Diagnostics of Mechatronic Systems on the Basis of Neural Networks with High-Performance Data Collection

2014 ◽  
pp. 433-440 ◽  
Author(s):  
P. Stepanov ◽  
Yu. Nikitin
2019 ◽  
Vol 148 ◽  
pp. 136-151
Author(s):  
Rodrigo C. Tavares ◽  
Marcos Carvalho ◽  
Eduardo P.M. Câmara Júnior ◽  
Erik de Britto e Silva ◽  
Marcos A.M. Vieira ◽  
...  

Entropy ◽  
2021 ◽  
Vol 23 (2) ◽  
pp. 223
Author(s):  
Yen-Ling Tai ◽  
Shin-Jhe Huang ◽  
Chien-Chang Chen ◽  
Henry Horng-Shing Lu

Nowadays, deep learning methods with high structural complexity and flexibility inevitably lean on the computational capability of the hardware. A platform with high-performance GPUs and large amounts of memory could support neural networks having large numbers of layers and kernels. However, naively pursuing high-cost hardware would probably drag the technical development of deep learning methods. In the article, we thus establish a new preprocessing method to reduce the computational complexity of the neural networks. Inspired by the band theory of solids in physics, we map the image space into a noninteraction physical system isomorphically and then treat image voxels as particle-like clusters. Then, we reconstruct the Fermi–Dirac distribution to be a correction function for the normalization of the voxel intensity and as a filter of insignificant cluster components. The filtered clusters at the circumstance can delineate the morphological heterogeneity of the image voxels. We used the BraTS 2019 datasets and the dimensional fusion U-net for the algorithmic validation, and the proposed Fermi–Dirac correction function exhibited comparable performance to other employed preprocessing methods. By comparing to the conventional z-score normalization function and the Gamma correction function, the proposed algorithm can save at least 38% of computational time cost under a low-cost hardware architecture. Even though the correction function of global histogram equalization has the lowest computational time among the employed correction functions, the proposed Fermi–Dirac correction function exhibits better capabilities of image augmentation and segmentation.


Robotica ◽  
2021 ◽  
pp. 1-19
Author(s):  
A. H. Bouyom Boutchouang ◽  
Achille Melingui ◽  
J. J. B. Mvogo Ahanda ◽  
Othman Lakhal ◽  
Frederic Biya Motto ◽  
...  

SUMMARY Forward kinematics is essential in robot control. Its resolution remains a challenge for continuum manipulators because of their inherent flexibility. Learning-based approaches allow obtaining accurate models. However, they suffer from the explosion of the learning database that wears down the manipulator during data collection. This paper proposes an approach that combines the model and learning-based approaches. The learning database is derived from analytical equations to prevent the robot from operating for long periods. The database obtained is handled using Deep Neural Networks (DNNs). The Compact Bionic Handling robot serves as an experimental platform. The comparison with existing approaches gives satisfaction.


Electronics ◽  
2021 ◽  
Vol 10 (14) ◽  
pp. 1614
Author(s):  
Jonghun Jeong ◽  
Jong Sung Park ◽  
Hoeseok Yang

Recently, the necessity to run high-performance neural networks (NN) is increasing even in resource-constrained embedded systems such as wearable devices. However, due to the high computational and memory requirements of the NN applications, it is typically infeasible to execute them on a single device. Instead, it has been proposed to run a single NN application cooperatively on top of multiple devices, a so-called distributed neural network. In the distributed neural network, workloads of a single big NN application are distributed over multiple tiny devices. While the computation overhead could effectively be alleviated by this approach, the existing distributed NN techniques, such as MoDNN, still suffer from large traffics between the devices and vulnerability to communication failures. In order to get rid of such big communication overheads, a knowledge distillation based distributed NN, called Network of Neural Networks (NoNN), was proposed, which partitions the filters in the final convolutional layer of the original NN into multiple independent subsets and derives smaller NNs out of each subset. However, NoNN also has limitations in that the partitioning result may be unbalanced and it considerably compromises the correlation between filters in the original NN, which may result in an unacceptable accuracy degradation in case of communication failure. In this paper, in order to overcome these issues, we propose to enhance the partitioning strategy of NoNN in two aspects. First, we enhance the redundancy of the filters that are used to derive multiple smaller NNs by means of averaging to increase the immunity of the distributed NN to communication failure. Second, we propose a novel partitioning technique, modified from Eigenvector-based partitioning, to preserve the correlation between filters as much as possible while keeping the consistent number of filters distributed to each device. Throughout extensive experiments with the CIFAR-100 (Canadian Institute For Advanced Research-100) dataset, it has been observed that the proposed approach maintains high inference accuracy (over 70%, 1.53× improvement over the state-of-the-art approach), on average, even when a half of eight devices in a distributed NN fail to deliver their partial inference results.


Author(s):  
Withit Chatlatanagulchai ◽  
Peter H. Meckl

Flexibility at the joint of a manipulator is an intrinsic property. Even “rigid-joint” robots, in fact, possess a certain amount of flexibility. Previous experiments confirmed that joint flexibility should be explicitly included in the model when designing a high-performance controller for a manipulator because the flexibility, if not dealt with, can excite system natural frequencies and cause severe damage. However, control design for a flexible-joint robot manipulator is still an open problem. Besides being described by a complicated system model for which the passivity property does not hold, the manipulator is also underactuated, that is, the control input does not drive the link directly, but through the flexible dynamics. Our work offers another possible solution to this open problem. We use three-layer neural networks to represent the system model. Their weights are adapted in real time and from scratch, which means we do not need the mathematical model of the robot in our control algorithm. All uncertainties are handled by variable-structure control. Backstepping structure allows input efforts to be applied to each subsystem where they are needed. Control laws to adjust all adjustable parameters are devised using Lyapunov’s second method to ensure that error trajectories are globally uniformly ultimately bounded. We present two state-feedback schemes: first, when neural networks are used to represent the unknown plant, and second, when neural networks are used to represent the unknown parts of the control laws. In the former case, we also design an observer to enable us to design a control law using only output signals—the link positions. We use simulations to compare our algorithms with some other well-known techniques. We use experiments to demonstrate the practicality of our algorithms.


2009 ◽  
Author(s):  
Uri Cummings ◽  
Dan Daly ◽  
Rebecca Collins ◽  
Virat Agarwal ◽  
Fabrizio Petrini ◽  
...  

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