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PSO is an evolutionary algorithm that is inspired from collective behavior of animals such as fish schooling or bird flocking. One of the drawbacks of this model is premature convergence and trapping in local optima. In this paper we propose a solution to this problem in discrete version of PSO that uses Learning Automata and introduce a cellular learning(More)
Mobile robot localization is taken into account as one of the most important topics in robotics. In this paper, the localization problem is extended to the cases in which estimating the position of multi robots is considered. To do so, the Joint Probabilistic Data Association Filter (JPDAF) approach is applied for tracking the position of multiple robots.(More)
Controlling a biped robot with a high degree of freedom to achieve stable and straight movement patterns is a complex problem. With growing computational power of computer hardware, high resolution real time simulation of such robot models has become more and more applicable. This paper presents a novel approach to generate bipedal gait for humanoid(More)
Mobile robot global path planning in a static environment is an important problem. This paper proposes a method of global path planning based on genetic algorithm to reach an optimum path for mobile robot with obstacle avoidance. In this method for decreasing the complexity, the two-dimensional coding for the path via-points was converted to one-dimensional(More)
Detecting motion of objects in images, while the camera is moving, is a complicated task. In this paper, we propose a novel method to effectively solve this problem by using Neural Networks and Kalman Filter. This technique uses movement parameters of camera to overcome problems caused by error in image processing outputs. We implemented this technique in(More)
Although RED has been widely used with TCP, however it has several known drawbacks [1]. The BLUE algorithm that benefits from a different structure has tried to compensate some of them in a successful way [2]. A quick review on active queue management algorithms from the very beginning indicates that most of them tried to improve classic algorithms. Some of(More)
This paper describes the use of a novel method of feature extraction for visual sensor processing. An application to crack detection by a sewer maintenance robot equipped with an infra-red camera is described. A spacefrequency distribution ’signature’ is generated via a three step process involving; space-frequency decomposition, density function(More)
Statistical properties of natural signals is an important factor in forming neuronal selectivities of brain sensory system. One such property is the redundancy in visual and auditory inputs to the brain. In this paper, we introduce the concept of class specific redundancies in natural images and propose that the selectivity of neurons in extrastriate visual(More)
The slave robot in this research is a 1-DOF piezo actuator which includes hysteresis nonlinearity. Nonlinear hysteresis behavior makes robot control a complex task. In this research, the nonlinear and uncertain dynamics of the slave robot has been considered through the teleoperation control loop. LuGre friction model is used as the estimator of the(More)