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Transactions of the Institute of Systems, Control and Information Engineers Vol. 19 (2006), No. 5

ISIJ International
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ONLINE ISSN: 2185-811X
PRINT ISSN: 1342-5668
Publisher: THE INSTITUTE OF SYSTEMS, CONTROL AND INFORMATION ENGINEERS (ISCIE)

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Transactions of the Institute of Systems, Control and Information Engineers Vol. 19 (2006), No. 5

Self-motivated Learning Agent

Juan LIU, Andrzej BULLER, Michal JOACHIMCZAK

pp. 169-176

Abstract

We present a novel method of machine learning toward autonomous developmental systems. The method is based on a growing neural network that initially produces senseless signals but later associates rewarding signals and quasi-rewarding signals with recent perceptions and motor activities and, based on these associations, incorporates new cells and creates new connections, which results in more structured output patterns. The rewarding signals are produced in a device called “pleasure center”, while the quasi-rewarding signals (that represent pleasure expectation) are generated by the network itself. The network was tested using a simulated mobile robot equipped with a pair of motors, a speaker, a set of touch sensors, and a camera. Despite a lack of innate wiring for any purposeful behavior, the robot developed from scratch, without any external guidance (except hardwired perception-pleasure patterns), a set of perception-reaction patterns. The emerging patterns include obstacle avoidance, vocalization of interest, and approaching an object of interest, which are fundamental for creatures and usually handcrafted in traditional robotic systems.

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Self-motivated Learning Agent

Blind Identification of Mechanical Systems via Independent Component Analysis and Detection of Structure Change

Masuhiro NITTA, Arata SUZUKI, Kenji SUGIMOTO, Naotoshi ADACHI

pp. 177-184

Abstract

This paper studies a method for blind identification based upon independent component analysis. By observing vibration of a mechanical system subject to unknown but independent signals, the method makes it possible to identify partial data of the system parameter and to estimate the unknown input signals. Then, by monitoring independence of the estimated signals, the paper gives a method for detecting the change in mechanical parameter. This can be applied to fault detection of operating machines without any special sensor for the fault. An experiment with a flexible structure is carried out to verify these methods.

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Blind Identification of Mechanical Systems via Independent Component Analysis and Detection of Structure Change

Study on Strategy Finding from the Player Agents in a Gaming-Simulation

Yuji SHINODA, Ybshiteru NAKAMORI

pp. 185-192

Abstract

Gaming is one of the good tools to understand or study complex phenomena through experiences in a virtual world. Now, computer agents are beginning to join gaming as substitutes for human players. To help finding strategies through a gaming, this paper proposes an agent-based model for gaming-simulation. In this model, each agent has its own neural-networks for predicting behavior of other agents, including itself. In addition, each agent has a classifier model for tactical decision-making, and to achieve tactical target, the agent uses neural-networks to get an optimal answer.These agents try to find tactical rules with playing the game that aims at the second place. It is shown that this three-model structure enables us to monitor behavior of agents easily, and it enables us to consider strategies in the world of gaming.

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Study on Strategy Finding from the Player Agents in a Gaming-Simulation

Eigenvalue Assignment Method by PID Control for MIMO System

Kenichi TAMURA, Kiyotaka SHIMIZU

pp. 193-202

Abstract

This paper is concerned with PID control for n-state, r-input and m-output linear system (MIMO system). We propose a new PID parameters determination method based on an eigenvalue assignment. At first a new eigenvalue assignment method with a static output feedback is proposed. Then we regard a PID control as the static output feedback and apply its eigenvalue assignment method in order to determine the static output feedback gain related to PID parameters. Consequently the PID parameters are determined by matrices operation after giving an appropriate parametrized vector under a condition 2m + rn + 1. The effectiveness of the proposed method is confirmed with the simulation results for unstable MIMO systems.

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Eigenvalue Assignment Method by PID Control for MIMO System

HControl of Descriptor Systems

Izumi MASUBUCHI

pp. 203-209

Abstract

This paper provides a new solution to the output feedback H control problem for descriptor systems. Unlike previous results, the proposed criterion for existence of H, suboptimal controllers does not depend on the choice of the descriptor realization. The criterion is given in terms of LMIs, whose solution yields an H suboptimal controller.

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HControl of Descriptor Systems

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