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Evolutionary Cellular Automata Based Neural Systems for Visual Servoing

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Advances in Neural Networks - ISNN 2006 (ISNN 2006)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 3972))

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Abstract

This paper presents an evolutionary cellular automata based neural systems (Evolutionary CANS) for visual servoing of RV-M2 robot manipulator. The architecture of CANS consist of a two-dimensional (2-D) array of basic neurons. Each neuron of CANS has local connections only with contiguous neuron and acts as a form of pulse according to the dynamics of the chaotic neuron model. CANS are generated from initial cells according to the cellular automata (CA) rule. Therefore neural architecture is determined by both initial pattern of cells and production rule of CA. Production rules of CA are evolved based on a DNA coding. DNA coding has the redundancy and overlapping of gene and is apt for representation of the rule. In this paper we show the general expression of CA rule and propose translating method from DNA code to CA rule. In addition, we present visual servoing application using evolutionary CANS.

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Author information

Authors and Affiliations

  1. Korea Institute of Industrial Technology, 1271 Sa-1-dong, Sangrok-gu, Ansan, 426-791, Korea

    Dong-Wook Lee

  2. Chung-Ang University, 221, Heukseok-dong, Dongjak-gu, Seoul, 156-756, Korea

    Chang-Hyun Park & Kwee-Bo Sim

Authors
  1. Dong-Wook Lee
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  2. Chang-Hyun Park
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  3. Kwee-Bo Sim
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Editor information

Editors and Affiliations

  1. Department of Mechanical and Automation Engineering, The Chinese University of Hong Kong, Shatin, New Territories, Hong Kong, China

    Jun Wang

  2. Computational Intelligence Laboratory, School of Computer Science and Engineering, University of Electronic Science and Technology of China, 610054, Chengdu, P.R. China

    Zhang Yi

  3. Department of Electrical Engineering, University of Louisville, 40292, Louisville, KY, U.S.A

    Jacek M. Zurada

  4. Laboratory for Computational Biology, Shanghai Center for Systems Biomedicine, 800 Dong Chuan Rd., 200240, Shanghai, China

    Bao-Liang Lu

  5. School of Electrical and Electronic Engineering, University of Manchester, UK

    Hujun Yin

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© 2006 Springer-Verlag Berlin Heidelberg

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Lee, DW., Park, CH., Sim, KB. (2006). Evolutionary Cellular Automata Based Neural Systems for Visual Servoing. In: Wang, J., Yi, Z., Zurada, J.M., Lu, BL., Yin, H. (eds) Advances in Neural Networks - ISNN 2006. ISNN 2006. Lecture Notes in Computer Science, vol 3972. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11760023_57

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  • DOI: https://doi.org/10.1007/11760023_57

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-34437-7

  • Online ISBN: 978-3-540-34438-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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