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  • About
  • The Global ETD Search service is a free service for researchers to find electronic theses and dissertations. This service is provided by the Networked Digital Library of Theses and Dissertations.
    Our metadata is collected from universities around the world. If you manage a university/consortium/country archive and want to be added, details can be found on the NDLTD website.
161

Proposta de modelo de decisão para avaliação de fornecedores baseado no ELECTRE TRI para categorização e na teoria dos conjuntos fuzzy para a modelagem da incerteza e hesitação de múltiplos tomadores de decisão / Proposal of decision model for supplier evaluation based on ELECTRE TRI for categorization and fuzzy sets theory for the modeling of uncertainty and hesitation of multiple decision makers

Galo, Nadya Regina 19 April 2018 (has links)
A gestão eficaz dos processos que envolvem os fornecedores tem grande influência na melhoria do desempenho organizacional, sendo, portanto, fundamental para desenvolver capacidades das operações de produção que podem gerar vantagem competitiva, tais como qualidade, preço e tempo de entrega. A gestão de fornecedores inclui as atividades de qualificação, seleção, avaliação e desenvolvimento de fornecedores, além da alocação de pedido quando múltiplas fontes de fornecimento são selecionadas. A qualificação é um processo importante para assegurar que os fornecedores atendam requisitos mínimos de desempenho e, idealmente, deve ser realizada com métodos não compensatórios de categorização das alternativas. Entretanto, na literatura há poucos estudos que abordam a qualificação de fornecedores. Dentre aqueles que abordam, a maioria utiliza técnicas multicritério que são compensatórias e de ordenação. Outros aspectos importantes da gestão de fornecedores é a possível presença vários tomadores de decisão, caracterizando um processo de tomada de decisão em grupo, além da subjetividade de alguns critérios que gera incerteza nos julgamentos e hesitação. Ao se considerar essas questões na gestão de fornecedores, nenhuma pesquisa na literatura apresenta uma abordagem que contemple todos as características simultaneamente. Além disso, poucas pesquisas abordam os processos da gestão de fornecedores sob uma perspectiva integrada. Com vista a estas lacunas, esta pesquisa tem por objetivo a proposição de dois modelos de decisão que consideram os processos de qualificação, seleção e avaliação de fornecedores, em um cenário de tomada de decisão em grupo, considerando a incerteza e hesitação. Os modelos propostos têm por finalidade elicitar as preferências, agregar os julgamentos e categorizar os fornecedores. O primeiro modelo utiliza a representação linguística Triangular Hesitant Fuzzy Sets, para lidar com a hesitação nos julgamentos dos tomadores de decisão, além da técnica ELECTRE TRI para a categorização dos fornecedores. O segundo modelo se baseia na aplicação representação linguística Intuitionistic Fuzzy Sets para modelar a hesitação na parametrização das variáveis linguísticas e no ELECTRE TRI para a categorização. A elicitação é realizada com o uso do Fuzzy Delphi combinado com operadores de agregação do Triangular Hesitant Fuzzy Sets e Intuitionistic Fuzzy Sets. Os modelos de decisão foram detalhados e implementados no Matlab©. Após a proposição dos métodos, dois casos ilustrativos, obtidos a partir da coleta em campo, foram apresentados para analisar o desempenho dos modelos. Os casos ilustrativos mostraram resultados de categorização consistentes, especialmente para o procedimento pessimista do ELECTRE TRI. Testes com a hesitação nos julgamentos dos tomadores de decisão evidenciaram a importância da modelagem da hesitação, pois ela tem o potencial de alterar a categorização das alternativas. Testes com os parâmetros do ELECTRE TRI, confirmaram o efeito não compensatório da técnica e que a variação do nível de corte tem o potencial de tornar a categorização mais flexível. Assim, esta tese apresenta uma revisão de literatura sobre os processos de gestão de fornecedores e sobre tomada de decisão multicritério e em grupo, a proposição de métodos de apoio à tomada de decisão, casos ilustrativos para ilustrar o modelo, análises de sensibilidade dos métodos, além das conclusões e propostas para trabalhos futuros. / Effective management of the processes that involving suppliers has a major influence on improving organizational performance and is therefore fundamental to develop production operations capabilities that can generate competitive advantage, such as quality, price and delivery time. Supplier management includes qualification, selection, evaluation and development of suppliers, as well as allocation of orders when multiple sources of supply are selected. Qualification is an important process to ensure that suppliers meet minimum performance requirements and ideally must be performed with non-compensatory methods of categorization. However, in the literature there are few studies that consider the process of supplier qualification. Among the studies that consider the qualification, most use multicriteria techniques that are compensatory and for ranking. Other important aspects of supplier management are the possible presence of several decision makers, characterizing a process of group decision making, as well as the subjectivity of some criteria that generates uncertainty in judgments and hesitation. When considering these issues in supplier management, none of the studies found in the literature presents an approach that contemplates all features simultaneously. In addition, few researches deal with supplier management processes from an integrated perspective. In view of these gaps, this research aims to propose two decision models that consider the processes of qualification, selection and evaluation of suppliers, in a scenario of group decision making, considering the uncertainty and hesitation. The proposed models have the purpose the elicitation of the preferences, the aggregation of the judgments and the categorization of the suppliers. The first model uses the linguistic representation Triangular Hesitant Fuzzy Sets, to deal with the hesitation in the judgments of the decision makers, in addition to the ELECTRE TRI technique for the categorization of the suppliers. The second model is based on the application of the linguistic representation Intuitionistic Fuzzy Sets to model the hesitation in the parameterization of the linguistic variables and in the ELECTRE TRI for categorization. Elicitation is performed with the use of Fuzzy Delphi combined with aggregation operators of the Triangular Hesitant Fuzzy Sets and Intuitionistic Fuzzy Sets. The decision models were detailed and implemented in Matlab©. Two illustrative cases, obtained from the field collection, were presented to analyze the performance of the models. The illustrative cases showed consistent categorization results, especially for the pessimistic procedure of ELECTRE TRI. Tests with hesitation in the judgments of decision makers highlighted the importance of modeling hesitation, since it has the potential to change the categorization of alternatives. Tests with the ELECTRE TRI parameters confirmed the non-compensatory effect of the technique and that the variation of the cut level has the potential to make categorization more flexible. Thus, this thesis presents a review of the literature on supplier management processes and on multicriteria and group decision making, the proposition of methods to support decision making, illustrative cases to illustrate the model, method sensitivity analyzes, besides the conclusions and proposals for future works.
162

Proposta de modelo de decisão para avaliação de fornecedores baseado no ELECTRE TRI para categorização e na teoria dos conjuntos fuzzy para a modelagem da incerteza e hesitação de múltiplos tomadores de decisão / Proposal of decision model for supplier evaluation based on ELECTRE TRI for categorization and fuzzy sets theory for the modeling of uncertainty and hesitation of multiple decision makers

Nadya Regina Galo 19 April 2018 (has links)
A gestão eficaz dos processos que envolvem os fornecedores tem grande influência na melhoria do desempenho organizacional, sendo, portanto, fundamental para desenvolver capacidades das operações de produção que podem gerar vantagem competitiva, tais como qualidade, preço e tempo de entrega. A gestão de fornecedores inclui as atividades de qualificação, seleção, avaliação e desenvolvimento de fornecedores, além da alocação de pedido quando múltiplas fontes de fornecimento são selecionadas. A qualificação é um processo importante para assegurar que os fornecedores atendam requisitos mínimos de desempenho e, idealmente, deve ser realizada com métodos não compensatórios de categorização das alternativas. Entretanto, na literatura há poucos estudos que abordam a qualificação de fornecedores. Dentre aqueles que abordam, a maioria utiliza técnicas multicritério que são compensatórias e de ordenação. Outros aspectos importantes da gestão de fornecedores é a possível presença vários tomadores de decisão, caracterizando um processo de tomada de decisão em grupo, além da subjetividade de alguns critérios que gera incerteza nos julgamentos e hesitação. Ao se considerar essas questões na gestão de fornecedores, nenhuma pesquisa na literatura apresenta uma abordagem que contemple todos as características simultaneamente. Além disso, poucas pesquisas abordam os processos da gestão de fornecedores sob uma perspectiva integrada. Com vista a estas lacunas, esta pesquisa tem por objetivo a proposição de dois modelos de decisão que consideram os processos de qualificação, seleção e avaliação de fornecedores, em um cenário de tomada de decisão em grupo, considerando a incerteza e hesitação. Os modelos propostos têm por finalidade elicitar as preferências, agregar os julgamentos e categorizar os fornecedores. O primeiro modelo utiliza a representação linguística Triangular Hesitant Fuzzy Sets, para lidar com a hesitação nos julgamentos dos tomadores de decisão, além da técnica ELECTRE TRI para a categorização dos fornecedores. O segundo modelo se baseia na aplicação representação linguística Intuitionistic Fuzzy Sets para modelar a hesitação na parametrização das variáveis linguísticas e no ELECTRE TRI para a categorização. A elicitação é realizada com o uso do Fuzzy Delphi combinado com operadores de agregação do Triangular Hesitant Fuzzy Sets e Intuitionistic Fuzzy Sets. Os modelos de decisão foram detalhados e implementados no Matlab©. Após a proposição dos métodos, dois casos ilustrativos, obtidos a partir da coleta em campo, foram apresentados para analisar o desempenho dos modelos. Os casos ilustrativos mostraram resultados de categorização consistentes, especialmente para o procedimento pessimista do ELECTRE TRI. Testes com a hesitação nos julgamentos dos tomadores de decisão evidenciaram a importância da modelagem da hesitação, pois ela tem o potencial de alterar a categorização das alternativas. Testes com os parâmetros do ELECTRE TRI, confirmaram o efeito não compensatório da técnica e que a variação do nível de corte tem o potencial de tornar a categorização mais flexível. Assim, esta tese apresenta uma revisão de literatura sobre os processos de gestão de fornecedores e sobre tomada de decisão multicritério e em grupo, a proposição de métodos de apoio à tomada de decisão, casos ilustrativos para ilustrar o modelo, análises de sensibilidade dos métodos, além das conclusões e propostas para trabalhos futuros. / Effective management of the processes that involving suppliers has a major influence on improving organizational performance and is therefore fundamental to develop production operations capabilities that can generate competitive advantage, such as quality, price and delivery time. Supplier management includes qualification, selection, evaluation and development of suppliers, as well as allocation of orders when multiple sources of supply are selected. Qualification is an important process to ensure that suppliers meet minimum performance requirements and ideally must be performed with non-compensatory methods of categorization. However, in the literature there are few studies that consider the process of supplier qualification. Among the studies that consider the qualification, most use multicriteria techniques that are compensatory and for ranking. Other important aspects of supplier management are the possible presence of several decision makers, characterizing a process of group decision making, as well as the subjectivity of some criteria that generates uncertainty in judgments and hesitation. When considering these issues in supplier management, none of the studies found in the literature presents an approach that contemplates all features simultaneously. In addition, few researches deal with supplier management processes from an integrated perspective. In view of these gaps, this research aims to propose two decision models that consider the processes of qualification, selection and evaluation of suppliers, in a scenario of group decision making, considering the uncertainty and hesitation. The proposed models have the purpose the elicitation of the preferences, the aggregation of the judgments and the categorization of the suppliers. The first model uses the linguistic representation Triangular Hesitant Fuzzy Sets, to deal with the hesitation in the judgments of the decision makers, in addition to the ELECTRE TRI technique for the categorization of the suppliers. The second model is based on the application of the linguistic representation Intuitionistic Fuzzy Sets to model the hesitation in the parameterization of the linguistic variables and in the ELECTRE TRI for categorization. Elicitation is performed with the use of Fuzzy Delphi combined with aggregation operators of the Triangular Hesitant Fuzzy Sets and Intuitionistic Fuzzy Sets. The decision models were detailed and implemented in Matlab©. Two illustrative cases, obtained from the field collection, were presented to analyze the performance of the models. The illustrative cases showed consistent categorization results, especially for the pessimistic procedure of ELECTRE TRI. Tests with hesitation in the judgments of decision makers highlighted the importance of modeling hesitation, since it has the potential to change the categorization of alternatives. Tests with the ELECTRE TRI parameters confirmed the non-compensatory effect of the technique and that the variation of the cut level has the potential to make categorization more flexible. Thus, this thesis presents a review of the literature on supplier management processes and on multicriteria and group decision making, the proposition of methods to support decision making, illustrative cases to illustrate the model, method sensitivity analyzes, besides the conclusions and proposals for future works.
163

Agrupamento nebuloso de dados baseado em enxame de partículas: seleção por métodos evolutivos e combinação via relação nebulosa do tipo-2

Szabo, Alexandre 29 October 2014 (has links)
Made available in DSpace on 2016-03-15T19:38:52Z (GMT). No. of bitstreams: 1 Alexandre Szabo.pdf: 2177168 bytes, checksum: 8b503cd1beb4c700f1905e07a0b08362 (MD5) Previous issue date: 2014-10-29 / Fundação de Amparo a Pesquisa do Estado de São Paulo / Clustering usually treats objects as belonging to mutually exclusive clusters, what is usually im-precise, because an object may belong to more than one cluster simultaneously with different membership degrees. The clustering algorithms, both crisp and fuzzy, have a number of parameters to be adjusted so that they present the best performance for a given database. Furthermore, it is known that no single algorithm is better than all the others for all problem classes, and the combi-nation of solutions found by various algorithms (or the same algorithm with different parameters) may lead to a global solution that is better than those found by individual algorithms, including the best one. It is within this context that the present thesis proposes a new fuzzy clustering algo-rithm inspired by the behavior of particle swarms and, then, introduces a new form of combining the clustering algorithms using concepts from Type-2 fuzzy sets. / Da maneira tradicional o agrupamento trata os objetos que compõem a base como pertencentes a grupos mutuamente exclusivos, o que nem sempre é verdade, pois um objeto pode pertencer a mais de um grupo com diferentes graus de pertinência. Os algoritmos de agrupamento, sejam eles convencionais ou nebulosos (capazes de tratar múltiplas pertinências simultaneamente), possuem diversos parâmetros a serem ajustados de tal forma que ofereçam o melhor desempenho para uma base de dados. Além disso, é sabido que nenhum algoritmo é superior a todos os outros para todas as classes de problemas e que combinar soluções fornecidas por diferentes algoritmos pode levar a uma solução global superior a todas as soluções individuais, inclusive à melhor. É nesse contexto que a presente tese propõe um novo algoritmo de agrupamento nebuloso de dados inspirado no comportamento de enxames de partículas e, em seguida, propõe uma nova forma de realizar combinações (ensembles) de algoritmos de agrupamento usando conceitos da teoria de conjuntos nebulosos do Tipo-2.
164

Solving multiobjective mathematical programming problems with fixed and fuzzy coefficients

Ruzibiza, Stanislas Sakera 04 1900 (has links)
Many concrete problems, ranging from Portfolio selection to Water resource management, may be cast into a multiobjective programming framework. The simplistic way of superseding blindly conflictual goals by one objective function let no chance to the model but to churn out meaningless outcomes. Hence interest of discussing ways for tackling Multiobjective Programming Problems. More than this, in many real-life situations, uncertainty and imprecision are in the state of affairs. In this dissertation we discuss ways for solving Multiobjective Programming Problems with fixed and fuzzy coefficients. No preference, a priori, a posteriori, interactive and metaheuristic methods are discussed for the deterministic case. As far as the fuzzy case is concerned, two approaches based respectively on possibility measures and on Embedding Theorem for fuzzy numbers are described. A case study is also carried out for the sake of illustration. We end up with some concluding remarks along with lines for further development, in this field. / Operations Research / M. Sc. (Operations Research)
165

A high-level fuzzy logic guidance system for an unmanned surface vehicle (USV) tasked to perform an autonomous launch and recovery (ALR) of an unmanned underwater vehicle (UUV)

Unknown Date (has links)
There have been much technological advances and research in Unmanned Surface Vehicles (USV) as a support and delivery platform for Autonomous/Unmanned Underwater Vehicles (AUV/UUV). Advantages include extending underwater search and survey operations time and reach, improving underwater positioning and mission awareness, in addition to minimizing the costs and risks associated with similar manned vessel operations. The objective of this thesis is to present the design and development a high-level fuzzy logic guidance controller for a WAM-V 14 USV in order to autonomously launch and recover a REMUS 100 AUV. The approach to meeting this objective is to develop ability for the USV to intercept and rendezvous with an AUV that is in transit in order to maximize the probability of a final mobile docking maneuver. Specifically, a fuzzy logic Rendezvous Docking controller has been developed that generates Waypoint-Heading goals for the USV to minimize the cross-track errors between the USV and AUV. A subsequent fuzzy logic Waypoint-Heading controller has been developed to provide the desired heading and speed commands to the low-level controller given the Waypoint-Heading goals. High-level mission control has been extensively simulated using Matlab and partially characterized in real-time during testing. Detailed simulation, experimental results and findings will be reported in this paper. / Includes bibliography. / Thesis (M.S.)--Florida Atlantic University, 2014. / FAU Electronic Theses and Dissertations Collection
166

Proposta MetodolÃgica de AvaliaÃÃo de Riscos em Barragens do Nordeste Brasileiro - Estudo de Caso: Barragens do Estado do CearÃ. / Methodological Proposed of Risk Analysis to Brazilian Northeast Dams - Case Study: Ceara State Dams.

Alexandre de Sousa Fontenelle 10 August 2007 (has links)
nÃo hà / A proposta metodolÃgica de avaliaÃÃo de riscos em barragens do nordeste brasileiro, com estudo de caso em 77 barragens do Estado do Ceara, sendo 62 barragens estaduais e 15 federais, visa hierarquizar um conjunto de barragens a partir das inspeÃÃes, incorporando: o nÃvel de perigo; probabilidades; custos; severidade (prejuÃzo a ser evitado); benefÃcio lÃquido equivalente, o qual à o resultado da severidade decrescida do custo da eliminaÃÃo da anomalia com nÃvel de perigo; e seus riscos, para buscar a eficiÃncia na aplicaÃÃo dos recursos financeiros de melhoria da seguranÃa atravÃs de obras de recuperaÃÃo das barragens a fim de atender a sociedade. A proposta metodolÃgica parte, inicialmente, da determinaÃÃo da probabilidade de ruptura anual da barragem (a partir do nÃvel de perigo da anomalia) e dos custos (da recuperaÃÃo da ruptura hipotÃtica da barragem e da eliminaÃÃo das anomalias que apresentam perigo). A metodologia considera trÃs critÃrios a saber: CritÃrio 1: critÃrio da melhor eficiÃncia na aplicaÃÃo dos recursos para a reduÃÃo fÃsica do perigo da barragem (NPB/CeNP); CritÃrio 2: critÃrio do BenefÃcio LÃquido equivalente (BLe); e CritÃrio 3: critÃrio do Escore de Risco (ER), desenvolvido a partir de trÃs metodologias conhecidas de avaliaÃÃo qualitativa de risco. A metodologia propÃe para os tomadores de decisÃo a classificaÃÃo das barragens atravÃs da ponderaÃÃo destes trÃs critÃrios. A metodologia permite tambÃm verificar qual dos 3 critÃrios apresenta melhor eficiÃncia na aplicaÃÃo dos recursos financeiros para a reduÃÃo dos riscos, como tambÃm possibilita averiguar a eficiÃncia econÃmica, atravÃs do benefÃcio lÃquido equivalente, em funÃÃo do valor a ser investido na eliminaÃÃo da anomalia com perigo. A metodologia proposta possibilita obter-se o risco econÃmico do benefÃcio lÃquido equivalente a partir da Teoria dos NÃmeros Difusos utilizando as duas principais incertezas do modelo: a estimativa da probabilidade de ruptura anual (PRA) e o custo de recuperaÃÃo da ruptura da barragem (CRrup), aplicando-se nos dois critÃrios que consideram custos (critÃrios 1 e 2). Observou-se para o caso estudado que o risco do benefÃcio lÃquido econÃmico, quando a priorizaÃÃo das barragens à feita pelo critÃrio do benefÃcio lÃquido (CritÃrio - 2), à crescente com a disponibilidade financeira. Os riscos sÃo menores para o critÃrio 2 (BLe), sendo este crescente com o valor a ser utilizado na recuperaÃÃo. O mesmo nÃo se visualiza no critÃrio 1, quando se tem um risco mÃnimo intermediÃrio. O risco econÃmico difuso do benefÃcio lÃquido equivalente (para ambos os critÃrios) no caso de se eliminar todos os perigos das anomalias à de 3,83%. / The methodological proposal of risk analysis in dams of the brazilian northeast, with case study of 77 dams (62 State and 15 Federal dams) in the State of CearÃ, aims to hierarchize a set of dams from the inspections, incorporating level of danger, probabilities, costs, severity (damage to be avoided), equivalent net benefits, which is the cost of elimination of the anomalies with level of danger reduced from the severity and its risks to search for the efficiency in the application of the financial resources improvement of dams safety to the welfare of the society. The proposal begins with the determination of the annual rupture probability (from the hazard) and the costs (from the rehabilitation of an hypothetical rupture of the dam and from the elimination of the anomalies that presents hazard). Three criteria were considered for classification of dams, named as Criteria 1, 2 and 3, as follows: Criterion 1: best efficiency in application of the resources for the physical reduction of hazard of the dams (NPB/CeNP); Criterion 2: economic equivalent Net Benefit (BLe); and Criterion 3: Score of Risk (ER) developed from three known risk qualitative methodologies. The proposal methodology permits the decision makers to classify the dams from the weigh of the three criteria set before. The methodology also permits to verify which of the three criteria presents better efficiency in application of the financial resources to reduce the risks, and also enable to perform an economic efficiency analysis having as base the economic equivalent net benefit in function of the value invested in the elimination of the danger. The methodology proposes to obtain the economic risk from the theory of Fuzzy Sets using the two main uncertainties of the model: the estimation of the probability of annual rupture and the cost of rehabilitation of the dam, applying in the two criteria that consider costs (criteria 1 and 2). In the case study it was observed in the criterion 2 that the risk increases with investments. In the case of partial use of resources, the risks are lesser for the criterion 2 (BLe). In this criterion the economic risk increases with the spent resources. The same does not happen in criterion 1, which presents an intermediate minimum risk. The diffuse economic risk of the equivalent net benefit to be negative is 3,83%, to both criteria, in case of eliminating all the hazards.
167

A Novel Refinement Method For Automatic Image Annotation Systems

Demircioglu, Ersan 01 June 2011 (has links) (PDF)
Image annotation could be defined as the process of assigning a set of content related words to the image. An automatic image annotation system constructs the relationship between words and low level visual descriptors, which are extracted from images and by using these relationships annotates a newly seen image. The high demand on image annotation requirement increases the need to automatic image annotation systems. However, performances of current annotation methods are far from practical usage. The most common problem of current methods is the gap between semantic words and low level visual descriptors. Because of the semantic gap, annotation results of these methods contain irrelevant noisy words. To give more relevant results, refinement methods should be applied to classical image annotation outputs. In this work, we represent a novel refinement approach for image annotation problem. The proposed system attacks the semantic gap problem by using the relationship between the words which are obtained from the dataset. Establishment of this relationship is the most crucial problem of the refinement process. In this study, we suggest a probabilistic and fuzzy approach for modelling the relationship among the words in the vocabulary, which is then employed to generate candidate annotations, based on the output of the image annotator. Candidate annotations are represented by a set of relational graphs. Finally, one of the generated candidate annotations is selected as a refined annotation result by using a clique optimization technique applied to the candidate annotation graph.
168

A systematic analysis to identify, mitigate, quantify, and measure risk factors contributing to falls in NASA ground support operations

Ware, Joylene. January 2009 (has links)
Thesis (Ph.D.)--University of Central Florida, 2009. / Adviser: Pamela McCauley Bush. Includes bibliographical references (p. 149-159).
169

Μια μπουλιανή γενίκευση της απειροστικής ανάλυσης με εφαρμογές στα ασαφή σύνολα / A boolean generalization of non standard analysis with applications to fuzzy sets

Μαρκάκης, Γεώργιος 06 May 2015 (has links)
Στη διατριβή αυτή θα ασχοληθούμε με την Μπουλιανή ανάλυση σαν μια κατ'ευθείαν γενίκευση της μη συμβατικής ανάλυσης του Robinson, δηλ. της θεωρίας των Υπεργινομένων και τις εφαρμογές της στη θεωρία των Ασαφών συνόλων. / --
170

Towards a rough-fuzzy perception-based computing for vision-based indoor navigation

Duan, Tong 10 July 2014 (has links)
An indoor environment could be defined by a complex layout in a compact space. Since mobile robots can be used as substitute for human beings to access harmful and inaccessible locations, the research of autonomous indoor navigation has attracted much interest. In general, a mobile robot navigates in an indoor environment where acquired data are limited. Furthermore, sensor measurements may contain errors in a number of situations. Therefore, the complexity of indoor environment and ability of sensors have determined that it is an insufficient to merely compute with data. This thesis presents a new rough-fuzzy approach to perception-based computing for an indoor navigation algorithm. This approach to perceptual computing is being developed to store, analyze and summarize existing experience in given environment so that the machine is able to detect current situation and respond optimally. To improve uncertainty reasoning of fuzzy logic control, a rough set theory is integrated to regulate inputs before applying fuzzy inference rules. The behaviour extraction is evaluated and adjusted through entropy-based measures and multi-scale analysis. The rough-fuzzy based control algorithm aims to minimize overshoot and optimize transient-state period during navigation. The proposed algorithm is tested through simulations and experiments using practical common situations. The performance is evaluated with respect to desired path keeping and transient-state adaptability.

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