Subject:
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Re: AI in RCX
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Newsgroups:
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lugnet.robotics
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Date:
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Wed, 15 Nov 2000 14:53:01 GMT
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Original-From:
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Yiu <H9819152@HKUSUAspamcake.HKU.HK>
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Viewed:
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668 times
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In fact, I had already worked out the 1st NN
by working on the RCX with my PC using VB
(after studying NN hardly as I am fresh to it)
This NN is in the sturcture of Hamming network that can recognize the
environment prototype by reading the Ultra-sonic distance sensor (Thanks
to
JB's cool sensors)
Right corner, T-cross etc.
More advance structure is not chosed as I have to consider the
limitation of
RCX
Before moving on to next NN that teach the RCX to follow a wall,
I want to integrate the 1st NN into the RCX first and test its
performance
in the autonmous mode.
(Seem to be the most difficult part)
However, I am still struggling on the legOS.
Considering how to use the resources more efficiently and studying the
math
function.
Hope I could work out one more little step soon.
(I have a lot of assignments to do currently @_@)
Yiu
Tomasz Salamon wrote:
> I hope that the subject of AI in RCX is not discarded yet.
>
> The project is really challenging, but I think worth to be taken.
>
> Controlling robot is a complex task, or rather a set of tasks. I think
> that it would be a good (practical) approach to separate simple tasks
> from more complex task (or task which require AI and create so called
> hierarchical controller.
>
> Simple tasks I mean controlling i.e. speed of motion (which can be
> easily and sufficiently done by deterministic {not NN!} algorithm) and
> higher level task like decision concerning the direction of movement.
>
> In that configuration you can significantly reduce the NN size (less
> layers, less neurons) => RCX computational power may be sufficient.
>
> I don't know what interface to NN you use. I think that Matlab with NN
> toolbox (from The MathWorks) can be useful to first simulation, • learning
> and testing of NN on PC. You can even estimate the computation power
> needed for NN.
> You can also generate a C code for the NN by means of Matlab and RTW • and
> after some enhancement you can probably place the code to your RCX.
>
> Good luck!
> Keep us informed about your progress.
>
> tomasz salamon
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