Online Terrain Classification for Mobile Robots

2005 ◽  
Author(s):  
Edmond M. DuPont ◽  
Rodney G. Roberts ◽  
Majura F. Selekwa ◽  
Carl A. Moore ◽  
Emmanual G. Collins
Keyword(s):  
Neural Network ◽  
Control Strategy ◽  
Autonomous Vehicles ◽  
Probabilistic Neural Network ◽  
Detection Algorithm ◽  
High Accuracy ◽  
Vibration Frequencies ◽  
Terrain Classification ◽  
Ground Vehicles ◽  
Human Driver

Today’s autonomous vehicles operate in an increasingly general set of circumstances. In particular, unmanned ground vehicles (UGV’s) must be able to travel on whatever terrain the mission offers, including sand, mud, or even snow. These terrains can affect the performance and controllability of the vehicle. Like a human driver who feels his vehicle’s response to the terrain and takes appropriate steps to compensate, a UGV that can autonomously perceive its terrain can also make necessary changes to its control strategy. This article focuses on the development and application of a terrain detection algorithm based on terrain induced vehicle vibration. The dominant vibration frequencies are extracted and used by a probabilistic neural network to identify the terrain. Experimental results based on iRobot’s ATRV Jr (Fig. 1) demonstrate that the algorithm is able to identify with high accuracy multi-differentiated terrains broadly classified as sand, grass, asphalt, and gravel.

CTL-DNNet: Effective Circular Traffic Light Recognition with a Deep Neural Network

2017 ◽  
Vol 31 (11) ◽  
pp. 1750037 ◽  
Author(s):  
Di Wang ◽  
Hong Bao ◽  
Feifei Zhang
Keyword(s):  
Neural Network ◽  
Autonomous Vehicles ◽  
Deep Neural Network ◽  
Road Traffic ◽  
High Accuracy ◽  
Activation Functions ◽  
Traffic Light ◽  
Traffic Lights ◽  
Learning Network ◽  
Deep Learning Network

This paper proposed an algorithm for a deep learning network for identifying circular traffic lights (CTL-DNNet). The sample labeling process uses translation to increase the number of positive samples, and the similarity is calculated to reduce the number of negative samples, thereby reducing overfitting. We use a dataset of approximately 370[Formula: see text]000 samples, with approximately 20[Formula: see text]000 positive samples and approximately 350[Formula: see text]000 negative samples. The datasets are generated from images taken at the Beijing Garden Expo. To obtain a very robust method for the detection of traffic lights, we use different layers, different cost functions and different activation functions of the depth neural network for training and comparison. Our algorithm has evaluated autonomous vehicles in varying illumination and gets the result with high accuracy and robustness. The experimental results show that CTL-DNNet is effective at recognizing road traffic lights in the Beijing Garden Expo area.

scholarly journals Load Identification Using Harmonic Based on Probabilistic Neural Network

2019 ◽  
Vol 7 (1) ◽  
pp. 71-82
Author(s):  
Dimas Okky Anggriawan ◽  
Aidin Amsyar ◽  
Eka Prasetyono ◽  
Endro Wahjono ◽  
Indhana Sudiharto ◽  
...  
Keyword(s):  
Neural Network ◽  
Fourier Transform ◽  
Probabilistic Neural Network ◽  
Harmonic Distortion ◽  
Electrical Equipment ◽  
High Accuracy ◽  
Current Sensor ◽  
Harmonic Load ◽  
Load Identification ◽  
Current Waveform

Due to increase power quality which are caused by harmonic distortion it could be affected malfunction electrical equipment. Therefore, identification of harmonic loads become important attention  in the power system. According to those problems, this paper proposes a Load Identification using harmonic based on probabilistic neural network (PNN). Harmonic is obtained by experiment using prototype, which it consists of microcontroller and current sensor. Fast Fourier Transform (FFT) method to analyze of current waveform on loads become harmonic load data. PNN is used to identify the type of load. To load identification, PNN is trained to get the new weight. Testing is conducted To evaluate of the accuracy of the PNN from combination of four loads. The results demonstrate that this method has high accuracy to determine type of loads based on harmonic load

scholarly journals Klasifikasi Data Berat Bayi Lahir Menggunakan Weighted Probabilistic Neural Network (WPNN) (Studi Kasus di Rumah Sakit Islam Sultan Agung Semarang)

2017 ◽  
Vol 10 (1) ◽  
pp. 61
Author(s):  
Hasbi Yasin ◽  
Dwi Ispriyansti
Keyword(s):  
Neural Network ◽  
Low Birthweight ◽  
Probabilistic Neural Network ◽  
High Accuracy ◽  
Training Data ◽  
World Health ◽  
Model Accuracy ◽  
Health Organization ◽  
Very High ◽  
Length Of Gestation

Low Birthweight (LBW) is one of the causes of infant mortality. Birthweight is the weight of babies who weighed within one hour after birth. Low birthweight has been defined by the World Health Organization (WHO) as weight at birth of less than 2,500 grams (5.5 pounds). There are several factors that influence the BWI such as maternal age, length of gestation, body weight, height, blood pressure, hemoglobin and parity. This study uses a Weighted Probabilistic Neural Network (WPNN) to classify the birthweight in RSI Sultan Agung Semarang based on these factors. The results showed that the birthweight classification using WPNN models have a very high accuracy. This is shown by the model accuracy of 98.75% using the training data and 94.44% using the testing data.Keywords:Birthweight, Classification, LBW, WPNN.

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.

Classification and Identification of Power System Disturbances Using Wavalet and Artificial Neural Network Technique

2005 ◽  
Vol 2 (2) ◽  
pp. 25
Author(s):  
Noraliza Hamzah ◽  
Wan Nor Ainin Wan Abdullah ◽  
Pauziah Mohd Arsad
Keyword(s):  
Neural Network ◽  
Power Quality ◽  
Probabilistic Neural Network ◽  
Microsoft Excel ◽  
Waveform Data ◽  
The Neural Network ◽  
Harmonic Voltage ◽  
Power Quality Disturbances ◽  
Electronic Load ◽  
Wavelet Technique

Power Quality disturbances problems have gained widespread interest worldwide due to the proliferation of power electronic load such as adjustable speed drives, computer, industrial drives, communication and medical equipments. This paper presents a technique based on wavelet and probabilistic neural network to detect and classify power quality disturbances, which are harmonic, voltage sag, swell and oscillatory transient. The power quality disturbances are obtained from the waveform data collected from premises, which include the UiTM Sarawak, Faculty of Science Computer in Shah Alam, Jati College, Menara UiTM, PP Seksyen 18 and Putra LRT. Reliable Power Meter is used for data monitoring and the data is further processed using the Microsoft Excel software. From the processed data, power quality disturbances are detected using the wavelet technique. After the disturbances being detected, it is then classified using the Probabilistic Neural Network. Sixty data has been chosen for the training of the Probabilistic Neural Network and ten data has been used for the testing of the neural network. The results are further interfaced using matlab script code.  Results from the research have been very promising which proved that the wavelet technique and Probabilistic Neural Network is capable to be used for power quality disturbances detection and classification.

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