Identification of the end-effector positioning errors of a high accuracy large medical robot using neural networks

2002 ◽  
Author(s):  
L. Qian ◽  
C. Mavroidis
Keyword(s):  
Neural Networks ◽  
High Accuracy ◽  
Medical Robot ◽  
End Effector ◽  
Positioning Errors

Identification and Compensation of Geometric and Elastic Errors in Large Manipulators: Application to a High Accuracy Medical Robot

1998 ◽  
Author(s):  
Marco A. Meggiolaro ◽  
Constantinos Mavroidis ◽  
Steven Dubowsky
Keyword(s):  
High Accuracy ◽  
Measured Data ◽  
Experimental Results ◽  
Geometric Errors ◽  
Medical Robot ◽  
Error Sources ◽  
End Effector ◽  
Positioning Errors ◽  
Structural Deformations ◽  
Manufacturing Tolerances

Abstract A method is presented to identify the source of end-effector positioning errors in large manipulators using experimentally measured data. Both errors due to manufacturing tolerances and other geometric errors and elastic structural deformations are identified. These error sources are used to predict, and compensate for, the end-point errors as a function of configuration and measured forces. The method is applied to a new large high accuracy medical robot. Experimental results show that the method is able to effectively correct for the errors in the system.

scholarly journals Error identification and compensation in large manipulators with application in cancer proton therapy

2004 ◽  
Vol 15 (1) ◽  
pp. 71-77 ◽  
Author(s):  
M.A. Meggiolaro ◽  
S. Dubowsky ◽  
C. Mavroidis
Keyword(s):  
Proton Therapy ◽  
High Accuracy ◽  
Measured Data ◽  
Absolute Accuracy ◽  
Medical Robot ◽  
Error Sources ◽  
End Effector ◽  
Positioning Errors ◽  
System Errors ◽  
Robotic Tasks

Important robotic tasks could be effectively performed by powerful and accurate manipulators. However, high accuracy is generally difficult to obtain in large manipulators capable of producing high forces due to system elastic and geometric distortions. A method is presented to identify the sources of end-effector positioning errors in large manipulators using experimentally measured data. The method does not require explicit structural modeling of the system. Both geometric and elastic deformation positioning errors are identified. These error sources are used to predict, and compensate for, end-point errors as a function of configuration and measured forces, improving the system absolute accuracy. The method is applied to a large high-accuracy medical robot. Experimental results show that the method is able to effectively correct for the system errors.

Estimating Pigment Concentrations from Spectral Images Using an Encoder‐Decoder Neural Network

2020 ◽  
Vol 64 (3) ◽  
pp. 30502-1-30502-15
Author(s):  
Kensuke Fukumoto ◽  
Norimichi Tsumura ◽  
Roy Berns
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Absorption Coefficient ◽  
Spectral Data ◽  
High Accuracy ◽  
Pigment Concentration ◽  
Scattering Coefficient ◽  
A Value ◽  
Input And Output ◽  
Pigment Concentrations

Abstract A method is proposed to estimate the concentration of pigments mixed in a painting, using the encoder‐decoder model of neural networks. The model is trained to output a value that is the same as its input, and its middle output extracts a certain feature as compressed information about the input. In this instance, the input and output are spectral data of a painting. The model is trained with pigment concentration as the middle output. A dataset containing the scattering coefficient and absorption coefficient of each of 19 pigments was used. The Kubelka‐Munk theory was applied to the coefficients to obtain many patterns of synthetic spectral data, which were used for training. The proposed method was tested using spectral images of 33 paintings, which showed that the method estimates, with high accuracy, the concentrations that have a similar spectrum of the target pigments.

Squeak and rattle noise classification using radial basis function neural networks

2020 ◽  
Vol 68 (4) ◽  
pp. 283-293
Author(s):  
Oleksandr Pogorilyi ◽  
Mohammad Fard ◽  
John Davy ◽  
Mechanical and Automotive Engineering, School ◽  
Mechanical and Automotive Engineering, School ◽  
...  
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
High Accuracy ◽  
Training Method ◽  
Vehicle Interior ◽  
Trained Classifier ◽  
Different Types ◽  
Noise Classification ◽  
Automatic Tool ◽  
Multi Class Classification

In this article, an artificial neural network is proposed to classify short audio sequences of squeak and rattle (S&R) noises. The aim of the classification is to see how accurately the trained classifier can recognize different types of S&R sounds. Having a high accuracy model that can recognize audible S&R noises could help to build an automatic tool able to identify unpleasant vehicle interior sounds in a matter of seconds from a short audio recording of the sounds. In this article, the training method of the classifier is proposed, and the results show that the trained model can identify various classes of S&R noises: simple (binary clas- sification) and complex ones (multi class classification).

scholarly journals Financial Information Asymmetry: Using Deep Learning Algorithms to Predict Financial Distress

Symmetry ◽  
2021 ◽  
Vol 13 (3) ◽  
pp. 443
Author(s):  
Chyan-long Jan
Keyword(s):  
Neural Networks ◽  
Deep Learning ◽  
Information Asymmetry ◽  
Error Rate ◽  
Financial Distress ◽  
Prediction Models ◽  
High Accuracy ◽  
Financial Information ◽  
Financial Distress Prediction ◽  
Distress Prediction

Because of the financial information asymmetry, the stakeholders usually do not know a company’s real financial condition until financial distress occurs. Financial distress not only influences a company’s operational sustainability and damages the rights and interests of its stakeholders, it may also harm the national economy and society; hence, it is very important to build high-accuracy financial distress prediction models. The purpose of this study is to build high-accuracy and effective financial distress prediction models by two representative deep learning algorithms: Deep neural networks (DNN) and convolutional neural networks (CNN). In addition, important variables are selected by the chi-squared automatic interaction detector (CHAID). In this study, the data of Taiwan’s listed and OTC sample companies are taken from the Taiwan Economic Journal (TEJ) database during the period from 2000 to 2019, including 86 companies in financial distress and 258 not in financial distress, for a total of 344 companies. According to the empirical results, with the important variables selected by CHAID and modeling by CNN, the CHAID-CNN model has the highest financial distress prediction accuracy rate of 94.23%, and the lowest type I error rate and type II error rate, which are 0.96% and 4.81%, respectively.

scholarly journals High accuracy data-driven heliostat calibration and state prediction with pretrained deep neural networks

Solar Energy ◽  
2021 ◽  
Vol 218 ◽  
pp. 48-56
Author(s):  
Max Pargmann ◽  
Daniel Maldonado Quinto ◽  
Peter Schwarzbözl ◽  
Robert Pitz-Paal
Keyword(s):  
Neural Networks ◽  
Deep Neural Networks ◽  
High Accuracy ◽  
Data Driven ◽  
State Prediction ◽  
Accuracy Data

Accelerating Climate Model Computation by Neural Networks: A Comparative Study

2021 ◽  
Author(s):  
Maha Mdini ◽  
Takemasa Miyoshi ◽  
Shigenori Otsuka
Keyword(s):  
Neural Networks ◽  
Computational Complexity ◽  
Statistical Model ◽  
Physical Model ◽  
Climate Model ◽  
Numerical Models ◽  
Computation Time ◽  
High Accuracy ◽  
Physical Models ◽  
Computer Resources

<p>In the era of modern science, scientists have developed numerical models to predict and understand the weather and ocean phenomena based on fluid dynamics. While these models have shown high accuracy at kilometer scales, they are operated with massive computer resources because of their computational complexity.  In recent years, new approaches to solve these models based on machine learning have been put forward. The results suggested that it be possible to reduce the computational complexity by Neural Networks (NNs) instead of classical numerical simulations. In this project, we aim to shed light upon different ways to accelerating physical models using NNs. We test two approaches: Data-Driven Statistical Model (DDSM) and Hybrid Physical-Statistical Model (HPSM) and compare their performance to the classical Process-Driven Physical Model (PDPM). DDSM emulates the physical model by a NN. The HPSM, also known as super-resolution, uses a low-resolution version of the physical model and maps its outputs to the original high-resolution domain via a NN. To evaluate these two methods, we measured their accuracy and their computation time. Our results of idealized experiments with a quasi-geostrophic model [SO3] show that HPSM reduces the computation time by a factor of 3 and it is capable to predict the output of the physical model at high accuracy up to 9.25 days. The DDSM, however, reduces the computation time by a factor of 4 and can predict the physical model output with an acceptable accuracy only within 2 days. These first results are promising and imply the possibility of bringing complex physical models into real time systems with lower-cost computer resources in the future.</p>

scholarly journals High accuracy detection for T-cells and B-cells using deep convolutional neural networks

2018 ◽  
Vol 5 (1) ◽  
Author(s):  
Bilal Turan ◽  
Taisuke Masuda ◽  
Anas Mohd Noor ◽  
Koji Horio ◽  
Toshiki I. Saito ◽  
...  
Keyword(s):  
Neural Networks ◽  
T Cells ◽  
B Cells ◽  
Convolutional Neural Networks ◽  
High Accuracy ◽  
Deep Convolutional Neural Networks

scholarly journals A design methodology for approximate multipliers in convolutional neural networks: A case of MNIST

2021 ◽  
Vol 10 (1) ◽  
pp. 1
Author(s):  
Kenta Shirane ◽  
Takahiro Yamamoto ◽  
Hiroyuki Tomiyama
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Convolutional Neural Network ◽  
Design Methodology ◽  
Critical Path ◽  
High Accuracy ◽  
Path Delay ◽  
Trade Off ◽  
Critical Path Delay

In this paper, we present a case study on approximate multipliers for MNIST Convolutional Neural Network (CNN). We apply approximate multipliers with different bit-width to the convolution layer in MNIST CNN, evaluate the accuracy of MNIST classification, and analyze the trade-off between approximate multiplier’s area, critical path delay and the accuracy. Based on the results of the evaluation and analysis, we propose a design methodology for approximate multipliers. The approximate multipliers consist of some partial products, which are carefully selected according to the CNN input. With this methodology, we further reduce the area and the delay of the multipliers with keeping high accuracy of the MNIST classification.

Sign in / Sign up

Export Citation Format

Share Document