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Modification of the Hopfield Neural Network Model for Solving the Problem of Optimal Task Allocation in a Group of Mobile Robots 修改 Hopfield 神经网络模型以解决移动机器人群中的最佳任务分配问题
IF 0.6 4区 计算机科学
Journal of Computer and Systems Sciences International Pub Date : 2024-08-18 DOI: 10.1134/s1064230724700254
O. V. Darintsev, A. B. Migranov
{"title":"Modification of the Hopfield Neural Network Model for Solving the Problem of Optimal Task Allocation in a Group of Mobile Robots","authors":"O. V. Darintsev, A. B. Migranov","doi":"10.1134/s1064230724700254","DOIUrl":"https://doi.org/10.1134/s1064230724700254","url":null,"abstract":"<h3 data-test=\"abstract-sub-heading\">Abstract</h3><p>In the context of group interaction among mobile robots, there arises the challenge of task distribution within the group, taking into consideration the robots' characteristics and the working environment. This study aims to modify the Hopfield neural network and develop methodologies for its application in solving the task allocation problem for an arbitrary number of tasks within a group of mobile robots. To achieve this, the Hopfield neural network is represented as a graph. An algorithm is presented, demonstrating the transition from the initial problem to the Traveling Salesman Problem (TSP). The application of the Hopfield model to the task distribution problem in a group of robots is described, together with the development of an optimization function calculation algorithm. An assessment is conducted to evaluate the impact of neural network parameters on the quality and speed of solving the optimization problem. By comparing it with other heuristic methods (genetic and ant colony algorithms (ACAs), the domains of application for the modified algorithm are determined.</p>","PeriodicalId":50223,"journal":{"name":"Journal of Computer and Systems Sciences International","volume":null,"pages":null},"PeriodicalIF":0.6,"publicationDate":"2024-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142200087","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Implementation of a System of Incompletely Specified Boolean Functions in a Circuit of Two-Input Gates by Means of Bi-Decomposition 用双分解法在双输入门电路中实现不完全指定布尔函数系统
IF 0.6 4区 计算机科学
Journal of Computer and Systems Sciences International Pub Date : 2024-08-18 DOI: 10.1134/s1064230724700205
Yu. V. Pottosin
{"title":"Implementation of a System of Incompletely Specified Boolean Functions in a Circuit of Two-Input Gates by Means of Bi-Decomposition","authors":"Yu. V. Pottosin","doi":"10.1134/s1064230724700205","DOIUrl":"https://doi.org/10.1134/s1064230724700205","url":null,"abstract":"<h3 data-test=\"abstract-sub-heading\">Abstract</h3><p>The problem of bi-decomposition of a Boolean function is to represent a given Boolean function as a logic algebra operation over two Boolean functions. A method based on bi-decomposition of Boolean functions is suggested to implement systems of incompletely specified (partial) Boolean functions in the basis of two-input gates. This basis can be the basis of NOR gates, NAND gates or the basis of AND and OR gates with accessible input complements. The used method for bi-decomposition is reduced to the search for weighted two-block cover of a complete bipartite weighted graph with complete bipartite subgraphs (bi-cliques). The graph represents differences between the rows of Boolean matrices that specify the given system of partial Boolean functions. The system is given by two Boolean matrices, one of which represents the domain of Boolean space where the values of the given functions are specified, and the other—the values of the functions on the elements of the domain. Every bi-clique in the obtained cover is assigned in a certain way with а set of variables that are the arguments of the functions. This set is the weight of the bi-clique. Every one of those bi-cliques defines a Boolean function whose arguments are the variables assigned to it. The functions obtained in such a way constitute the required decomposition. The process of synthesis of a combinational circuit consists in successive application of bi-decomposition to the obtained functions. The method for two-block covering the orthogonality graph of rows of ternary matrices is described.</p>","PeriodicalId":50223,"journal":{"name":"Journal of Computer and Systems Sciences International","volume":null,"pages":null},"PeriodicalIF":0.6,"publicationDate":"2024-08-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142225747","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Optimal Finite-Dimensional Controller of a Stochastic Differential Object’s State by Its Output. II. Stochastic Measurements and Separation Theorem 通过输出实现随机微分对象状态的最优有限维控制器。II.随机测量与分离定理
IF 0.6 4区 计算机科学
Journal of Computer and Systems Sciences International Pub Date : 2024-08-13 DOI: 10.1134/s1064230724700059
E. A. Rudenko
{"title":"Optimal Finite-Dimensional Controller of a Stochastic Differential Object’s State by Its Output. II. Stochastic Measurements and Separation Theorem","authors":"E. A. Rudenko","doi":"10.1134/s1064230724700059","DOIUrl":"https://doi.org/10.1134/s1064230724700059","url":null,"abstract":"<h3 data-test=\"abstract-sub-heading\">Abstract</h3><p>Consideration is continued of the problem of the inertial control law by the output synthesis of a continuous nonlinear stochastic object, which is optimal on average and on a finite time interval, and works with the desired speed. An algorithm for synthesizing the optimal structure of a dynamic controller of a selected finite order, obtained in the first part of the article for the case of accurate measurements of the control object’s state variables part, is presented. Its application is demonstrated in detail for the case when the state variables of the control object are measured with random errors. Using the example of a linear-quadratic-Gaussian problem, it is shown that the proposed controller of the corresponding order also satisfies the well-known separation theorem.</p>","PeriodicalId":50223,"journal":{"name":"Journal of Computer and Systems Sciences International","volume":null,"pages":null},"PeriodicalIF":0.6,"publicationDate":"2024-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142225749","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Explainable Artificial Intelligence in Deep Learning Neural Nets-Based Digital Images Analysis 基于深度学习神经网络的数字图像分析中的可解释人工智能
IF 0.6 4区 计算机科学
Journal of Computer and Systems Sciences International Pub Date : 2024-08-13 DOI: 10.1134/s1064230724700138
A. N. Averkin, E. N. Volkov, S. A. Yarushev
{"title":"Explainable Artificial Intelligence in Deep Learning Neural Nets-Based Digital Images Analysis","authors":"A. N. Averkin, E. N. Volkov, S. A. Yarushev","doi":"10.1134/s1064230724700138","DOIUrl":"https://doi.org/10.1134/s1064230724700138","url":null,"abstract":"<h3 data-test=\"abstract-sub-heading\">Abstract</h3><p>This review shows the capabilities of artificial intelligence (AI) in the analysis of digital images in the field of medicine using convolutional neural networks of deep learning (DL). A new generation of AI systems is described with an explanation of decision-making algorithms to the user—explainable artificial intelligence (XAI). The taxonomy of the methods of explanation and the description of the methods themselves are given. The need to use XAI in classification tasks is substantiated on the example of ophthalmic diseases. The components of DL methods used in the reviewed works (neural network architecture, accuracy, characteristics of data sets) and XAI (methods of explanation, criteria for the accuracy of explanation) are studied. As an example, the problem of recognizing two of the most commonly diagnosed eye diseases is considered: diabetic retinopathy and glaucoma by artificial neural networks.</p>","PeriodicalId":50223,"journal":{"name":"Journal of Computer and Systems Sciences International","volume":null,"pages":null},"PeriodicalIF":0.6,"publicationDate":"2024-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142200104","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Stochastic Models for the Time Complexity of Computing Tasks: I. Development Principles, Statistical Data Mining, and Identification Problems 计算任务时间复杂性的随机模型：I. 开发原则、统计数据挖掘和识别问题
IF 0.6 4区 计算机科学
Journal of Computer and Systems Sciences International Pub Date : 2024-08-13 DOI: 10.1134/s1064230724700035
A. V. Borisov, A. V. Ivanov
{"title":"Stochastic Models for the Time Complexity of Computing Tasks: I. Development Principles, Statistical Data Mining, and Identification Problems","authors":"A. V. Borisov, A. V. Ivanov","doi":"10.1134/s1064230724700035","DOIUrl":"https://doi.org/10.1134/s1064230724700035","url":null,"abstract":"<h3 data-test=\"abstract-sub-heading\">Abstract</h3><p>This paper contains the first part of a study on the design of mathematical models for the execution time of user tasks on virtual calculating nodes. It is assumed that the execution time is a random value with the mean and variance depending on the node resources, task parameters, and the current characteristics of the node state. We discover the key features of the mean and variance functions and specify some of their particular cases. Both the mean and variance functions depend on the unknown parameters, and the design of the stochastic model for time complexity leads to parameter identification in the form of the generalized maximum likelihood estimates under heterogeneous statistical information. This paper also contains recommendations concerning the gathering and subsequent use of this information: the node testbed preparation, stress test planning, and processing of the data obtained. Specific illustrating examples of the proposed mathematical model will be presented in the subsequent parts of the study.</p>","PeriodicalId":50223,"journal":{"name":"Journal of Computer and Systems Sciences International","volume":null,"pages":null},"PeriodicalIF":0.6,"publicationDate":"2024-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142225777","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
On the Partial Stability in the Probability of Nonlinear Stochastic Functional-Differential Systems with Aftereffect (Delay) 论有后效（延迟）的非线性随机函数-微分系统概率的部分稳定性
IF 0.6 4区 计算机科学
Journal of Computer and Systems Sciences International Pub Date : 2024-08-13 DOI: 10.1134/s1064230724700011
V. I. Vorotnikov, Yu. G. Martyshenko
{"title":"On the Partial Stability in the Probability of Nonlinear Stochastic Functional-Differential Systems with Aftereffect (Delay)","authors":"V. I. Vorotnikov, Yu. G. Martyshenko","doi":"10.1134/s1064230724700011","DOIUrl":"https://doi.org/10.1134/s1064230724700011","url":null,"abstract":"<h3 data-test=\"abstract-sub-heading\">Abstract</h3><p>A system of nonlinear functional-differential equations with aftereffect (delay) subjected to random processes of “white” noise is considered. It is assumed that the system admits a partial (with respect to some part of the state variables) zero equilibrium position. The problem of the stability in the probability of the given equilibrium position is posed, and stability is considered not for all variables but for some of the variables that determine this equilibrium position. For the solution of this problem, a stochastic version of the method of Lyapunov–Krasovskii functionals is used with the appropriated specification of the requirements for the functionals. In order to expand the capabilities of the method used, it is also proposed to correct the domain of the functional space in which auxiliary Lyapunov–Krasovskii functionals are constructed. The conditions for partial stability of this type are obtained. Examples are given that show the features of the proposed approach.</p>","PeriodicalId":50223,"journal":{"name":"Journal of Computer and Systems Sciences International","volume":null,"pages":null},"PeriodicalIF":0.6,"publicationDate":"2024-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142200084","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Modeling the Dynamics of a Catamaran Driven by a Savonius Rotor and a Propeller 萨沃尼乌斯转子和螺旋桨驱动双体船的动力学建模
IF 0.6 4区 计算机科学
Journal of Computer and Systems Sciences International Pub Date : 2024-08-13 DOI: 10.1134/s1064230724700114
M. A. Garbuz, L. A. Klimina, V. A. Samsonov
{"title":"Modeling the Dynamics of a Catamaran Driven by a Savonius Rotor and a Propeller","authors":"M. A. Garbuz, L. A. Klimina, V. A. Samsonov","doi":"10.1134/s1064230724700114","DOIUrl":"https://doi.org/10.1134/s1064230724700114","url":null,"abstract":"<h3 data-test=\"abstract-sub-heading\">Abstract</h3><p>The dynamics of a catamaran with a Savonius rotor and a propeller installed on it are considered. Under the action of a stationary wind flow the rotor rotates and drives the propeller, which creates thrust. The angle of the catamaran’s course relative to the wind flow is considered as the control. The control task is to move the center of mass of the hull from the starting point to the given endpoint located strictly upstream of the wind. The possibility of straight-line motion against the wind is shown. The dependence of the average velocity in the stationary mode of movement against the wind on the radii of the Savonius rotor and propeller is analyzed.</p>","PeriodicalId":50223,"journal":{"name":"Journal of Computer and Systems Sciences International","volume":null,"pages":null},"PeriodicalIF":0.6,"publicationDate":"2024-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142200103","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Aggregation of Multidimensional Conservative Systems with Oscillations 具有振荡的多维守恒系统的聚合
IF 0.6 4区 计算机科学
Journal of Computer and Systems Sciences International Pub Date : 2024-08-13 DOI: 10.1134/s1064230724700023
I. N. Barabanov, V. N. Tkhai
{"title":"Aggregation of Multidimensional Conservative Systems with Oscillations","authors":"I. N. Barabanov, V. N. Tkhai","doi":"10.1134/s1064230724700023","DOIUrl":"https://doi.org/10.1134/s1064230724700023","url":null,"abstract":"<h3 data-test=\"abstract-sub-heading\">Abstract</h3><p>We consider the set of multidimensional conservative systems that admits a family of single-frequency oscillations when taken as a unified system. The problem of aggregation of a set of systems into a coupled system with an attractive cycle close to the oscillation of uncoupled systems is solved. Weak universal coupling controls are applied. Previously, the problem was solved for identical reversible systems with one degree of freedom.</p>","PeriodicalId":50223,"journal":{"name":"Journal of Computer and Systems Sciences International","volume":null,"pages":null},"PeriodicalIF":0.6,"publicationDate":"2024-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142200085","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Scheduling Calculations for a Multiprocessor System in Real Time 多处理器系统的实时调度计算
IF 0.6 4区 计算机科学
Journal of Computer and Systems Sciences International Pub Date : 2024-08-13 DOI: 10.1134/s1064230724700102
M. G. Furugyan
{"title":"Scheduling Calculations for a Multiprocessor System in Real Time","authors":"M. G. Furugyan","doi":"10.1134/s1064230724700102","DOIUrl":"https://doi.org/10.1134/s1064230724700102","url":null,"abstract":"<h3 data-test=\"abstract-sub-heading\">Abstract</h3><p>The problem of scheduling computations in a multiprocessor system is considered for the case when, at some time instants, requests for the execution of job packages with known characteristics are received. Interrupts and switching from one processor to another are allowed. In the first formulation, the composition of all complexes and the characteristics of tasks are known in advance. In the second setting, this information becomes known only at the time of each request. It is required to determine whether there is an admissible schedule for the total set of jobs and build it in the case of a positive answer. A setting is studied in which, in addition to processors, there is a nonrenewable resource. A polynomial algorithm for solving the problem is developed, based on the construction of a network flow model and the search for the maximum flow.</p>","PeriodicalId":50223,"journal":{"name":"Journal of Computer and Systems Sciences International","volume":null,"pages":null},"PeriodicalIF":0.6,"publicationDate":"2024-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142225751","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Amplitude Control of Systems’ Oscillations with Friction 带摩擦力的系统振荡幅度控制
IF 0.6 4区 计算机科学
Journal of Computer and Systems Sciences International Pub Date : 2024-08-13 DOI: 10.1134/s1064230724700060
Yu. F. Golubev
{"title":"Amplitude Control of Systems’ Oscillations with Friction","authors":"Yu. F. Golubev","doi":"10.1134/s1064230724700060","DOIUrl":"https://doi.org/10.1134/s1064230724700060","url":null,"abstract":"<h3 data-test=\"abstract-sub-heading\">Abstract</h3><p>A method of searching for the optimal control of the amplitude of one-dimensional oscillations in the vicinity of the equilibrium position is generalized to the case of a scleronomic multidimensional mechanical system with friction. The oscillatory degree of freedom of the system does not lend itself to direct control. Its movement is influenced by other, directly controlled degrees of freedom, whose coordinates are selected as control functions. The number of control functions can include both positional and cyclic coordinates. The method does not use conjugate variables in the sense of L.S. Pontryagin’s maximum principle and does not increase the dimension of the original system of differential equations of motion. The effectiveness of the proposed method is demonstrated using examples of specific oscillatory mechanical models about a pendulum with a support sliding along a cycloid with dry and viscous friction, as well as a six-legged robot from an emergency supine position.</p>","PeriodicalId":50223,"journal":{"name":"Journal of Computer and Systems Sciences International","volume":null,"pages":null},"PeriodicalIF":0.6,"publicationDate":"2024-08-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"142225748","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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