Haptic Control in Physical Human-Robot Interaction Based on Support Vector Machine Classification of Muscle Activity: A Preliminary Study

2014 ◽  
Author(s):  
Antonio Moualeu ◽  
Jun Ueda
Keyword(s):  
Support Vector Machine ◽  
Muscle Activity ◽  
Human Robot Interaction ◽  
Haptic Device ◽  
Physical Contact ◽  
Human Operator ◽  
Support Vector ◽  
Svm Classifier ◽  
Robot Interaction ◽  
Speed Accuracy

This study aims to develop methods to increase information available to a haptic device about a human operator during physical human-robot interaction. Physical contact between a robot and human operator establishes a coupled system with stability and performance characteristics partly dependent on interaction port impedance behavior. Operator impedance is estimated in this research based on changes in arm muscle activity, recorded through electromyographic (EMG) signals. A switching impedance controller employing a Support Vector Machine (SVM) classifier for operator state estimation is used in an interaction system with a one degree-of-freedom haptic device. Results from performance (e.g. speed, accuracy) trials investigating a stochastic approach to position control are presented in comparison to other standard approaches. This research serves a basis for the exploration of advanced control tools and ultimately developing a novel human-robot interface. Applications for such research include interaction with robot co-workers (e.g. power-assisting devices) in industrial settings.

scholarly journals Analog Circuit Fault Diagnosis Based on Support Vector Machine Classifier and Fuzzy Feature Selection

Electronics ◽  
2021 ◽  
Vol 10 (12) ◽  
pp. 1496
Author(s):  
Hao Liang ◽  
Yiman Zhu ◽  
Dongyang Zhang ◽  
Le Chang ◽  
Yuming Lu ◽  
...  
Keyword(s):  
Support Vector Machine ◽  
Fault Diagnosis ◽  
Mutual Information ◽  
Analog Circuit ◽  
Fault Classification ◽  
Support Vector ◽  
Svm Classifier ◽  
Fault Parameters ◽  
Diagnosis Method ◽  
Circuit Fault Diagnosis

In analog circuit, the component parameters have tolerances and the fault component parameters present a wide distribution, which brings obstacle to classification diagnosis. To tackle this problem, this article proposes a soft fault diagnosis method combining the improved barnacles mating optimizer(BMO) algorithm with the support vector machine (SVM) classifier, which can achieve the minimum redundancy and maximum relevance for feature dimension reduction with fuzzy mutual information. To be concrete, first, the improved barnacles mating optimizer algorithm is used to optimize the parameters for learning and classification. We adopt six test functions that are on three data sets from the University of California, Irvine (UCI) machine learning repository to test the performance of SVM classifier with five different optimization algorithms. The results show that the SVM classifier combined with the improved barnacles mating optimizer algorithm is characterized with high accuracy in classification. Second, fuzzy mutual information, enhanced minimum redundancy, and maximum relevance principle are applied to reduce the dimension of the feature vector. Finally, a circuit experiment is carried out to verify that the proposed method can achieve fault classification effectively when the fault parameters are both fixed and distributed. The accuracy of the proposed fault diagnosis method is 92.9% when the fault parameters are distributed, which is 1.8% higher than other classifiers on average. When the fault parameters are fixed, the accuracy rate is 99.07%, which is 0.7% higher than other classifiers on average.

scholarly journals A Roller Bearing Fault Diagnosis Method Based on LCD Energy Entropy and ACROA-SVM

2014 ◽  
Vol 2014 ◽  
pp. 1-12 ◽  
Author(s):  
HungLinh Ao ◽  
Junsheng Cheng ◽  
Kenli Li ◽  
Tung Khac Truong
Keyword(s):  
Support Vector Machine ◽  
Fault Diagnosis ◽  
Roller Bearing ◽  
Local Characteristic ◽  
Support Vector ◽  
Svm Classifier ◽  
Outer Race ◽  
Bearing Fault ◽  
Bearing Fault Diagnosis ◽  
Energy Entropy

This study investigates a novel method for roller bearing fault diagnosis based on local characteristic-scale decomposition (LCD) energy entropy, together with a support vector machine designed using an Artificial Chemical Reaction Optimisation Algorithm, referred to as an ACROA-SVM. First, the original acceleration vibration signals are decomposed into intrinsic scale components (ISCs). Second, the concept of LCD energy entropy is introduced. Third, the energy features extracted from a number of ISCs that contain the most dominant fault information serve as input vectors for the support vector machine classifier. Finally, the ACROA-SVM classifier is proposed to recognize the faulty roller bearing pattern. The analysis of roller bearing signals with inner-race and outer-race faults shows that the diagnostic approach based on the ACROA-SVM and using LCD to extract the energy levels of the various frequency bands as features can identify roller bearing fault patterns accurately and effectively. The proposed method is superior to approaches based on Empirical Mode Decomposition method and requires less time.

scholarly journals Aero-Engine Fault Diagnosis Using Improved Local Discriminant Bases and Support Vector Machine

2014 ◽  
Vol 2014 ◽  
pp. 1-9 ◽  
Author(s):  
Jianwei Cui ◽  
Mengxiao Shan ◽  
Ruqiang Yan ◽  
Yahui Wu
Keyword(s):  
Support Vector Machine ◽  
Fault Diagnosis ◽  
Wavelet Packet ◽  
Energy Difference ◽  
Test System ◽  
Support Vector ◽  
Svm Classifier ◽  
Aero Engine ◽  
Aero Engines ◽  
Optimal Set

This paper presents an effective approach for aero-engine fault diagnosis with focus on rub-impact, through combination of improved local discriminant bases (LDB) with support vector machine (SVM). The improved LDB algorithm, using both the normalized energy difference and the relative entropy as quantification measures, is applied to choose the optimal set of orthogonal subspaces for wavelet packet transform- (WPT-) based signal decomposition. Then two optimal sets of orthogonal subspaces have been obtained and the energy features extracted from those subspaces appearing in both sets will be selected as input to a SVM classifier to diagnose aero-engine faults. Experiment studies conducted on an aero-engine rub-impact test system have verified the effectiveness of the proposed approach for classifying working conditions of aero-engines.

Shape-restricted support vector machine (SR-SVM): a SVM classifier taking supplementary shape information of input

2021 ◽  
Vol 40 (1) ◽  
pp. 1481-1494
Author(s):  
Geng Deng ◽  
Yaoguo Xie ◽  
Xindong Wang ◽  
Qiang Fu
Keyword(s):  
Support Vector Machine ◽  
Classification Performance ◽  
Research Literature ◽  
Support Vector ◽  
Svm Classifier ◽  
Classification Problems ◽  
Active Set ◽  
Shape Information ◽  
Convex Optimization Problem ◽  
Shape Restrictions

Many classification problems contain shape information from input features, such as monotonic, convex, and concave. In this research, we propose a new classifier, called Shape-Restricted Support Vector Machine (SR-SVM), which takes the component-wise shape information to enhance classification accuracy. There exists vast research literature on monotonic classification covering monotonic or ordinal shapes. Our proposed classifier extends to handle convex and concave types of features, and combinations of these types. While standard SVM uses linear separating hyperplanes, our novel SR-SVM essentially constructs non-parametric and nonlinear separating planes subject to component-wise shape restrictions. We formulate SR-SVM classifier as a convex optimization problem and solve it using an active-set algorithm. The approach applies basis function expansions on the input and effectively utilizes the standard SVM solver. We illustrate our methodology using simulation and real world examples, and show that SR-SVM improves the classification performance with additional shape information of input.

Feature Selection Method Based on Mutual Information and Support Vector Machine

2021 ◽  
pp. 2150021
Author(s):  
Gang Liu ◽  
Chunlei Yang ◽  
Sen Liu ◽  
Chunbao Xiao ◽  
Bin Song
Keyword(s):  
Support Vector Machine ◽  
Feature Selection ◽  
Mutual Information ◽  
Classification Accuracy ◽  
Feature Selection Method ◽  
Selection Method ◽  
Support Vector ◽  
Svm Classifier ◽  
Standard Data ◽  
Feature Dimension

A feature selection method based on mutual information and support vector machine (SVM) is proposed in order to eliminate redundant feature and improve classification accuracy. First, local correlation between features and overall correlation is calculated by mutual information. The correlation reflects the information inclusion relationship between features, so the features are evaluated and redundant features are eliminated with analyzing the correlation. Subsequently, the concept of mean impact value (MIV) is defined and the influence degree of input variables on output variables for SVM network based on MIV is calculated. The importance weights of the features described with MIV are sorted by descending order. Finally, the SVM classifier is used to implement feature selection according to the classification accuracy of feature combination which takes MIV order of feature as a reference. The simulation experiments are carried out with three standard data sets of UCI, and the results show that this method can not only effectively reduce the feature dimension and high classification accuracy, but also ensure good robustness.

scholarly journals Deep Learning Assisted Neonatal Cry Classification via Support Vector Machine Models

2021 ◽  
Vol 9 ◽  
Author(s):  
Ashwini K ◽  
P. M. Durai Raj Vincent ◽  
Kathiravan Srinivasan ◽  
Chuan-Yu Chang
Keyword(s):  
Neural Network ◽  
Machine Learning ◽  
Support Vector Machine ◽  
Feature Extraction ◽  
Deep Learning ◽  
Convolutional Neural Network ◽  
Support Vector ◽  
Svm Classifier ◽  
Infant Cry ◽  
Learning Techniques

Neonatal infants communicate with us through cries. The infant cry signals have distinct patterns depending on the purpose of the cries. Preprocessing, feature extraction, and feature selection need expert attention and take much effort in audio signals in recent days. In deep learning techniques, it automatically extracts and selects the most important features. For this, it requires an enormous amount of data for effective classification. This work mainly discriminates the neonatal cries into pain, hunger, and sleepiness. The neonatal cry auditory signals are transformed into a spectrogram image by utilizing the short-time Fourier transform (STFT) technique. The deep convolutional neural network (DCNN) technique takes the spectrogram images for input. The features are obtained from the convolutional neural network and are passed to the support vector machine (SVM) classifier. Machine learning technique classifies neonatal cries. This work combines the advantages of machine learning and deep learning techniques to get the best results even with a moderate number of data samples. The experimental result shows that CNN-based feature extraction and SVM classifier provides promising results. While comparing the SVM-based kernel techniques, namely radial basis function (RBF), linear and polynomial, it is found that SVM-RBF provides the highest accuracy of kernel-based infant cry classification system provides 88.89% accuracy.

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