scholarly journals $$\mathsf {SceneChecker}$$: Boosting Scenario Verification Using Symmetry Abstractions

2021 ◽  
pp. 580-594
Author(s):  
Hussein Sibai ◽  
Yangge Li ◽  
Sayan Mitra
Keyword(s):  
Neural Network ◽  
Nonlinear Dynamics ◽  
Hybrid System ◽  
Analysis Tool ◽  
Aerial Vehicles ◽  
Verification Problem ◽  
Verification Time ◽  
System Verification ◽  
Refinement Algorithm ◽  
Neural Network Controllers

AbstractWe present $$\mathsf {SceneChecker}$$ SceneChecker , a tool for verifying scenarios involving vehicles executing complex plans in large cluttered workspaces. $$\mathsf {SceneChecker}$$ SceneChecker converts the scenario verification problem to a standard hybrid system verification problem, and solves it effectively by exploiting structural properties in the plan and the vehicle dynamics. $$\mathsf {SceneChecker}$$ SceneChecker uses symmetry abstractions, a novel refinement algorithm, and importantly, is built to boost the performance of any existing reachability analysis tool as a plug-in subroutine. We evaluated $$\mathsf {SceneChecker}$$ SceneChecker on several scenarios involving ground and aerial vehicles with nonlinear dynamics and neural network controllers, employing different kinds of symmetries, using different reachability subroutines, and following plans with hundreds of waypoints in complex workspaces. Compared to two leading tools, DryVR and Flow*, $$\mathsf {SceneChecker}$$ SceneChecker shows 14$$\times $$ × average speedup in verification time, even while using those very tools as reachability subroutines.

Detection and localization of helipad in autonomous UAV landing: a coupled visual-inertial approach with artificial intelligence

2020 ◽  
Vol 71 (7) ◽  
pp. 828-839
Author(s):  
Thinh Hoang Dinh ◽  
Hieu Le Thi Hong
Keyword(s):  
Neural Network ◽  
Unmanned Aerial Vehicles ◽  
Fiducial Marker ◽  
Localization Algorithm ◽  
Challenging Problem ◽  
Autonomous Landing ◽  
Aerial Vehicles ◽  
Set Up ◽  
Detection And Localization ◽  
Rotary Wing

Autonomous landing of rotary wing type unmanned aerial vehicles is a challenging problem and key to autonomous aerial fleet operation. We propose a method for localizing the UAV around the helipad, that is to estimate the relative position of the helipad with respect to the UAV. This data is highly desirable to design controllers that have robust and consistent control characteristics and can find applications in search – rescue operations. AI-based neural network is set up for helipad detection, followed by optimization by the localization algorithm. The performance of this approach is compared against fiducial marker approach, demonstrating good consensus between two estimations

An Anatomy of a Hybrid Color Descriptor with a Neural Network Model to Enhance the Retrieval Accuracy of an Image Retrieval System

2019 ◽  
Vol 13 ◽  
Author(s):  
Shikha Bhardwaj ◽  
Gitanjali Pandove ◽  
Pawan Kumar Dahiya
Keyword(s):  
Neural Network ◽  
Deep Learning ◽  
Image Retrieval ◽  
Hybrid System ◽  
Back Propagation ◽  
Back Propagation Neural Network ◽  
Retrieval Accuracy ◽  
Color Descriptor ◽  
Benchmark Datasets ◽  
Color Moment

Background: In order to retrieve a particular image from vast repository of images, an efficient system is required and such an eminent system is well-known by the name Content-based image retrieval (CBIR) system. Color is indeed an important attribute of an image and the proposed system consist of a hybrid color descriptor which is used for color feature extraction. Deep learning, has gained a prominent importance in the current era. So, the performance of this fusion based color descriptor is also analyzed in the presence of Deep learning classifiers. Method: This paper describes a comparative experimental analysis on various color descriptors and the best two are chosen to form an efficient color based hybrid system denoted as combined color moment-color autocorrelogram (Co-CMCAC). Then, to increase the retrieval accuracy of the hybrid system, a Cascade forward back propagation neural network (CFBPNN) is used. The classification accuracy obtained by using CFBPNN is also compared to Patternnet neural network. Results: The results of the hybrid color descriptor depict that the proposed system has superior results of the order of 95.4%, 88.2%, 84.4% and 96.05% on Corel-1K, Corel-5K, Corel-10K and Oxford flower benchmark datasets respectively as compared to many state-of-the-art related techniques. Conclusion: This paper depict an experimental and analytical analysis on different color feature descriptors namely, Color moment (CM), Color auto-correlogram (CAC), Color histogram (CH), Color coherence vector (CCV) and Dominant color descriptor (DCD). The proposed hybrid color descriptor (Co-CMCAC) is utilized for the withdrawal of color features with Cascade forward back propagation neural network (CFBPNN) is used as a classifier on four benchmark datasets namely Corel-1K, Corel-5K and Corel-10K and Oxford flower.

scholarly journals Predicting ultrafast nonlinear dynamics in fibre optics with a recurrent neural network

2021 ◽  
Vol 3 (4) ◽  
pp. 344-354 ◽  
Author(s):  
Lauri Salmela ◽  
Nikolaos Tsipinakis ◽  
Alessandro Foi ◽  
Cyril Billet ◽  
John M. Dudley ◽  
...  
Keyword(s):  
Neural Network ◽  
Nonlinear Dynamics ◽  
Recurrent Neural Network ◽  
Fibre Optics

scholarly journals Nonlinear Time-Series Analysis of Pulsation of Post-AGB Stars by Genetic Algorithm/Neural Network Hybrid Systems

2000 ◽  
Vol 176 ◽  
pp. 135-136
Author(s):  
Toshiki Aikawa
Keyword(s):  
Neural Network ◽  
Genetic Algorithm ◽  
Neural Networks ◽  
Time Series ◽  
Artificial Neural Networks ◽  
Hybrid System ◽  
Nonlinear Time Series ◽  
Photometric Data ◽  
Nonlinear Time Series Analysis ◽  
Agb Stars

AbstractSome pulsating post-AGB stars have been observed with an Automatic Photometry Telescope (APT) and a considerable amount of precise photometric data has been accumulated for these stars. The datasets, however, are still sparse, and this is a problem for applying nonlinear time series: for instance, modeling of attractors by the artificial neural networks (NN) to the datasets. We propose the optimization of data interpolations with the genetic algorithm (GA) and the hybrid system combined with NN. We apply this system to the Mackey–Glass equation, and attempt an analysis of the photometric data of post-AGB variables.

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