A proposed hybrid neural network for position control of a walking robot

2007 ◽  
Vol 52 (3) ◽  
pp. 207-215 ◽  
Author(s):  
Şahin Yıldırım
Keyword(s):  
Neural Network ◽  
Position Control ◽  
Walking Robot ◽  
Hybrid Neural Network

A hybrid neural network goal attain optimization for failed sensor(s) radiation pattern in linear array

2019 ◽  
Vol 4 (4) ◽  
pp. 101-109
Author(s):  
Navaamsini Boopalan ◽  
Agileswari K. Ramasamy ◽  
Farrukh Hafiz Nagi
Keyword(s):  
Neural Network ◽  
Radiation Pattern ◽  
Array Signal Processing ◽  
Linear Array ◽  
Signal To Noise Ratio ◽  
Beam Pattern ◽  
Sensor Failure ◽  
Signal To Noise ◽  
Hybrid Neural Network ◽  
Noise Ratio

Array sensors are widely used in various fields such as radar, wireless communications, autonomous vehicle applications, medical imaging, and astronomical observations fault diagnosis. Array signal processing is accomplished with a beam pattern which is produced by the signal's amplitude and phase at each element of array. The beam pattern can get rigorously distorted in case of failure of array element and effect its Signal to Noise Ratio (SNR) badly. This paper proposes on a Hybrid Neural Network layer weight Goal Attain Optimization (HNNGAO) method to generate a recovery beam pattern which closely resembles the original beam pattern with remaining elements in the array. The proposed HNNGAO method is compared with classic synthesize beam pattern goal attain method and failed beam pattern generated in MATLAB environment. The results obtained proves that the proposed HNNGAO method gives better SNR ratio with remaining working element in linear array compared to classic goal attain method alone. Keywords: Backpropagation; Feed-forward neural network; Goal attain; Neural networks; Radiation pattern; Sensor arrays; Sensor failure; Signal-to-Noise Ratio (SNR)

scholarly journals Neural Network Based Contact Force Control Algorithm for Walking Robots

Sensors ◽  
2021 ◽  
Vol 21 (1) ◽  
pp. 287
Author(s):  
Byeongjin Kim ◽  
Soohyun Kim
Keyword(s):  
Neural Network ◽  
Contact Force ◽  
Force Control ◽  
Control Algorithm ◽  
Position Control ◽  
Linear Quadratic Regulator ◽  
Walking Robots ◽  
Test Model ◽  
Linear Quadratic ◽  
Contact Force Control

Walking algorithms using push-off improve moving efficiency and disturbance rejection performance. However, the algorithm based on classical contact force control requires an exact model or a Force/Torque sensor. This paper proposes a novel contact force control algorithm based on neural networks. The proposed model is adapted to a linear quadratic regulator for position control and balance. The results demonstrate that this neural network-based model can accurately generate force and effectively reduce errors without requiring a sensor. The effectiveness of the algorithm is assessed with the realistic test model. Compared to the Jacobian-based calculation, our algorithm significantly improves the accuracy of the force control. One step simulation was used to analyze the robustness of the algorithm. In summary, this walking control algorithm generates a push-off force with precision and enables it to reject disturbance rapidly.

scholarly journals A neural network-based algorithm for high-throughput characterisation of viscoelastic properties of flowing microcapsules

Soft Matter ◽  
2021 ◽  
Author(s):  
Tao Lin ◽  
Zhen Wang ◽  
Wen Wang ◽  
Yi Sui
Keyword(s):  
Neural Network ◽  
High Throughput ◽  
Viscoelastic Properties ◽  
Dynamic Deformation ◽  
Membrane Elasticity ◽  
Hybrid Neural Network ◽  
High Throughput Method

We have developed a high-throughput method, by combining a hybrid neural network with a mechanistic capsule model, to predict membrane elasticity and viscosity of microcapsules from their dynamic deformation in a branched microchannel.

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