Neural networks integrated circuit with switchable gait pattern for insect-type microrobot

Author(s):  
Mika Kurosawa ◽  
Takuro Sasaki ◽  
Yu Usami ◽  
Shinya Kato ◽  
Arisa Sakaki ◽  
...  
2021 ◽  
Vol 2 ◽  
Author(s):  
Anderson Antonio Carvalho Alves ◽  
Lucas Tassoni Andrietta ◽  
Rafael Zinni Lopes ◽  
Fernando Oliveira Bussiman ◽  
Fabyano Fonseca e Silva ◽  
...  

This study focused on assessing the usefulness of using audio signal processing in the gaited horse industry. A total of 196 short-time audio files (4 s) were collected from video recordings of Brazilian gaited horses. These files were converted into waveform signals (196 samples by 80,000 columns) and divided into training (N = 164) and validation (N = 32) datasets. Twelve single-valued audio features were initially extracted to summarize the training data according to the gait patterns (Marcha Batida—MB and Marcha Picada—MP). After preliminary analyses, high-dimensional arrays of the Mel Frequency Cepstral Coefficients (MFCC), Onset Strength (OS), and Tempogram (TEMP) were extracted and used as input information in the classification algorithms. A principal component analysis (PCA) was performed using the 12 single-valued features set and each audio-feature dataset—AFD (MFCC, OS, and TEMP) for prior data visualization. Machine learning (random forest, RF; support vector machine, SVM) and deep learning (multilayer perceptron neural networks, MLP; convolution neural networks, CNN) algorithms were used to classify the gait types. A five-fold cross-validation scheme with 10 repetitions was employed for assessing the models' predictive performance. The classification performance across models and AFD was also validated with independent observations. The models and AFD were compared based on the classification accuracy (ACC), specificity (SPEC), sensitivity (SEN), and area under the curve (AUC). In the logistic regression analysis, five out of the 12 audio features extracted were significant (p < 0.05) between the gait types. ACC averages ranged from 0.806 to 0.932 for MFCC, from 0.758 to 0.948 for OS and, from 0.936 to 0.968 for TEMP. Overall, the TEMP dataset provided the best classification accuracies for all models. The most suitable method for audio-based horse gait pattern classification was CNN. Both cross and independent validation schemes confirmed that high values of ACC, SPEC, SEN, and AUC are expected for yet-to-be-observed labels, except for MFCC-based models, in which clear overfitting was observed. Using audio-generated data for describing gait phenotypes in Brazilian horses is a promising approach, as the two gait patterns were correctly distinguished. The highest classification performance was achieved by combining CNN and the rhythmic-descriptive AFD.


Author(s):  
Ken Saito ◽  
Minami Takato ◽  
Yoshifumi Sekine ◽  
Fumio Uchikoba

Hexapod locomotive Micro-Electro Mechanical Systems (MEMS) microrobot with Pulse-type Hardware Neural Networks (P-HNN) locomotion controlling system is presented in this chapter. MEMS microrobot is less than 5 mm width, length, and height in size. MEMS microrobot is made from a silicon wafer fabricated by micro fabrication technology to realize the small size mechanical components. The mechanical components of MEMS microrobot consists of body frames, legs, link mechanisms, and small size actuators. In addition, MEMS microrobot has a biologically inspired locomotion controlling system, which is the small size electrical components realized by P-HNN. P-HNN generates the driving pulses for actuators of the MEMS microrobot using pulse waveform such as biological neural networks. The MEMS microrobot emulates the locomotion method and the neural networks of an insect with small size actuator, link mechanisms, and P-HNN. As a result, MEMS microrobot performs hexapod locomotion using the driving pulses generated by P-HNN.


1997 ◽  
Vol 6 (3) ◽  
pp. 268-269
Author(s):  
O.A. Schmid ◽  
W.I. Schöllhorn ◽  
H.U. Bauer

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