Stable dynamic walking over rough terrain: Theory and experiment

We propose a constructive control design for stabilization of non-periodic trajectories of underactuated mechanical systems. An important example of such a system is an underactuated "dynamic walking" biped robot walking over rough terrain. The proposed technique is to compute a transverse linearization about the desired motion: a linear impulsive system which locally represents dynamics about a target trajectory. This system is then exponentially stabilized using a modified receding-horizon control design. The proposed method is experimentally verified using a compass-gait walker: a two-degree-of-freedom biped with hip actuation but pointed stilt-like feet. The technique is, however, very general and can be applied to higher degree-of-freedom robots over arbitrary terrain and other impulsive mechanical systems. © 2011 Springer-Verlag.

Additions and corrections to “Terminal coalgebras in well-founded set theory”

This note is to correct certain mistaken impressions of the author's that were in the original paper, “Terminal coalgebras in well-founded set theory”, which appeared in Theoretical Computer Science 114 (1993) 299–315.

Fuzzy-Rough Sets Assisted Attribute Selection

R. Jensen and Q. Shen. Fuzzy-Rough Sets Assisted Attribute Selection. IEEE Transactions on Fuzzy Systems, vol. 15, no. 1, pp. 73-89, 2007.

Semantics-Preserving Dimensionality Reduction: Rough and Fuzzy-Rough-Based Approaches

R. Jensen and Q. Shen. Semantics-Preserving Dimensionality Reduction: Rough and Fuzzy-Rough Based Approaches. IEEE Transactions on Knowledge and Data Engineering, 16(12): 1457-1471. 2004.

Rough feature selection for intelligent classifiers

Q. Shen. Rough feature selection for intelligent classifiers. LNCS Transactions on Rough Sets, 7:244-255, 2007.

Rough sets, their extensions and applications

Q. Shen and R. Jensen, 'Rough sets, their extensions and applications,' International Journal of Automation and Computing (IJAC), vol. 4, no. 3, pp. 217-218, 2007.

Fuzzy-Rough Data Reduction with Ant Colony Optimization.

R. Jensen and Q. Shen, 'Fuzzy-Rough Data Reduction with Ant Colony Optimization,' Fuzzy Sets and Systems, vol. 149, no. 1, pp. 5-20, 2005.

Selecting Informative Features with Fuzzy-Rough Sets and its Application for Complex Systems Monitoring.

Q. Shen and R. Jensen, 'Selecting Informative Features with Fuzzy-Rough Sets and its Application for Complex Systems Monitoring,' Pattern Recognition, vol. 37, no. 7, pp. 1351-1363, 2004.

Tolerance-based and Fuzzy-Rough Feature Selection.

R. Jensen and Q. Shen, 'Tolerance-based and Fuzzy-Rough Feature Selection,' Proceedings of the 16th International Conference on Fuzzy Systems (FUZZ-IEEE'07), pp. 877-882, 2007.

Computational Intelligence and Feature Selection : Rough and Fuzzy Approaches

Computational Intelligence and Feature Selection provides a high level audience with both the background and fundamental ideas behind feature selection with an emphasis on those techniques based on rough and fuzzy sets, including their hybridizations. It introduces set theory, fuzzy set theory, rough set theory, and fuzzy-rough set theory, and illustrates the power and efficacy of the feature selections described through the use of real-world applications and worked examples. Program files implementing major algorithms covered, together with the necessary instructions and datasets, are available on the Web.

Data Reduction with Rough Sets

R. Jensen, Q. Shen, Data Reduction with Rough Sets, In: Encyclopedia of Data Warehousing and Mining - 2nd Edition, Vol. II, 2008.

Wittgenstein And Labyrinth Of ‘Actual Infinity’: The Critique Of Transfinite Set Theory

In order to explain Wittgenstein’s account of the reality of completed infinity in mathematics, a brief overview of Cantor’s initial injection of the idea into set- theory, its trajectory (including the Diagonal Argument, the Continuum Hypothesis and Cantor’s Theorem) and the philosophic implications he attributed to it will be presented. Subsequently, we will first expound Wittgenstein’s grammatical critique of the use of the term ‘infinity’ in common parlance and its conversion into a notion of an actually existing (completed) infinite ‘set’. Secondly, we will delve into Wittgenstein’s technical critique of the concept of ‘denumerability’ as it is presented in set theory as well as his philosophic refutation of Cantor’s Diagonal Argument and the implications of such a refutation onto the problems of the Continuum Hypothesis and Cantor’s Theorem. Throughout, the discussion will be placed within the historical and philosophical framework of the Grundlagenkrise der Mathematik and Hilbert’s problems.

Some Lattice Problems In Fuzzy Set Theory And Fuzzy Topology

It is believed that every fuzzy generalization should be formulated in such a way that it contain the ordinary set theoretic notion as a special case. Therefore the definition of fuzzy topology in the line of C.L.CHANG E9] with an arbitrary complete and distributive lattice as the membership set is taken. Almost all the results proved and presented in this thesis can, in a sense, be called generalizations of corresponding results in ordinary set theory and set topology. However the tools and the methods have to be in many of the cases, new. Here an attempt is made to solve the problem of complementation in the lattice of fuzzy topologies on a set. It is proved that in general, the lattice of fuzzy topologies is not complemented. Complements of some fuzzy topologies are found out. It is observed that (L,X) is not uniquely complemented. However, a complete analysis of the problem of complementation in the lattice of fuzzy topologies is yet to be found out