Neural network controllers for a flexible-link manipulator: experimental results

2002 ◽  
Author(s):  
H.A. Talebi ◽  
R.V. Patel ◽  
K. Khorasani
Keyword(s):  
Neural Network ◽  
Experimental Results ◽  
Flexible Link ◽  
Neural Network Controllers

Tracking control of a flexible-link manipulator using neural networks: experimental results

Robotica ◽  
2002 ◽  
Vol 20 (4) ◽  
pp. 417-427 ◽  
Author(s):  
H.A. Talebi ◽  
K. Khorasani ◽  
R. V. Patel
Keyword(s):  
Neural Network ◽  
Tracking Control ◽  
Dynamic Range ◽  
Experimental Results ◽  
Flexible Manipulator ◽  
System Response ◽  
Position Tracking ◽  
Pd Controller ◽  
Flexible Link ◽  
Tracking Controller

In this paper, the problem of tip position tracking control of a flexible-link manipulator is considered. Two neural network schemes are presented. In the first scheme, the controller is composed of a stabilizing joint PD controller and a neural network tracking controller. The objective is to simultaneously achieve hub-position tracking and control of the elastic deflections at the tip. In the second scheme, tracking control of a point along the arm is considered to avoid difficulties associated with the output feedback control of a non-minimum phase flexible manipulator. A separate neural network is employed for determining an appropriate output to be used for feedback. The controller is also composed of a neural network tracking controller and a stabilizing joint PD controller. Experimental results on a single-link flexible manipulator show that the proposed networks result in significant improvements in the system response with an increase in controller dynamic range despite changes in the desired trajectory.

scholarly journals Artificial Neural Network Simulation of Energetic Performance for Sorption Thermal Energy Storage Reactors

Energies ◽  
2021 ◽  
Vol 14 (11) ◽  
pp. 3294
Author(s):  
Carla Delmarre ◽  
Marie-Anne Resmond ◽  
Frédéric Kuznik ◽  
Christian Obrecht ◽  
Bao Chen ◽  
...  
Keyword(s):  
Neural Network ◽  
Artificial Neural Network ◽  
Energy Storage ◽  
Thermal Energy ◽  
Temperature Difference ◽  
Thermal Energy Storage ◽  
Heat Storage ◽  
Experimental Results ◽  
Physical Models ◽  
Artificial Neural

Sorption thermal heat storage is a promising solution to improve the development of renewable energies and to promote a rational use of energy both for industry and households. These systems store thermal energy through physico-chemical sorption/desorption reactions that are also termed hydration/dehydration. Their introduction to the market requires to assess their energy performances, usually analysed by numerical simulation of the overall system. To address this, physical models are commonly developed and used. However, simulation based on such models are time-consuming which does not allow their use for yearly simulations. Artificial neural network (ANN)-based models, which are known for their computational efficiency, may overcome this issue. Therefore, the main objective of this study is to investigate the use of an ANN model to simulate a sorption heat storage system, instead of using a physical model. The neural network is trained using experimental results in order to evaluate this approach on actual systems. By using a recurrent neural network (RNN) and the Deep Learning Toolbox in MATLAB, a good accuracy is reached, and the predicted results are close to the experimental results. The root mean squared error for the prediction of the temperature difference during the thermal energy storage process is less than 3K for both hydration and dehydration, the maximal temperature difference being, respectively, about 90K and 40K.

scholarly journals Research of Personalized Recommendation Technology Based on Knowledge Graphs

2021 ◽  
Vol 11 (15) ◽  
pp. 7104
Author(s):  
Xu Yang ◽  
Ziyi Huan ◽  
Yisong Zhai ◽  
Ting Lin
Keyword(s):  
Neural Network ◽  
Hot Spot ◽  
Experimental Results ◽  
Graph Representation ◽  
Personalized Recommendation ◽  
Knowledge Graph ◽  
Learning Technology ◽  
Data Set ◽  
Model Based ◽  
Knowledge Graphs

Nowadays, personalized recommendation based on knowledge graphs has become a hot spot for researchers due to its good recommendation effect. In this paper, we researched personalized recommendation based on knowledge graphs. First of all, we study the knowledge graphs’ construction method and complete the construction of the movie knowledge graphs. Furthermore, we use Neo4j graph database to store the movie data and vividly display it. Then, the classical translation model TransE algorithm in knowledge graph representation learning technology is studied in this paper, and we improved the algorithm through a cross-training method by using the information of the neighboring feature structures of the entities in the knowledge graph. Furthermore, the negative sampling process of TransE algorithm is improved. The experimental results show that the improved TransE model can more accurately vectorize entities and relations. Finally, this paper constructs a recommendation model by combining knowledge graphs with ranking learning and neural network. We propose the Bayesian personalized recommendation model based on knowledge graphs (KG-BPR) and the neural network recommendation model based on knowledge graphs(KG-NN). The semantic information of entities and relations in knowledge graphs is embedded into vector space by using improved TransE method, and we compare the results. The item entity vectors containing external knowledge information are integrated into the BPR model and neural network, respectively, which make up for the lack of knowledge information of the item itself. Finally, the experimental analysis is carried out on MovieLens-1M data set. The experimental results show that the two recommendation models proposed in this paper can effectively improve the accuracy, recall, F1 value and MAP value of recommendation.

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