Mon hoc

HE THONG IEU KHIEN THONG MINH

Giang vien: TS. Huynh Thai Hoang Bo B mon ieu Khien T ong i Khi T Khoa ien ien T ai hoc Bach Khoa TP.HCM Email: hthoang@hcmut.edu.vn hthoang@hcmut edu vn Homepage: http://www4.hcmut.edu.vn/~hthoang

2 April 2010

H. T. Hong - HBK TPHCM

Chng 2

L THUYT C S

2 April 2010

H. T. Hong - HBK TPHCM

Noi dung chng 2 H m Mng thn kinh Gii thut di truyn

2 April 2010

H. T. Hong - HBK TPHCM

HE M M

2 April 2010

H. T. Hong - HBK TPHCM

Gii thiu phng php iu khin m iu khin i khi mc cht lng d l i ki h i ht l dng logic kinh in
V1
LH

1 khi mc chat long tren mc cao nhat LH = 0 khi mc chat long di mc cao nhat mc chat long tren mc thap nhat 1 khi mc chat long tren mc thap nhat LL = 0 khi mc chat long di mc thap nhat

LL

Bo ieu khien logic kinh ien

1, neu LL chuyen t 1 sang 0 V1 = 0, neu LH chuyen t 0 sang 1

(1)

2 April 2010

H. T. Hong - HBK TPHCM

Gii thiu phng php iu khin m iu khin i khi mc cht l dng l i m ht lng d logic
V1

Gia tr at Sai so

Mc chat long

Ngi van hanh neu sai so ln th goc m V1 ln

neu neu

sai so nho th goc m V1 nho so nho goc m nho

H. T. Hong - HBK TPHCM

(2)

2 April 2010

Gii thiu phng php iu khin m Phng n iu khin 1: PLC (Programmable Logic Controller) Phng n iu khin 2: FLC (Fuzzy Logic Controller) Phng php iu khin m l phng php iu khin bt chc qu trnh x l cc thng tin khng r rng v ra quyt nh iu khin ca con ngi.

2 April 2010

H. T. Hong - HBK TPHCM

Cc ng dng ca phng php iu khin m ng dng u tin: iu khi ng c h i nc (Mamdani, 1974) d i i khin hi (M d i Cng ngy c cng nhiu h thng iu khin trong cng nghip v dn dng p dng phng php iu khin m. iu khin h thng thng v tng tc ca xe la, h thng li xe iu khin robot iu khin my git, my nh t ng,...

2 April 2010

H. T. Hong - HBK TPHCM

C s ton hc ca phng php iu khin m

Phan loai m Phan loai m Nhan dang m ieu khien m o lng m

Ly thuyet tap m

Logic m va suy luan m y

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H. T. Hong - HBK TPHCM

Khi nim tp hp m
Tap ro
X
a b X

Tap m
A
c a b ~ A

A(x)
1 2 6

A ( x) ~
1

Tap ro co bien ro rang Tap ro c nh ngha thong qua ham ac trng

2 April 2010

Tap m co bien khong ro rang Tap m c nh ngha thong qua ham lien thuoc i
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H. T. Hong - HBK TPHCM

nh ngh t h m nh ngha tp hp m
~ Tp m A xc nh trn tp c s X l mt tp hp m mi phn t
~ ca n l mt cp gi tr ( x, A ( x)) , trong xX v A ( x) l nh ~ x: ~ A ( x) : X a [0,1]

~ ~ nh x A ( x) c gi l hm lin thuc ca tp m A .

Hm lin thuc c trng cho ph thuc ca mt phn ca bt ~ k thuc tp c s X vo tp m A . Ni cch khc, tp m xc nh p p , p bi hm lin thuc ca n.

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H. T. Hong - HBK TPHCM

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Cc dng hm lin thuc

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Cc dng hm lin thuc

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Cc php ton trn tp m

PHEP PHEP GIAO ~ ~ Giao cua hai tap m A va B co cung c s X la mot tap m xac nh tren c s X co ham lien thuoc: ~ ~ A B : A B ( x) = T { A ( x), B ( x)} ~ ~ ~ ~ Toan t T co the la phep MIN (cc tieu), PROD (tch),

Giao ca hai tp m dng ton t MIN

2 April 2010 H. T. Hong - HBK TPHCM 14

Cc php ton trn tp m

PHEP HP ~ ~ Hp cua hai tap m A va B co cung c s X la mot tap m xac nh tren c s X co ham lien thuoc: ~ ~ A B : A B ( x) = S { A ( x), B ( x)} ~ ~ ~ ~ Toan t S co the la MAX (cc ai), BSUM (tong b chan),

Hp ca hai tp m dng ton t MAX

2 April 2010 H. T. Hong - HBK TPHCM 15

Cc php ton trn tp m

PHEP BU ~ Bu cua tap m A nh ngha tren tap c s X la mot tap m xac nh tren c s X co ham lien thuoc xac nh bi bieu thc: ~ A : A ( x) = 1 A ( x) ~ ~

~ A
~ A

Phep bu cua tap m

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H. T. Hong - HBK TPHCM

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Bin ngn ng v gi tr ngn ng

Gia tr ngon ng la mot tap m.
Membership 1

thap

cao

0.5

0 0 10 20 30 40 50 60 70 80 90 100

Percent full

Ham lien thuoc cua hai tap m mo ta hai gia tr ngon ng "cao", "thap" Bien ngon ng la bien ch nhan cac gia tr ngon ng. Th du: Bien ngon ng mc chat long co the nhan hai gia tr ngon ng la thap va cao ngon ng la thap va cao
2 April 2010 H. T. Hong - HBK TPHCM 17

Mnh m
NH NGHA ~ Menh e m, ky hieu P , la phat bieu co cha thong tin khong ro rang. Trong ky thuat, cac phat bieu sau ay la cac menh e m: - "Nhiet o" la "cao" g - "Mc chat long" la "thap" - "Van toc" la "trung bnh", Menh e m la phat bieu co dang: e m la phat bieu co dang: "bien ngon ng " la "gia tr ngon ng ". Ve mat toan hoc, menh e m la bieu thc: ~ ~ P : x A ~ Tap m A ac trng cho gia tr ngon ng trong menh e m.

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Mnh m

GIA TR THAT CUA MENH E M Khac vi menh e kinh ien ch co hai kha nang sai hoac ung (0 hoac 1), gia tr that cua menh e m la mot gia tr bat ky nam ~ ~ trong oan [0,1]. Goi T (P ) la gia tr that cua menh e m P : ~ T ( P ) = A ( x) ~ ~ ~ Bieu thc tren cho thay "o ung" cua menh e P : x A bang ~ o phu thuoc cua x vao tap m A .

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Cc php ton trn mnh m

PHEP PHU NH ~ ~ Cho menh e m P : x A . e m ~ Phu nh cua menh e P la menh e : ~ ~ P : x A Gia tr that cua menh e phu nh: ~ ~ T ( P ) = 1 T ( P ) = 1 A ( x) ~

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Cc php ton trn mnh m

PHEP HP ~ ~ ~ ~ Hp cua hai menh e m P : x A , Q : x B la menh e xac xac nh bi bi ~ ~ ~ ~ xB P Q : x A hoac ~ ~ ~ ~ P Q : x A B Gia tr that cua menh e hp la: ~ ~ T ( P Q ) = A B ( x) ~ ~

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Cc php ton trn mnh m

PHEP GIAO ~ ~ ~ ~ Giao cua hai menh e m P : x A , Q : x B la menh e xac nh bi ~ ~ ~ ~ P Q : x A va x B ~ ~ ~ ~ P Q : x A B Gia tr that cua menh e giao la: ~ ~ T ( P Q ) = AB ( x) ~ ~

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Cc php ton trn mnh m

PHEP KEO THEO (IMPLICATION) Menh e keo theo: ~ ~ ~ ~ P Q : Neu x A th x B ~ ~ trong o menh e P : x A c goi la menh e ieu kien va ~ ~ menh e Q : x B c goi l menh k t luan. la e ke l Gia tr that cua menh e keo theo c xac nh bi toan t (Implication). I (Implication) ~ ~ T ( P Q ) = I ( A ( x), B ( x)) ~ ~ Cac toan t I thng s dung e xac nh gia tr that cua menh e keo theo MIN va PROD.

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Qui tc m

Qui tac m la phat bieu neuth, trong o menh e ieu kien va menh e ket luan la cac menh e m. Trong menh e ieu ki n k l l T i kie co the co cac phep giao, phep hp hoac phep phu nh. Th du phat bieu sau ay la mot qui tac m: ~ ~ ~ neu x1 la A1 va x2 la A2 th y la B

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H qui tc m t m
He qui tac m gom nhieu qui tac m. Th du he k qui tac m oi vi n bien ngo vao co dang nh sau: q g ~ ~ ~ r1: neu x1 la A1,1 va va x n la An ,1 th y la B1 ~ ~ ~ r2: neu x1 la A1, 2 va va x n la An , 2 th y la B2 ~ ~ ~ rk: neu x1 la A1,k va va x n la An ,k th y la Bk

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Suy lun m lu m

Gia s chung ta co qui tac m: ~ ~ neu la neu x la A th y la B la ~ Neu biet ngo vao x la A th co the suy ra gia tr ngo ra y la ~ ~ B c khong? Neu c th B c tnh bang cach nao? ~ ~ neu x la A th y la B ~ x la A ~ y la B ? la ~ Cau tra li la c. Qua trnh suy ra gia tr B c goi la s suy luan m .

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Phn Phng php suy din MAX-MIN MAXXet qui tac th k cua mot he qui tac m: ~ ~ ~ rk: neu (x1 la A1k ) va ( x2 la A2 k ) th (y la Bk ) ~ ~ Gia s ngo vao x1 la A1 va x2 la A2 , tm y. Ngo ra y tnh theo phng phap suy dien MAXMIN nh sau:
1

~ ~ A1k A1

Neu

1k

va
x1

~ ~ A2 k A2

2k

th
x2

~ Bk ~ Bk
y

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Phng php suy din MAX-PROD MAXXet qui tac th k cua mot he qui tac m: ~ ~ ~ rk: neu (x1 la A1k ) va ( x2 la A2 k ) th (y la Bk ) ~ ~ va x2 la A2 , tm y. Gia s ngo vao x1 la A1 Ngo ra y tnh theo phng phap suy dien MAXPROD nh sau:
1

~ ~ A1k A1

~ ~ A2 k A2

~ Bk ~ Bk
y' y

Neu Neu

1k
x1

va va

2k
x'2

th
x2

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H. T. Hong - HBK TPHCM

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Suy lun t h qui tc m Kt qu suy lun ca h qui tc m bng hp kt qu suy lun ca tng qui tc. Th d: xt h gm 2 qui tc m:

~ r1: nu (x1 l A11) v ( x2 l ~ r2: nu (x1 l A12) v ( x2 l ~ ~ v x2 l A2 Gi s ng vo x1 l A1

~ ~ A21) th (y l B1 ) ~ ~ A22) th (y l B2 )

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H. T. Hong - HBK TPHCM

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Suy lun t h qui tc m lu t t m

~ ~ A11 A1 ~ ~ A21 A2 ~ B1 ~ B1 ~ B2 ~ B2
y y

Neu

11

va
x1

th
x2

21
~ ~ A1 A12
x'2 ~ ~ A22 A2

Neu

12

va
x1

22
x'2

th
x2

2
~ B1 ~ B2

~ B y

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H. T. Hong - HBK TPHCM

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H m
H m c ban

He qui tac Tien x ly M hoa Phng phap suy dien Giai m Hau x ly

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Khi tin x l Tn hiu vo b iu khin thng l gi tr r t cc mch o, b tin x l c chc nng x l cc gi tr o ny trc khi a vo b i khi m c bn. iu khin b Khi tin x l c th: Lng t ha hoc lm trn gi tr o o. Chun ha hoc t l gi tr o vo tm gi tr chun. Lc nhiu.

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M ha

Khi m ha c chc nng bin i gi tr r sang gi tr ngn ng, hay ni cch khc l sang tp m, v h qui tc m ch c th suy din trn cc tp m. y p
1
~ A

~ A

~ A

x'

x' +1% x

x'

(a)

(b)

(c)

Tap m ngo ra cua khau m hoa m ngo cua khau m hoa ~ (a) Tap m A khi tn hieu vao x' khong co sai so, khong co nhieu ~ A khi tn hieu vao x' co sai so 1% (b) Tap m ~ (c) Tap m A khi tn hieu vao x' co nhieu phan bo Gauss
2 April 2010 H. T. Hong - HBK TPHCM 33

H qui tc m H qui tc m c th xem l m hnh ton hc biu din tri thc, kinh nghim ca con ngi trong vic gii quyt bi ton di dng cc pht biu ngn ng. C hai loi qui tc iu khin thng dng: Qui tc m Mamdani Qui tc m Sugeno

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Qui tc Mamdani
a l l y la loai qui tac c dung trong cac ng dung au tien cua i d d i ieu khien m (Mamdani, 1974; Assilian, 1974; Mamdani va , ) qua Assilian, 1975) va co dang tong q t sau ay:

~ ~ ri: neu (x1 la A1,i ) va va ( xn la An ,i ) ~ ~ B1,i ), , (ym la Bm,i ) th (y1 la y y

Trong o: n laso tn hieu vao m la so tn hieu ra i = 1..k , vi k l so qui t c ieu khi n. la i ta i khie Qui tac m Mamdani la loai qui tac m a xet trong cac chng tr Ke l t c. K t luan cua qui tac ieu khien m Mamdani la menh e m. i t i khi M d i l Th du mot qui tac m Mamdani nh sau: y neu sai so "ln" va toc o thay oi sai so "nho" th tn hieu ieu khien "ln"
2 April 2010 H. T. Hong - HBK TPHCM 35

Qui tc Sugeno
Qui tac m nay c Sugeno a ra vao nam 1983 va co dang tong quat nh sau: ~ ~ A1,i ) va va ( xn la An i ) ri: neu (x1 la ( n, th y1 = f1,i ( x1 ,..., x n ) , , ym = fm ,i ( x1 ,..., x n ) Ket luan cua qui tac ieu khien m Sugeno la ham cua cac tn hieu vao bo ieu khien. Neu dung ham tuyen tnh ket luan th qui tac m Sugeno co dang: n ~ ~ ri: neu (x1 la A1,i ) va va ( xn la An ,i ) th y = b0,i + b j ,i x i
j =1

Th du: neu e "ln" va e "nho" th u = 4e + 2e Trong u l tn hi u i u khi n, e l sai so va l o h m bac nhat T o la hie ie khie la i e la a ha b h cua sai so Q Qui tac m Sugeno co the n gian hn khi cho bj,i = 0, ( j = 1..n , n la g g , so tn hieu vao). Khi o ket luan cua qui tac m Sugeno la hang so.
2 April 2010 H. T. Hong - HBK TPHCM 36

Gii m Ng ra ca b iu khin m l cc gi tr ngn ng, hay ni cch khc l cc tp m. Trong khi cc i tng iu khin ch hiu hi c cc gi tr vt l (gi tr r), v vy cn phi chuyn i ( i ) hi h cc tp m ng ra b iu khin m sang gi tr r. Qu trnh ny gi l gii m (defuzzification) (defuzzification). Cc phng php gii m c th qui vo hai nhm chnh: Gii m da vo cao. Gii m da vo im trng tm.

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Cc phng php gii m da vo cao

1

y*

a y* b

Phng phap o cao phap

1

Phng phap trung bnh phap cua o phu thuoc cc ai

can phai cc ai

can trai cc ai

y*

Phng phap can trai cc ai (hay can phai cc ai)

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H. T. Hong - HBK TPHCM

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Cc phng php gii m da vo trng tm

y*

y*

Phng phap trong tam (COG)

1 .9 .5 0 a

Phng phap trong tam vung co dien tch ln nhat

Phng phap trung bnh co trong so

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Khi hu x l Chuyn gi tr chun ha [-1, 1] (khng th nguyn) thnh gi tr vt l. Khuch i. i Mch tch phn,

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H. T. Hong - HBK TPHCM

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MANG THAN MANG THAN KINH

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T bo thn kinh

x = [x1 w = [w1
2 April 2010

x2 K xm ]

vector tn hieu vao te bao than kinh

T

w2 K wm ] vector trng s te bao than kinh te bao than

H. T. Hong - HBK TPHCM 42

Hm x l ng vo t bo thn kinh Hm tuyn tnh (linear function): m f = net = w j x j = w T x j =1 Hm ton phng (quadratic function): m 2 f = net = w j x j j =1 Hm cu (spherical function):
2 m ( x j w j ) 2 = 2 ( x w )T ( x w ) f = net = j =1 1
2 April 2010 H. T. Hong - HBK TPHCM 43

Hm tc ng Hm tuyn tnh: Hm d b h dc bo ha
a( f ) = f 1 a( f ) = f 0
neu f > 1 neu 0 f 1 neu f < 0

Hm tuyn tnh bo ha

neu f > 1 1 neu 0 f 1 a( f ) = f 1 neu f < 1

a( f ) = 1 1 + e f

Hm dng S n cc Hm dng S lng cc

2 April 2010

2 a( f ) = 1 f 1+ e
H. T. Hong - HBK TPHCM 44

Cc dng hm tc ng

Hm dc bo ha Hm tuyn tnh

Hm dng S n cc

Hm tuyn tnh bo ha Hm dng S lng cc

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H. T. Hong - HBK TPHCM

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Mng truyn thng 3 lp

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Biu thc ng ra mng truyn thng 3 lp Tng trng s t hi vo t b th ki h th q l T c t tn hiu bo thn kinh lp n:
net q = vqj x j
j =1 m

Ng ra t bo thn kinh th q lp n: m zq = ah (net q ) = ah vqj x j j =1 Tng c trng s tn hiu vo t bo thn kinh th i lp ra:
neti = wiq z q
q =1 l

Ng ra t bo thn kinh th i lp ra:

l yi = ao (neti ) = ao wiq z q q =1
2 April 2010 H. T. Hong - HBK TPHCM 47

Thut ton hun luyn cp nht trng s mng Cp ht trng s l ra: C nht t lp
wiq (k + 1) = wiq (k ) + oi (k ) z q (k )

Trong :

oi (k ) = [(d i (k ) yi (k ))][ao (neti (k ))]

Cp nht trng s lp n:
vqj (k + 1) = vqj (k ) + hq (k ) x j (k )

Trong :

n hq (k ) = oi (k ) wiq (k ) ah (netq (k )) i =1

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Mng hm c s xuyn tm

Ng ra mng RBF: yi = wiq zq = wiq e

q =1 q =1

x q 2 q

Trong
2 April 2010

x q = ( x q )T ( x q )
H. T. Hong - HBK TPHCM 49

Thut ton hun luyn mng RBF Cch 1: dng thut ton lan truyn C h 1 d th t t l t ngc h l mng RBF hun luyn Cch 2: hun luyn mng RBF qua 2 bc: Bc 1: Xc nh tm v phn tn ca cc hm c s dng gii thut phn nhm Bc 2: Xc nh trng s lp ra dng gii thut bnh phng ti thiu.

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GIAI THUAT DI TRUYEN GIAI TRUYEN

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Gii thieu GA GA l giai thuat tm ki m li giai toi u phong theo qua trnh la i h kie l i h h h tien hoa cua sinh vat trong t nhien. Qua Qua trnh tien hoa: tien hoa: Chon loc t nhien (Natural Selection) Lai ghep (sinh san) (Crossover) ot bien (Mutation)

2 April 2010

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Lu o giai thuat

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Giai bai toan dung giai thuat di truyen

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Giai bai toan dung giai thuat di truyen Bai toan toi u h a c ban can giai trong l h vc ieu khien: ho b i lnh i khi min J() vi vi =[1, 2,, n]T [

2 April 2010

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Ma hoa Ma h a nh phan ho h h Ma hoa thap phan Ma hoa so thc Ma hoa so thc

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Ma hoa nh phan Bo gien gom hai ky hieu 0 va 1 i h i k hi 1. Moi bien c ma hoa thanh mot oan gien, chuoi NST gom nhieu oan gien nhieu oan gien.

Gia s: Bien can Bien i can tm trong oan i mini imax oan Bien i c ma hoa thanh chuoi nh phan co o dai Li Chieu dai cua oan Chieu dai cua oan gien c xac nh da tren o chnh xac c xac da tren xac mong muon tng ng vi moi bien:
i max i min Li = l 2 log i
2 April 2010

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H. T. Hong - HBK TPHCM

Ma hoa nh phan Mo oa M i n ma nh phan si = ( si , Li 1 ,..., si 2 , si1 , si 0 ) c giai ma h h i thanh gia tr cua bien i nh sau:

i = i min +

i max i min
2
Li

DV ( si )

trong o DV(si) la gia tr thap phan cua chuoi si

DV ( si ) =
Li 1

j =0

2 j.sij

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Th du 1

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Th du 2: Ma h a nh phan b i toan tm cc tr h m: ho h h ba ha

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Ma hoa thap phan Bo gien gom 10 ky hieu 0 1 2 9 gom ky 0, 1, 2,, Moi bien c ma hoa thanh mot oan gien: moi oan gien gom co: 1 gien e bieu dien dau cua bien cac gien con lai bieu dien cac ch so co ngha

g Gia tr gien bang 0 - 4 : dau Qui c gien ma hoa dau: c ma hoa dau: Gia tr gien bang 5 - 9 : dau +

V tr dau cham thap phan cua moi gien c lu tr e s dung dau cham phan cua moi c tr e s dung khi giai ma
2 April 2010 H. T. Hong - HBK TPHCM 61

Th d 3 d Neu s dung cach ma hoa thap phan vi 5 ch so co ngha th oan gien bieu dien bien i = 56.4172 la si = (056417), ong thi lu tr v tr dau cham thap phan la 2. Neu s dung cach ma hoa thap phan vi 4 ch so co ngha, v tr dau cham thap phan la 0 th oan gien si = (71428), se c giai ma thanh li giai i = 0.1428.

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Th du 4 Ma ho h h b M h a thp phan bai toan tm cc tr ham: h

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Ham thch nghi Ham thch nghi d ng nh gia cac ca the, ca the nao co o h h hi du e a i h h thch nghi tot hn se ton tai qua qua trnh chon loc t nhien va co nhieu c hoi e lai ghep. g Thng ham thch nghi chnh la ham can tm cc tr hoac bien oi tng ng cua ham can tm cc tr. Cac ham thch nghi thng dung: Bai toan tm cc ai ham J ( )
fitness = J ( ) + C

Bai toan Bai toan tm cc tieu ham J ( ) cc tieu ham

1 fitness = J ( ) + C
2 April 2010 H. T. Hong - HBK TPHCM 64

Chon loc t nhien Nguyen t c c b n cua cac phng phap chon loc la NST co N ta ba h h h l l o thch nghi cang cao th co xac suat chon la cang ln. Cac phng phap chon loc Chon loc t le Chon loc au vong Cho l Ch n loc cat t Chon loc sap hang tuyen tnh Chon loc sap hang luy tha. Cng o chon loc
I= M* M

trong o M va M* la o thch nghi trung bnh cua quan the p g g trc va sau chon loc, 2 la phng sai cua o thch nghi trc chon loc
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Chon loc t le Xac suat chon loc Xac suat chon loc t le vi o thch nghi vi

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Chon loc au vong Chon Chon ra t ca the ngau nhien (t goi la qui mo au vong) ca the ca the ngau nhien goi la mo au vong), ca the nao co o thch nghi tot nhat trong t ca the tren se c chon e lai ghep. Lap lai N lan bc tren e chon u N ca the.

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Chon loc cat Chon loc cat vi mc ngng Chon loc cat vi mc ngng T (T [0 1]) ch co T N ca the [0, 1]), co T.N ca the tot nhat mi co c hoi c la chon va xac xuat chon la cua cac ca the nay nh nhau.

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Chon loc cat

1 I (T ) = T
fC

1 ( f C2 / 2) e 2 1 ( f 2 / 2) e df 2

T =

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Chon loc sap hang tuyen tnh

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Chon loc sap hang tuyen tnh

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Chon loc sap hang tuyen tnh

pk =

1 N

k 1 + 2(1 ) N 1 1

I ( ) =

(1 )

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Chon loc sap hang luy tha

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Chon loc sap hang luy tha

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Chon loc sap hang luy tha

pk =

c N k

j=1 c
N

N j

; (k = 1..N )

I ( ) 0.588

ln ln( / ) 3.69

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Lai ghep (Crossover) Lai ghep k t h p c i m cua h i NST cha me tao ra h i i h ke h a ie hai S h e hai NST con vi trien vong cha me tot se tao ra con tot hn. Phep Phep lai ghep thng khong tac ong en tat ca cac NST ma ghep thng khong tac en tat ca cac ma trai lai ch xay ra gia hai NST cha me c la chon ngau nhien vi xac suat pC (goi la xac suat lai ghep). Nguyen tac thc hien phep lai ghep la bat cap ngau nhien hai NST trong quan the sau khi a qua bc chon loc e tao ra hai NST con, moi NST con tha hng mot phan gien cua cha, mot , p g , phan gien cua me. Cac phng phap lai ghep: Lai ghep mot iem Lai ghep nhieu iem Lai ghep eu ghep eu
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Lai ghep mot iem

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Lai ghep nhieu iem

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Lai ghep eu

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ot bien (Mutation) Phep toan t bi n thay i ngau nhien mot h c nhieu gene h o bie h o hi hoa hi cua mot ca the e lam tang s a dang ve cau truc trong quan the. ot bien ch c phep xay ra vi xac xuat pM thap. Cac phng phap ot bien ot bien mot bien ot bien nhieu iem

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ot bien mot iem

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ot bien nhieu iem

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Cac thong so cua giai thuat di truyen Kch thc quan the: 20 30 h h h 20-30 Xac suat lai ghep: 0.8-0.9 Xac suat Xac suat ot bien: 0 01 0 1 bien: 0.01-0.1

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Th du: GA tm cc tieu ham

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Giai bai toan dung giai thuat di truyen

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Th du GA tm cc tieu ham (tt) Ma h a: ho Ma hoa thap phan Moi li giai cua bai toan Moi li giai cua bai toan tm cc tr la mot cap (x1,x2) c cc la x c ma hoa thanh chuoi NST co dang nh sau:

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Th du GA tm cc tr ham (tt) Ham thch nghi: h h hi

1 fitness = f ( x1 , x2 ) + C

Kch thc quan the la N=20 thc quan the la N 20 Khi ong: the he au khi ong ngau nhien. Cac phep toan di truyen: chon loc t le lai ghep 2 iem vi xac suat pC=0.9 ot bien eu vi xac suat pM=0.1 lu gi NST u viet trong qua trnh tien hoa.

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Th du GA tm cc tr ham (tt) Ket qua chay chng trnh: h h h

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Th du: GA tm ng i ngan nhat Hoach nh ng i ngan nhat cho robot di ong gia M iem co toa o biet trc e robot thc hien mot tac vu nao o.

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Giai bai toan dung giai thuat di truyen

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Th du GA tm ng i ngan nhat Ma h a: ho at ten cho cac iem ma robot can phai di chuyen ti la cac so t nhien 1,2,,M. so t nhien 1 2 M Mot li giai cua bai toan tm ng i c ma hoa thanh mot chuoi NST gom co cac gien la ten cua cac iem

Chu y do ng i phai qua tat ca cac iem nen chuoi NST hp phai co ten cua tat ca cac iem va khong co hp le phai co ten cua tat ca cac iem va khong co gien nao nao co gia tr giong nhau.

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Th du GA tm ng i ngan nhat Ham thch nghi: h h hi Goi ( x(i ), y (i )) la toa o cua iem th i, (i = 1..M ) D la o dai oan ng ma robot phai di chuyen la dai oan ng ma phai chuyen. o dai ng i tng ng vi chuoi NST gom cac gien [ g1 , g 2 , K , g M ] c tnh theo cong thc: c cong thc:
D = [ x( g i ) x( g i 1 )]2 + [ y ( g i ) y ( g i 1 )]2 +
i=2 M

+ [ x( g1 ) x( g M )]2 + [ y ( g1 ) y ( g M )]2

Bai toan tm cc tieu ng i D c chuyen thanh bai toan tm cc ai ham thch nghi nh ngha nh sau: 1 fitness = D
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Th du GA tm ng i ngan nhat Cho lo Ch n l c t nhien: hi Ap dung phng phap chon loc sap hang tuyen tnh vi he so chon loc la chon loc la = 0.5 Chu y rang cac phng phap chon loc khac cung co the ap dung

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Th du GA tm ng i ngan nhat Lai ghep i h

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Th du GA tm ng i ngan nhat ot bi n bie

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Th du GA tm ng i ngan nhat Ket qua

o th thay oi ham thch nghi

ng i ngan nhat

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Th du GA ng dung trong bai toan o toc o lu chat Nguyen tac toc l chat d ng phng phap x l anh o o lu h du h h ly

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Giai bai toan dung giai thuat di truyen

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Th du GA ng dung trong bai toan o toc o lu chat Anh ha h A h h t phan quang chup 2 l n li n tiep cach nhau kh ng thi h la lie i h khoa h gian t

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Th du GA ng dung trong bai toan o toc o lu chat V tr trong tam cac iem phan quang trong tam cac iem phan

Bai toan at ra la tng ng cac iem phan quang 2 anh

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Th du GA ng dung trong bai toan o toc o lu chat Ma hoa Ma hoa Gia s cac hat phan quang trong hai anh lan lt c anh so th t t 1 en n va 1 en m (gia s n>m) Li giai cua bai toan tng ng hat phan quang la cac cap (ai,bi), vi ai va bi la so nguyen hai bat ky thuoc oan [1,n] va [1 ] [1,m], Li giai nay co the ma hoa thanh mot ca the gom hai chuoi NST nh sau:

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Th du GA ng dung trong bai toan o toc o lu chat Ham Ham thch nghi: Ham thch nghi n gian nhat la nghch ao tong khoang cach gia cac cap tng ng:
2 2 fitness = [ x(ai ) x(bi )] + [ y (ai ) y (bi )] i =1
m 1

Ham thch nghi e y en tnh chuyen ong cung hng cua cac hat lan cua cac hat lan can nhau:
1 m l r r fitness = d i rk i =1 k =1

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Th du GA ng dung trong bai toan o toc o lu chat Chon loc t nhien: Chon loc t nhien: Ap dung phng phap chon loc sap hang luy tha Lu gi bao toan ca the u viet g

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Th du GA ng dung trong bai toan o toc o lu chat Lai ghep ghep

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Th du GA ng dung trong bai toan o toc o lu chat ot bien bien

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Th du GA ng dung trong bai toan o toc o lu chat Ket qua Ket qua

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GIAI GIAI THUAT DI TRUYEN MA HOA SO THC TRUYEN MA HOA SO THC

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Giai thuat di truyen ma so thc Cach C h ma h so th c: bieu di n cac gien t c ti p l cac so th c hoa th bi die i tr tie la th cho bai toan toi u hoa thong so vi cac bien nam trong mien lien tuc, khi o chuoi NST la vector gom cac thanh phan la cac so thc:

Phng phap ma hoa so thc co khuyet iem la khong the s dung cac phep toan lai ghep va ot bien c ban

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Lai ghep NST ma so thc

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Lai ghep NST ma so thc

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Lai ghep NST ma so thc

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Lai ghep NST ma so thc

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ot bien NST ma so thc

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ot bien NST ma so thc

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GIAI GIAI THUAT DI TRUYEN SONG SONG TRUYEN

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Khai niem GA song song GA song song la GA trong o quan the c chia ra lam nhieu la o quan the c lam nhieu quan the con, moi quan the con c khi ong ngau nhien va tien hoa oc lap va thnh thoang co vai ca the di c gia cac quan the con h

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Khai niem GA song song

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Cac tuy chon cua GA song song ac iem cua GA song song c xac nh bi nhieu tuy chon, iem cua c xac bi nhieu tuy chon ben canh tuy chon cac phep toan di truyen tac ong len tng quan the con th cac tuy chon sau ay la ac trng cua GA song song: Cau hnh phan bo cac quan the con. Cach chon la cac quan the Cach chon la cac quan the con ma gia chung xay ra hien ma gia chung xay tng di c. Cach chon la ca the di c va ca the b thay the. So lng ca the di c va tan suat di c cua chung.

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So quan the con va cau hnh phan bo So lng quan the So lng quan the con cang nhieu hieu qua cua GA song song cang nhieu qua cua cang cao. Cau hnh phan bo cac quan the con n gian nhat la phan bo theo cau hnh li trong khong gian 2 chieu. Vi cau hnh nay, hien tng di c xay ra ngau nhien gia hai quan the lan can nhau hoac xay ra tuan t t mot quan the con nay lan lt en xay tuan t t quan the nay lan lt en cac quan the con khac trong lan can cua no.

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Chon ca the di c
Muc Muc ch di c lam tang o thch nghi trung bnh cua quan the ma ca the di c sang, giup quan the nhan ca the di c sang am bao tnh a dang. Co nhieu cach chon tuy theo ta muon ca the di c nham muc ch g, sau ay la 3 cach ien hnh: Chon ca the co Chon ca the co o thch nghi cao nhat: Neu mot quan the con thng nhat: Neu quan the thng xuyen nhan ca the di c co o thch nghi cao, cac ca the nay tr nen ca the noi troi trong quan the, GA se tap trung tm kiem vao cac ca the nay va the nay va do o mat tnh a dang, GA de ri vao cc tr cuc bo o mat dang de vao cc cuc Chon ca the ngau nhien: neu quan the nhan mot ca the di c ngau nhien th tnh a dang c am bao, tuy nhien khong chac rang o thch hi t th h nghi trung bnh cua quan the c cai thien. b h th thi Chon theo phng phap au vong ngau nhien vi xac suat 0.6: cach chon nay am bao tnh a dang, ong thi ca the di c co o thch nghi tren trung bnh.
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Chon ca the b thay the Co the chon bang Co the chon bang mot trong hai cach sau ay: cach ay: Thay the ca the co o thch nghi kem nhat: cach nay lam tang ap lc chon loc, quan the de ri vao cc tr cu bo. Thay the ca the thang cuoc theo cach chon au vong ngau nhien vi xac suat 0.4: cach nay khong loai bo ca the kem nhat ma ma ch loai bo co the co o thch nghi di trung bnh do o loai bo co the co di bnh, o lam giam ap lc chon loc, am bao tnh a dang cua quan the.

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Thong so di c So lng ca the So lng ca the di c: Thong thng so lng ca the di c bang Thong thng so lng ca the bang 1, tuy nhien cung co the chon nhieu hn 1. Tan suat di c: Hien tng di c khong nen xay ra qua thng xuyen

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