robot learning through the incorporation of both perceptionbased and measurement-based information. For this reason, a fuzzy reinforcement learning (FRL) agent is proposed in this paper. Based on a neural-fuzzy architecture, different kinds of information can be incorporated into the FRL agent to initialise its action network, critic network and evaluation feedback module so as to accelerate its learning. By making use of the global optimisation capability of GAs (genetic algorithms), a GA-based FRL (GAFRL) agent is presented to solve the local minima problem in traditional actor-critic reinforcement learning. On the other hand, with the prediction capability of the critic network, GAs can perform a more effective global search. Different GAFRL agents are constructed and verified by using the simulation model of a physical biped robot. The simulation analysis shows that the biped learning rate for dynamic balance can be improved by incorporating perception-based information on biped balancing and walking evaluation. The biped robot can find its application in ocean exploration, detection or sea rescue activity, as well as military maritimeac tivity.  相似文献   

模糊划分矩阵在岩土参数概率分布中的应用   总被引：1，自引：0，他引：1  

刘明  熊彩霞  马金荣 《地球科学与环境学报》2002,24(4):38-41

讨论如何在小样本条件下用已有的过程经验与试验资料确定岩土参数概率分布,用模糊划分矩阵与BAYES方法相结合,给出由小样本试验数据确定岩土参数的概率分布。  相似文献   

DFT的一种高效矩阵分解算法     

余品能  路凌云 《物探化探计算技术》1993,15(2):153-157

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寄给天国里的父亲     

汇涓 《黑龙江国土资源》2005,(2):30-30

父亲，今天是女儿的生日，三十二岁。还记得么?三月的天居然渐淅沥沥的下起了小雨，女儿漫无目的的在街上游走，却在不知不觉中走到了咱们的老家。站在油漆剥落的大门外，一时间，模糊了所有的时间和空间，往事却那么执著的涌上心头。  相似文献   

三维统计地图的快速生成算法     

沈裕和  俞全宏 《物探化探计算技术》1992,14(4):301-305

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模糊混合聚类法在农药污染研究的应用     

薛星梅  余强  陈庆秋  陈国桥 《河南国土资源》1993,(2)

本文综述性地介绍了模糊混合聚类法的基本原理,并用商丘大吴庄均衡试验区的土壤乐果含量的实测资料,具体说明了模糊混合聚类法在农药污染研究中的应用过程。  相似文献   

黄土斜坡稳定性的模糊信息分析法     

王家鼎  冯学才  孟兴民 《山地学报》1991,(1)

本文基于黄土斜坡稳定性的实际资料,利用信息分配、模糊一二级近似推论及信息集中等原因建立了一套黄土斜坡稳定性的评价方法。用这套方法对一些黄土斜坡(非母体)稳定性进行了验证,其结果与实际情况一致。本方法已应用于兰州市滑坡防灾规划和皋兰山三台阁北侧几个滑坡及斜坡稳定性的研究中,效果良好。  相似文献   

数字水印研究综述及其发展方向   总被引：2，自引：0，他引：2  

陈少霞 《广东海洋大学学报》2003,23(6):74-80

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基于模糊综合评判的机械零件材料选择方法     

刘峰 《广东海洋大学学报》2001,21(2):63-65

针对在选择机械零件材料时采用传统方法所具有的主观性缺陷，本文结合设计实例，运用模糊数学理论，建立了零年材料选择的模糊综合评判的数学模型，能从钦种可用材料中较客观，合理地确定出最适用的一种材料，从而提高了设计质量。  相似文献   

FUZZY COMPREHENSIVE EVALUATION OF CONTAINER TRANSPORTATION MODES ALONG THE CHANGJIANG RIVER MAIN LINE AND ITS DELTA AREA   总被引：1，自引：0，他引：1  

ZHANGShi-yu XIAOHan-liang 《中国地理科学(英文版)》2003,13(3):259-261

The Changjiang River (Yangtze) is one of the fastest growth areas of container transportation in Chi-na. Rail, road and water transportation have competed against each other for container transportation in the Chang-jiang River main line and its delta area. It is of significance to assess these different transportation modes scientifi-cally in order to organize container transportation efficiently in this area and make decision for integral plan and construction of transportation system in this area. This paper outlines application of fuzzy comprehensive evaluation to appraise different modes of typical direction of containers. Twelve assessment indexes were decided. Membership functions were formulated. Evaluation results indicated that road transportation was optimal mode in the Changjiang River delta area, however water transportation was the primary way in the Changjiang River main line.  相似文献