scholarly journals A learning-based tip contact force estimation method for tendon-driven continuum manipulator

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Fan Feng ◽  
Wuzhou Hong ◽  
Le Xie
Keyword(s):  
Neural Network ◽  
Contact Force ◽  
Recurrent Neural Network ◽  
Estimation Method ◽  
Training Data ◽  
Force Sensing ◽  
Force Estimation ◽  
Advantages And Disadvantages ◽  
Continuum Manipulator ◽  
Three Degree Of Freedom

AbstractAlthough tendon-driven continuum manipulators have been extensively researched, how to realize tip contact force sensing in a more general and efficient way without increasing the diameter is still a challenge. Rather than use a complex modeling approach, this paper proposes a general tip contact force-sensing method based on a recurrent neural network that takes the tendons’ position and tension as the input of a recurrent neural network and the tip contact force of the continuum manipulator as the output and fits this static model by means of machine learning so that it may be used as a real-time contact force estimator. We also designed and built a corresponding three-degree-of-freedom contact force data acquisition platform based on the structure of a continuum manipulator designed in our previous studies. After obtaining training data, we built and compared the performances of a multi-layer perceptron-based contact force estimator as a baseline and three typical recurrent neural network-based contact force estimators through TensorFlow framework to verify the feasibility of this method. We also proposed a manually decoupled sub-estimators algorithm and evaluated the advantages and disadvantages of those two methods.

scholarly journals Improved Empirical Identification of the Inverse Model of a Squeeze-Film Damper Bearing Based on a Recurrent Neural Network

2018 ◽  
Author(s):  
Ghaith Ghanim Al-Ghazal ◽  
Philip Bonello ◽  
Sergio G. Torres Cedillo
Keyword(s):  
Neural Network ◽  
Recurrent Neural Network ◽  
Structural Model ◽  
Solution Process ◽  
Time History ◽  
Inverse Model ◽  
Training Data ◽  
Squeeze Film ◽  
Squeeze Film Damper ◽  
History Of

Most recently proposed techniques for inverse rotordynamic problems seek to identify the unbalance on a rotor using a known structural model and measurements from externally mounted sensors only. Such non-intrusive techniques are important for balancing rotors that cannot be accessed under operational conditions because of temperature or space restrictions. The presence of nonlinear bearings, like squeeze-film damper (SFD) bearings used in aero-engines, complicates the solution process of the inverse rotordynamic problem. In certain practical aero-engine configurations, the solution process requires a substitute for internal instrumentation to quantify the SFD journal vibration. This can be provided by an inverse model of the SFD bearing which outputs the time history of the relative vibration of the SFD journal relative to its housing, for a given input time history of the SFD force. This paper focuses on the inverse model of the SFD and presents an improved methodology for its identification via a Recurrent Neural Network (RNN) trained using experimental data from a purposely designed rig. The novel application of chirp excitation via two orthogonal shakers considerably improves both the quality of the training data and the efficiency of its generation, relative to an earlier preliminary work. Validation test results show that the RNNs can predict the journal displacement time history with reasonable accuracy. It is therefore expected that such an inverse SFD model would serve as a reliable component in the solution of the wider inverse problem of a rotordynamic system.

Deep Learning Based Adaptive Recurrent Neural Network for Detection of Myocardial Infarction

2021 ◽  
Vol 11 (12) ◽  
pp. 3044-3053
Author(s):  
Rakesh Kumar Mahendran ◽  
V. Prabhu ◽  
V. Parthasarathy ◽  
A. Mary Judith
Keyword(s):  
Neural Network ◽  
Myocardial Infarction ◽  
Deep Learning ◽  
Recurrent Neural Network ◽  
Classification Accuracy ◽  
Learning Algorithm ◽  
Training Data ◽  
Discrete Wavelet ◽  
Ecg Signal ◽  
Detection Techniques

Myocardial infarction (MI) may precipitate severe health damage and lead to irreversible death of the heart muscle, the result of prolonged lack of oxygen if it is not treated in a timely manner. Lack of accurate and early detection techniques for this heart disease has reduced the efficiency of MI diagnosis. In this paper, the design, and implementation of an efficient deep learning algorithm called Adaptive Recurrent neural network (ARNN) is proposed for the MI detection. The main objective of the proposed work is the accurate identification of MI disease using ECG signals. ECG signal denoising has been performed using the Multi-Notch filter, which removes the specified noise frequency range. Discrete wavelet transform (DWT) is utilized for performing the feature extraction that decomposes the ECG signal into varied scales with waveletfiltering bank. After the extraction of specific QRS features, classification of the defected and normal ECG arrhythmic beat has been performed using the deep learning-based ARNN classifier. The MIT-BIH database has been used for testing and training data. The performance of the proposed algorithm is evaluated based on classification accuracy. Results that are attained include the classification accuracy of about 99.21%, 99% of sensitivity and 99.4% of specificity with PPV and NPV of about 99.4 and 99.01 values indicate the enhanced performance of our proposed work compared with the conventional LSTM-CAE and LSTM-CNN techniques.

scholarly journals Extended Kalman Filter In Recurrent Neural Network: USDIDR Forecasting Case Study

2019 ◽  
Vol 13 (3) ◽  
pp. 293
Author(s):  
Muhammad Asaduddin Hazazi ◽  
Agus Sihabuddin
Keyword(s):  
Neural Network ◽  
Kalman Filter ◽  
Extended Kalman Filter ◽  
Recurrent Neural Network ◽  
Learning Algorithm ◽  
Regularization Parameter ◽  
Training Data ◽  
Stochastic Gradient Descent ◽  
Computational Time ◽  
Currency Exchange

Artificial Neural Networks (ANN) especially Recurrent Neural Network (RNN) have been widely used to predict currency exchange rates. The learning algorithm that is commonly used in ANN is Stochastic Gradient Descent (SGD). One of the advantages of SGD is that the computational time needed is relatively short. But SGD also has weaknesses, including SGD requiring several hyperparameters such as the regularization parameter. Besides that SGD relatively requires a lot of epoch to reach convergence. Extended Kalman Filter (EKF) as a learning algorithm on RNN is used to replace SGD with the hope of a better level of accuracy and convergence rate. This study uses IDR / USD exchange rate data from 31 August 2015 to 29 August 2018 with 70% data as training data and 30% data as test data. This research shows that RNN-EKF produces better convergent speeds and better accuracy compared to RNN-SGD.

scholarly journals Implementasi Recurrent Neural Network dalam Memprediksi Kepadatan Restoran Berbasis LSTM

2021 ◽  
Vol 5 (2) ◽  
pp. 524
Author(s):  
Annisa Farhah ◽  
Anggunmeka Luhur Prasasti ◽  
Marisa W Paryasto
Keyword(s):  
Neural Network ◽  
Recurrent Neural Network ◽  
Short Term Memory ◽  
Training Data ◽  
Accurate Information ◽  
Rate Parameter ◽  
Short Term ◽  
Term Memory ◽  
Long Short Term Memory ◽  
Modern Era

In this modern era, restaurants are becoming very popular, especially in big cities. However, this can lead to density or queues of visitors at a restaurant, which should be avoided during the current Covid-19 pandemic. So that accurate information that can predict the density of restaurant will be very useful. In predicting the density of restaurants, data processing on the number of visitors obtained from one of the restaurants is carried out using artificial intelligence in the form of LSTM (Long Short Term Memory) RNN (Recurrent Neural Network). The results of the research on Recurrent Neural Network based on LSTM (Long Short Term Memory) at the best learning rate parameter of 0.001 and a maximum epoch of 2000 resulted in an MSE value of 0.00000278 on the training data and 0.0069 on the test data

scholarly journals SAFE: A Neural Survival Analysis Model for Fraud Early Detection

2019 ◽  
Vol 33 ◽  
pp. 1278-1285
Author(s):  
Panpan Zheng ◽  
Shuhan Yuan ◽  
Xintao Wu
Keyword(s):  
Neural Network ◽  
Survival Analysis ◽  
Early Detection ◽  
Recurrent Neural Network ◽  
Training Data ◽  
Analysis Model ◽  
Detection Model ◽  
Neural Survival ◽  
Real World Datasets ◽  
Fraudulent Activity

Many online platforms have deployed anti-fraud systems to detect and prevent fraudulent activities. However, there is usually a gap between the time that a user commits a fraudulent action and the time that the user is suspended by the platform. How to detect fraudsters in time is a challenging problem. Most of the existing approaches adopt classifiers to predict fraudsters given their activity sequences along time. The main drawback of classification models is that the prediction results between consecutive timestamps are often inconsistent. In this paper, we propose a survival analysis based fraud early detection model, SAFE, which maps dynamic user activities to survival probabilities that are guaranteed to be monotonically decreasing along time. SAFE adopts recurrent neural network (RNN) to handle user activity sequences and directly outputs hazard values at each timestamp, and then, survival probability derived from hazard values is deployed to achieve consistent predictions. Because we only observe the user suspended time instead of the fraudulent activity time in the training data, we revise the loss function of the regular survival model to achieve fraud early detection. Experimental results on two real world datasets demonstrate that SAFE outperforms both the survival analysis model and recurrent neural network model alone as well as state-of-theart fraud early detection approaches.

Framed Recurrent Neural Network with Mutated Dragonfly Search Optimization (FRNN-MDSO) for hyperspectral image based face recognition in real time door locking applications

2021 ◽  
pp. 1-11
Author(s):  
Ashok Kumar Rai ◽  
Radha Senthilkumar ◽  
A. Kanan
Keyword(s):  
Neural Network ◽  
Face Recognition ◽  
Recurrent Neural Network ◽  
Hyperspectral Image ◽  
Selection Process ◽  
Facial Feature ◽  
Recognition System ◽  
Training Data ◽  
Search Optimization ◽  
Feature Extraction And Selection

Face recognition is one of the best applications of computer recognition and recent smart house applications. Therefore, it draws considerable attention from researchers. Several face recognition algorithms have been proposed in the last decade, but these methods did not give the efficient outcome. Therefore, this work introduces a novel constructive training algorithm for smart face recognition in door locking applications. The proposed Framed Recurrent Neural Network with Mutated Dragonfly Search Optimization (FRNN-MDSO) Strategy is applied to face recognition application. The steady preparing system has been utilized where the training designs are adapted steadily and are divided into completely different modules. The facial feature process works on global and local features. After the feature extraction and selection process, employ the improved classifier followed by the Framed Recurrent Neural Network classification technique. Finally, the face image based on the feature library can be identified. The proposed Framed Recurrent Neural Network with Mutated Dragonfly Search Optimization starts with a single training pattern using Bidirectional Encoder Representations from Transformers (BERT) model. During network training, the Training Data (TD) decrease the Mean Square Error (MSE) while the matching process increases the algorithms generated which are trapped at the local minimum. The training data have been trained to increase the number of input forms (one after the other) until all the forms are selected and trained. An FRNN-MDSO based face recognition system is built, and face recognition is tested using hyperspectral Database parameters. The simulation results indicate that the proposed method acquires the associate grade optimum design of FRNN with MDSO methodology using the present constructive algorithm and prove the proposed FRNN-MDSO method’s effectiveness compared to the conventional architecture methods.

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