基于模糊神经网络的多移动机器人自学习协调系统

研究多移动机器人的运动规划问题．针对机器人模型未知或不精确以及环境的动态变化，提出一种自学习模糊控制器（ＦＬＣ）来进行准确的速度跟踪．首先通过神经网络的学习训练构造ＦＬＣ，再由再励学习算法来在线调节ＦＬＣ的输出，以校正机器人运动状态，实现安全协调避撞

基于专家系统的多移动机器人模糊自校正协调系统

研究多移动机器人的运动规划问题，在实时运动规划专家系统的基础上提出了一种串级模糊控制器，以校正实际工作环境下各机器人的运动状态与理想情况下可能产生的误差，使各机器人正确调整各自运动状态，达到协调工作的目的。

不确定性类型对概率表达和概率判断的影响

The present research firstly reviewed the experimental literature on probability expression and probability judgment, hypothesizing that individuals’ preference of probability expressions (verbal probability vs. numerical probability) and tendency for overextremity in probability judgment might differ with respect to different types of uncertainty. Five studies were conducted to test this hypothesis. In Study 1, questionnaires were used to explore the communication preference among Chinese-speaking people. Study 2 adapted the View of Uncertainty Questionnaire to explore the difference of verbal answers to three kinds of uncertainty. Study 3 and Study 4 used methods of the paper-and-pencil questionnaire and the laboratory experiment, respectively, to test the effects of uncertainty types on the preference of probability expressions and on the tendency for over-extreme probability judgment. Finally, Study 5 focused on individuals’ preference of probability expressions under various kinds of scenarios. The results were as follows: 1. The Communication Model Preference paradox phenomenon appears to be even more pronounced in the Chinese culture than in American English cultural settings. 2. The Chinese prefer more verbal probability expressions when communicating uncertainty in a weather-forecasting context than in a general context. 3. Sample groups with lower level of westernization tend to give more extreme answers and less probabilistic answers. 4. Types of uncertainty did have effects on individuals’ tendency for over-extreme probability judgment: under a traditional probability judgment task, people tend to be more over-extreme on internal uncertainty events than on external uncertainty events; however, this result is reversed under a gambling task. 5. Individuals’ preference for verbal probability expressions is more salient on internal uncertain events than on external uncertain events.