Solution to the Forward and Inverse Kinematic Equations Using Multilayer Back-Propagation Neural Network

1994 ◽  
Author(s):  
Phani K. Nagarjuna ◽  
Athamaram H. Soni
Keyword(s):  
Neural Network ◽  
Degrees Of Freedom ◽  
Robot Manipulator ◽  
Back Propagation ◽  
Back Propagation Neural Network ◽  
Inverse Kinematic ◽  
Robot Arm ◽  
Kinematic Equation ◽  
Neural Network Approach ◽  
The Neural Network

Abstract The problem of inverse kinematics in Robotics, is a nonlinear mapping from a given cartesian coordinates to the desirable joint coordinates of the robot arm. It is found that an appropriately designed neural network can be trained to learn the non-linearity of the Inverse Kinematic Equation (IKE). We present an approach for solving the Forward Kinematic Equation (FKE) and the IKE by means of a Multi Layer Back-Propagation Neural Network (Rumelhart et al., 1986). The neural network approach is applied to a Two Degrees-of-Freedom (DOF) robot manipulator and the results are compared with those obtained using the analytical solution. The results obtained from the simulation of the neural network indicate a fairly accurate learning of the FKE and IKE by the Multi Layer Back-Propagation Neural Network.

scholarly journals Solving the Inverse Kinematic Equations of Elastic Robot Arm Utilizing Neural Network

2017 ◽  
Vol 13 (1) ◽  
pp. 13-25 ◽  
Author(s):  
Hussein M. Al-Khafaji ◽  
Muhsin J. Jweeg
Keyword(s):  
Neural Network ◽  
Inverse Kinematic ◽  
Robot Arm ◽  
Joint Angles ◽  
Kinematic Equation ◽  
End Effector ◽  
Joint Configuration ◽  
Network Training ◽  
The Neural Network ◽  
Forward Kinematic

The inverse kinematic equation for a robot is very important to the control robot’s motion and position. The solving of this equation is complex for the rigid robot due to the dependency of this equation on the joint configuration and structure of robot link. In light robot arms, where the flexibility exists, the solving of this problem is more complicated than the rigid link robot because the deformation variables (elongation and bending) are present in the forward kinematic equation. The finding of an inverse kinematic equation needs to obtain the relation between the joint angles and both of the end-effector position and deformations variables. In this work, a neural network has been proposed to solve the problem of inverse kinematic equation. To feed the neural network, experimental data were taken from an elastic robot arm for training the network, these data presented by joint angles, deformation variables and end-effector positions. The results of network training showed a good fit between the output results of the neural network and the targets data. In addition, this method for finding the inverse of kinematic equation proved its effectiveness and validation when applying the results of neural network practically in the robot’s operating software for controlling the real light robot’s position.

scholarly journals Safety Warning Model of Coal Face Based on FCM Fuzzy Clustering and GA-BP Neural Network

Symmetry ◽  
2021 ◽  
Vol 13 (6) ◽  
pp. 1082
Author(s):  
Fanqiang Meng
Keyword(s):  
Neural Network ◽  
Genetic Algorithm ◽  
Early Warning ◽  
Back Propagation ◽  
Back Propagation Neural Network ◽  
Coal Face ◽  
Early Warning Model ◽  
Working Face ◽  
The Neural Network ◽  
Warning Model

Risk and security are two symmetric descriptions of the uncertainty of the same system. If the risk early warning is carried out in time, the security capability of the system can be improved. A safety early warning model based on fuzzy c-means clustering (FCM) and back-propagation neural network was established, and a genetic algorithm was introduced to optimize the connection weight and other properties of the neural network, so as to construct the safety early warning system of coal mining face. The system was applied in a coal face in Shandong, China, with 46 groups of data as samples. Firstly, the original data were clustered by FCM, the input space was fuzzy divided, and the samples were clustered into three categories. Then, the clustered data was used as the input of the neural network for training and prediction. The back-propagation neural network and genetic algorithm optimization neural network were trained and verified many times. The results show that the early warning model can realize the prediction and early warning of the safety condition of the working face, and the performance of the neural network model optimized by genetic algorithm is better than the traditional back-propagation artificial neural network model, with higher prediction accuracy and convergence speed. The established early warning model and method can provide reference and basis for the prediction, early warning and risk management of coal mine production safety, so as to discover the hidden danger of working face accident as soon as possible, eliminate the hidden danger in time and reduce the accident probability to the maximum extent.

scholarly journals Stock Market Prediction Using Artificial Neural Networks

2012 ◽  
Vol 6-7 ◽  
pp. 1055-1060 ◽  
Author(s):  
Yang Bing ◽  
Jian Kun Hao ◽  
Si Chang Zhang
Keyword(s):  
Neural Network ◽  
Prediction Models ◽  
Learning Algorithm ◽  
Stock Exchange ◽  
Back Propagation ◽  
Composite Index ◽  
Network Models ◽  
Back Propagation Neural Network ◽  
Neural Network Models ◽  
The Neural Network

In this study we apply back propagation Neural Network models to predict the daily Shanghai Stock Exchange Composite Index. The learning algorithm and gradient search technique are constructed in the models. We evaluate the prediction models and conclude that the Shanghai Stock Exchange Composite Index is predictable in the short term. Empirical study shows that the Neural Network models is successfully applied to predict the daily highest, lowest, and closing value of the Shanghai Stock Exchange Composite Index, but it can not predict the return rate of the Shanghai Stock Exchange Composite Index in short terms.

scholarly journals Assess Reliability Parameters of an Electronic Voting Machine using a Neural Network Technique

2020 ◽  
Vol 9 (6) ◽  
pp. 269-275
Keyword(s):  
Neural Network ◽  
Storage System ◽  
Back Propagation ◽  
Back Propagation Neural Network ◽  
Descent Method ◽  
Electronic Voting ◽  
Gradient Descent Method ◽  
Neural Network Approach ◽  
Reliability Parameters ◽  
Voting Machine

The structure of Electronic Voting Machine (EVM) is an interconnected network of discrete components that record and count the votes of voters. The EVM system consists of four main subsystems which are Mother board of computer, Voting keys, Database storage system, power supply (AC and DC) along with various conditions of functioning as well as deficiency. The deficiency or failure of system is due to its components (hardware), software and human mismanagement. It is essential to reduce complexity of interconnected components and increase system reliability. Reliability analysis helps to identify technical situations that may affect the system and to predict the life of the system in future. The aim of this research paper is to analyze the reliability parameters of an EVM system using one of the approaches of computational intelligence, the neural network (NN). The probabilistic equations of system states and other reliability parameters are established for the proposed EVM model using neural network approach. It is useful for predicting various reliability parameters and improves the accuracy and consistency of parameters. To guarantee the reliability of the system, Back Propagation Neural Network (BPNN) architecture is used to learn a mechanism that can update the weights which produce optimal parameters values. Numerical examples are considered to authenticate the results of reliability, unreliability and profit function. To minimize the error and optimize the output in the form of reliability using gradient descent method, authors iterate repeatedly till the precision of 0.0001 error using MATLAB code. These parameters are of immense help in real time applications of Electronic Voting Machine during elections.

scholarly journals ON SOME BOUNDS OF THE MINIMUM EDGE DOMINATING ENERGY OF A GRAPH

2021 ◽  
Vol 12 (4) ◽  
pp. 1285-1296
Author(s):  
Dr. Gauri Ghule , Et. al.
Keyword(s):  
Neural Network ◽  
Network Architecture ◽  
Fuzzy Controller ◽  
Back Propagation ◽  
Back Propagation Neural Network ◽  
Superior Performance ◽  
Fuzzy Classifier ◽  
Manual Intervention ◽  
The Neural Network ◽  
Hidden Neurons

Number of hidden neurons is necessary constant for tuning the neural network to achieve superior performance. These parameters are set manually through experimentation. The performance of the network is evaluated repeatedly to choose the best input parameters.Random selection of hidden neurons may cause underfitting or overfitting of the network. We propose a novel fuzzy controller for finding the optimal value of hidden neurons automatically. The hybrid classifier helps to design competent neural network architecture, eliminating manual intervention for setting the input parameters. The effectiveness of tuning the number of hidden neurons automatically on the convergence of a back-propagation neural network, is verified on speech data. The experimental outcomes demonstrate that the proposed Neuro-Fuzzy classifier can be viably utilized for speech recognition with maximum classification accuracy.

scholarly journals Identification of Crack Length and Angle at the Center Weld Seam of Offshore Platforms Using a Neural Network Approach

2020 ◽  
Vol 8 (1) ◽  
pp. 40 ◽  
Author(s):  
Qingxi Yang ◽  
Gongbo Li ◽  
Weilei Mu ◽  
Guijie Liu ◽  
Hailiang Sun
Keyword(s):  
Neural Network ◽  
Crack Length ◽  
Structural Damage ◽  
Evaluation Method ◽  
Weld Seam ◽  
Back Propagation ◽  
Back Propagation Neural Network ◽  
Offshore Platforms ◽  
Neural Network Approach ◽  
External Interference

The reconstruction algorithm for the probabilistic inspection of damage (RAPID) is aimed at localizing structural damage via the signal difference coefficient (SDC) between the signals of the present and reference conditions. However, tomography is only capable of presenting the approximate location and not the length and angle of defects. Therefore, a new quantitative evaluation method called the multiple back propagation neural network (Multi-BPNN) is proposed in this work. The Multi-BPNN employs SDC values as input variables and outputs the predicted length and angle, with each output node depending on an individual hidden layer. The cracks of different lengths and angles at the center weld seam of offshore platforms are simulated numerically. The SDC values of the simulations and experiments were normalized for each sample to eliminate external interference in the experiments. Then, the normalized simulation data were employed to train the proposed neural network. The results of the simulations and experimental verification indicated that the Multi-BPNN can effectively predict crack length and angle, and has better stability and generalization capacity than the multi-input to multi-output back propagation neural network.

THE STAG OIL FIELD FORMATION EVALUATION: A NEURAL NETWORK APPROACH

1999 ◽  
Vol 39 (1) ◽  
pp. 451 ◽  
Author(s):  
H. Crocker ◽  
C.C. Fung ◽  
K.W. Wong
Keyword(s):  
Neural Network ◽  
Back Propagation ◽  
Back Propagation Neural Network ◽  
Oil Field ◽  
Training Data ◽  
Ann Model ◽  
Neural Network Approach ◽  
Data Set ◽  
Formation Evaluation ◽  
Core Data

The producing M. australis Sandstone of the Stag Oil Field is a bioturbated glauconitic sandstone that is difficult to evaluate using conventional methods. Well log and core data are available for the Stag Field and for the nearby Centaur–1 well. Eight wells have log data; six also have core data.In the past few years artificial intelligence has been applied to formation evaluation. In particular, artificial neural networks (ANN) used to match log and core data have been studied. The ANN approach has been used to analyse the producing Stag Field sands. In this paper, new ways of applying the ANN are reported. Results from simple ANN approach are unsatisfactory. An integrated ANN approach comprising the unsupervised Self-Organising Map (SOM) and the Supervised Back Propagation Neural Network (BPNN) appears to give a more reasonable analysis.In this case study the mineralogical and petrophysical characteristics of a cored well are predicted from the 'training' data set of the other cored wells in the field. The prediction from the ANN model is then used for comparison with the known core data. In this manner, the accuracy of the prediction is determined and a prediction qualifier computed.This new approach to formation evaluation should provide a match between log and core data that may be used to predict the characteristics of a similar uncored interval. Although the results for the Stag Field are satisfactory, further study applying the method to other fields is required.

Neural Network-based Evaluation of the Effect of the Motivation of Hospital Employees on Patients’ Satisfaction

2010 ◽  
Vol 5 (4) ◽  
pp. 1-19 ◽  
Author(s):  
Payam Hanafizadeh ◽  
Neda Rastkhiz Paydar ◽  
Neda Aliabadi
Keyword(s):  
Neural Network ◽  
Organizational Performance ◽  
Back Propagation ◽  
Employee Motivation ◽  
Back Propagation Neural Network ◽  
Distributed Data ◽  
Hospital Employees ◽  
The Neural Network ◽  
Using Data ◽  
Network Studies

This article evaluates the effect of the motivation of employees on organizational performance using a neural network. Studies show that employee motivation influences organizational performance, particularly in organizations providing services. Methods based on statistical computations like regression and correlation analysis were used to measure the mutual effects of these factors. As these statistical methods necessitate the fulfillment of certain requirements like normally distributed data and because they are not able to express non-linear relations and hidden complicated patterns, a back propagation neural network has been used. The neural network was trained by using data from 300 questionnaires answered by hospital employees and 1933 patients hospitalized in a private hospital in Tehran over three successive months.

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