def simple_mamdani():
fe = Engine('simple-mamdani')
energy = InputVariable('Energy')
energy.term['LOW'] = Triangle('LOW', 0.0, 0.5, 1.0)
energy.term['MEDIUM'] = Triangle('MEDIUM', 0.5, 1.0, 1.5)
energy.term['HIGH'] = Triangle('HIGH', 1.0, 1.5, 2.0)
fe.input['Energy'] = energy
health = OutputVariable('Health', default=float('nan'))
health.term['BAD'] = LeftShoulder('BAD', 0.0, 0.5)
health.term['REGULAR'] = Triangle('REGULAR', 0.5, 1.0, 1.5)
health.term['GOOD'] = RightShoulder('GOOD', 1.0, 1.5)
fe.output['Health'] = health
ruleblock = RuleBlock()
ruleblock.append(
MamdaniRule.parse('if Energy is LOW then Health is BAD', fe))
ruleblock.append(
MamdaniRule.parse('if Energy is MEDIUM then Health is REGULAR',
fe))
ruleblock.append(
MamdaniRule.parse('if Energy is HIGH then Health is GOOD', fe))
fe.ruleblock[ruleblock.name] = ruleblock
fe.configure(Operator())
return fe
def simple_mamdani():
fe = Engine('simple-mamdani')
energy = InputVariable('Energy')
energy.term['LOW'] = Triangle('LOW', 0.0, 0.5, 1.0)
energy.term['MEDIUM'] = Triangle('MEDIUM', 0.5, 1.0, 1.5)
energy.term['HIGH'] = Triangle('HIGH', 1.0, 1.5, 2.0)
fe.input['Energy'] = energy
health = OutputVariable('Health', default=float('nan'))
health.term['BAD'] = LeftShoulder('BAD', 0.0, 0.5)
health.term['REGULAR'] = Triangle('REGULAR', 0.5, 1.0, 1.5)
health.term['GOOD'] = RightShoulder('GOOD', 1.0, 1.5)
fe.output['Health'] = health
ruleblock = RuleBlock()
ruleblock.append(MamdaniRule.parse('if Energy is LOW then Health is BAD', fe))
ruleblock.append(MamdaniRule.parse('if Energy is MEDIUM then Health is REGULAR', fe))
ruleblock.append(MamdaniRule.parse('if Energy is HIGH then Health is GOOD', fe))
fe.ruleblock[ruleblock.name] = ruleblock
fe.configure(Operator())
return fe
def process_ruleblock(self, block):
ruleblock = RuleBlock()
token = block[0].split()
if len(token) == 2:
ruleblock.name = token[1].strip()
for line in block[1:]:
line = line.strip()
if line.startswith("RULE"):
token = line.split(":")
if len(token) != 2:
raise SyntaxError("malformed property <%s>" % line)
ruleblock.append(MamdaniRule.parse(token[1].replace(";", ""), self.fe))
elif line.startswith("AND"):
ruleblock.tnorm = self.extract_operator(line)
elif line.startswith("OR"):
ruleblock.snorm = self.extract_operator(line)
elif line.startswith("ACT"):
ruleblock.activation = self.extract_operator(line)
else:
raise SyntaxError("unknown property <%s>" % line)
self.fe.ruleblock[ruleblock.name] = ruleblock
def process_ruleblock(self, block):
ruleblock = RuleBlock()
token = block[0].split()
if len(token) == 2:
ruleblock.name = token[1].strip()
for line in block[1:]:
line = line.strip()
if line.startswith('RULE'):
token = line.split(':')
if len(token) != 2:
raise SyntaxError('malformed property <%s>' % line)
ruleblock.append(
MamdaniRule.parse(token[1].replace(';', ''), self.fe))
elif line.startswith('AND'):
ruleblock.tnorm = self.extract_operator(line)
elif line.startswith('OR'):
ruleblock.snorm = self.extract_operator(line)
elif line.startswith('ACT'):
ruleblock.activation = self.extract_operator(line)
else:
raise SyntaxError('unknown property <%s>' % line)
self.fe.ruleblock[ruleblock.name] = ruleblock
def simple_ai_boat():
fe = Engine('simple-mamdani')
"""
RELATIVE LOCATION
----------\ X X X ------------
\ / \ / \ / \ /
\/ \ / \ / \ /
/\ \ / \/ \ /
/ \ X /\ X
/ \ / \ / \ / \
FAR BEHIND AHEAD FAR
BEHIND ABOUT AHEAD
EVEN
"""
#shoulder break points in meters
FAR_MAX = 85.0
FAR_MIN = 60.0
#behind/ahead points in meters
BEHIND_AHEAD_MIN = 66.0
BEHIND_AHEAD_MIDPOINT = 40.0
BEHIND_AHEAD_MAX = 14.0
# about even magnitude - triangle membership
ABOUT_EVEN_MAGNITUDE = 16.0
relative_location = InputVariable('relative_location')
relative_location.term['FAR_BEHIND'] = LeftShoulder(
'FAR_BEHIND', -FAR_MAX, -FAR_MIN)
relative_location.term['BEHIND'] = Triangle('BEHIND', -BEHIND_AHEAD_MIN,
-BEHIND_AHEAD_MIDPOINT,
-BEHIND_AHEAD_MAX)
relative_location.term['ABOUT_EVEN'] = Triangle('ABOUT_EVEN',
-ABOUT_EVEN_MAGNITUDE, 0.0,
ABOUT_EVEN_MAGNITUDE)
relative_location.term['AHEAD'] = Triangle('AHEAD', BEHIND_AHEAD_MAX,
BEHIND_AHEAD_MIDPOINT,
BEHIND_AHEAD_MIN)
relative_location.term['FAR_AHEAD'] = RightShoulder(
'FAR_AHEAD', FAR_MIN, FAR_MAX)
fe.input['relative_location'] = relative_location
# locations in a 2000 m piece in meters
location = InputVariable('location')
location.term['BEGINNING'] = LeftShoulder('BEGINNING', 500.0, 800.0)
location.term['MIDDLE'] = Trapezoid('MIDDLE', 650.0, 800.0, 1500.0, 1600.0)
location.term['END'] = RightShoulder('END', 1570.0, 1700.0)
fe.input['location'] = location
"""
ACTION:
------------\ ---------\ ----------------\ -------\ ---------
X X \/ \/
/ \ / \ /\ /\
EASE_UP / \ AS / \ LENGTHEN / \ P10 / \ SPRINT
IS
"""
# ACTION values are unit-less
EASE_UP_MIN = 20.0
EASE_UP_MAX = 25.0
AS_IS_MIN = 20.0
AS_IS_B = 35.0
AS_IS_C = 70.0
AS_IS_MAX = 75.0
LENGTHEN_MIN = 70.0
LENGTHEN_B = 73.0
LENGTHEN_C = 77.0
LENGTHEN_MAX = 80.0
P10_MIN = 77.0
P10_B = 80.0
P10_C = 90.0
P10_MAX = 93.0
SPRINT_MIN = 90.0
SPRINT_MAX = 95.0
action = OutputVariable('action', default=float('nan'))
action.term['EASE_UP'] = LeftShoulder('EASE_UP', EASE_UP_MIN, EASE_UP_MAX)
action.term['AS_IS'] = Trapezoid('AS_IS', AS_IS_MIN, AS_IS_B, AS_IS_C,
AS_IS_MAX)
action.term['LENGTHEN'] = Trapezoid('LENGTHEN', LENGTHEN_MIN, LENGTHEN_B,
LENGTHEN_C, LENGTHEN_MAX)
action.term['P10'] = Trapezoid('P10', P10_MIN, P10_B, P10_C, P10_MAX)
action.term['SPRINT'] = RightShoulder('SPRINT', SPRINT_MIN, SPRINT_MAX)
fe.output['action'] = action
ruleblock = RuleBlock()
ruleblock.append(
MamdaniRule.parse('if location is BEGINNING then action is AS_IS', fe))
ruleblock.append(
MamdaniRule.parse(
'if location is MIDDLE and relative_location is FAR_BEHIND then action is LENGTHEN',
fe))
ruleblock.append(
MamdaniRule.parse(
'if location is MIDDLE and relative_location is BEHIND then action is P10',
fe))
ruleblock.append(
MamdaniRule.parse(
'if location is MIDDLE and relative_location is ABOUT_EVEN then action is P10',
fe))
ruleblock.append(
MamdaniRule.parse(
'if location is MIDDLE and relative_location is AHEAD then action is LENGTHEN',
fe))
ruleblock.append(
MamdaniRule.parse(
'if location is MIDDLE and relative_location is FAR_AHEAD then action is AS_IS',
fe))
ruleblock.append(
MamdaniRule.parse(
'if location is END and relative_location is FAR_BEHIND then action is LENGTHEN',
fe))
ruleblock.append(
MamdaniRule.parse(
'if location is END and relative_location is BEHIND then action is SPRINT',
fe))
ruleblock.append(
MamdaniRule.parse(
'if location is END and relative_location is ABOUT_EVEN then action is SPRINT',
fe))
ruleblock.append(
MamdaniRule.parse(
'if location is END and relative_location is AHEAD then action is SPRINT',
fe))
ruleblock.append(
MamdaniRule.parse(
'if location is END and relative_location is FAR_AHEAD then action is AS_IS',
fe))
fe.ruleblock[ruleblock.name] = ruleblock
fe.configure(Operator())
return fe