NAVIGATION METHODS FOR THE SKIING ROBOT

2013 ◽  
Vol 10 (04) ◽  
pp. 1350029 ◽  
Author(s):  
TADEJ PETRIČ ◽  
LUKA PETERNEL ◽  
ANDREJ GAMS ◽  
BOJAN NEMEC ◽  
LEON ŽLAJPAH
Keyword(s):  
Neural Networks ◽  
Direct Control ◽  
Successful Completion ◽  
Nonholonomic Mobile Robots ◽  
Movement Model ◽  
Global Method ◽  
Local Navigation ◽  
The Neural Networks ◽  
Intuitive Method ◽  
Time Required

In this paper, we propose and evaluate methods for the local navigation using only visual perception for the skiing robot. Our skiing robot, capable of skiing using the carving technique, has no direct control on the velocity of skiing as it cannot break or accelerate, therefore well known navigation methods for nonholonomic mobile robots cannot be directly applied. We consider the following methods: an intuitive method of aiming at the closest gates, a human obstacle avoidance movement model, neural networks learning from a set of human demonstrations, and a global method that uses a predefined, spline-encoded path. The navigation performance of the robot on unknown ski courses is evaluated using two criteria: successful completion of the course and the time required to complete the course. Simulation results show the applicability and drawbacks of presented methods. Finally, the method using the neural networks was applied on a real-world skiing robot and we tested navigating a slalom course on both roller blades and skies.

An Efficient Learning of Neural Networks to Acquire Inverse Kinematics Model

2020 ◽  
pp. 203-232
Author(s):  
Fusaomi Nagata ◽  
Maki K. Habib ◽  
Keigo Watanabe
Keyword(s):  
Neural Networks ◽  
Inverse Kinematics ◽  
Industrial Robot ◽  
Training Data ◽  
Serial Link ◽  
Data Set ◽  
Effective Learning ◽  
The Neural Networks ◽  
Efficient Learning ◽  
Time Required

In this chapter, effective learning approach of inverse kinematics using neural networks with efficient weights update ability has been presented for a serial link structure and industrial robot. Generally, in making neural networks learn a relation among multi inputs and outputs, a desired training data set prepared in advance is used. The training data set consists of multiple pairs of input and output vectors. The input layer receives each input vector for forward computation, and it is compared with the yielded vector from the output layer. The time required for the learning process of the neural networks depends on the number of total weights in the neural networks and that of the input-output pairs in the training data set.

scholarly journals Tax Fraud Detection through Neural Networks: An Application Using a Sample of Personal Income Taxpayers

2019 ◽  
Vol 11 (4) ◽  
pp. 86 ◽  
Author(s):  
César Pérez López ◽  
María Delgado Rodríguez ◽  
Sonia de Lucas Santos
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Income Tax ◽  
Fraud Detection ◽  
Personal Income ◽  
Personal Income Tax ◽  
Tax Returns ◽  
The Neural Networks ◽  
Tax Fraud ◽  
Efficiency Rate

The goal of the present research is to contribute to the detection of tax fraud concerning personal income tax returns (IRPF, in Spanish) filed in Spain, through the use of Machine Learning advanced predictive tools, by applying Multilayer Perceptron neural network (MLP) models. The possibilities springing from these techniques have been applied to a broad range of personal income return data supplied by the Institute of Fiscal Studies (IEF). The use of the neural networks enabled taxpayer segmentation as well as calculation of the probability concerning an individual taxpayer’s propensity to attempt to evade taxes. The results showed that the selected model has an efficiency rate of 84.3%, implying an improvement in relation to other models utilized in tax fraud detection. The proposal can be generalized to quantify an individual’s propensity to commit fraud with regards to other kinds of taxes. These models will support tax offices to help them arrive at the best decisions regarding action plans to combat tax fraud.

Neural networks trained with high-dimensional functions approximation data in high-dimensional space

2021 ◽  
pp. 1-12
Author(s):  
Jian Zheng ◽  
Jianfeng Wang ◽  
Yanping Chen ◽  
Shuping Chen ◽  
Jingjin Chen ◽  
...  
Keyword(s):  
Neural Networks ◽  
Dimensional Space ◽  
Data Distribution ◽  
High Dimensional ◽  
Sufficient Information ◽  
Sufficient Data ◽  
High Dimensional Space ◽  
Positive Effects ◽  
The Neural Networks ◽  
Using Data

Neural networks can approximate data because of owning many compact non-linear layers. In high-dimensional space, due to the curse of dimensionality, data distribution becomes sparse, causing that it is difficulty to provide sufficient information. Hence, the task becomes even harder if neural networks approximate data in high-dimensional space. To address this issue, according to the Lipschitz condition, the two deviations, i.e., the deviation of the neural networks trained using high-dimensional functions, and the deviation of high-dimensional functions approximation data, are derived. This purpose of doing this is to improve the ability of approximation high-dimensional space using neural networks. Experimental results show that the neural networks trained using high-dimensional functions outperforms that of using data in the capability of approximation data in high-dimensional space. We find that the neural networks trained using high-dimensional functions more suitable for high-dimensional space than that of using data, so that there is no need to retain sufficient data for neural networks training. Our findings suggests that in high-dimensional space, by tuning hidden layers of neural networks, this is hard to have substantial positive effects on improving precision of approximation data.

Classification and Recognition of Plant Leaf Based on Neural Networks

2011 ◽  
Vol 464 ◽  
pp. 38-42 ◽  
Author(s):  
Ping Ye ◽  
Gui Rong Weng
Keyword(s):  
Neural Networks ◽  
Fractal Dimension ◽  
Recognition Rate ◽  
Image Binarization ◽  
Characteristic Parameters ◽  
Moment Invariant ◽  
Plant Leaf ◽  
The Neural Networks ◽  
Novel Method ◽  
The Moment

This paper proposed a novel method for leaf classification and recognition. In the method, the moment invariant and fractal dimension were regarded as the characteristic parameters of the plant leaf. In order to extract the representative characteristic parameters, pretreatment of the leaf images, including RGB-gray converting, image binarization and leafstalk removing. The extracted leaf characteristic parameters were further utilized as training sets to train the neural networks. The proposed method was proved effectively to reach a recognition rate about 92% for most of the testing leaf samples

scholarly journals Localization of Scattering Objects Using Neural Networks

Sensors ◽  
2020 ◽  
Vol 21 (1) ◽  
pp. 11
Author(s):  
Domonkos Haffner ◽  
Ferenc Izsák
Keyword(s):  
Neural Networks ◽  
Plane Waves ◽  
Measurement Data ◽  
Scattered Wave ◽  
Training Data ◽  
Data Set ◽  
Main Compound ◽  
Incident Plane ◽  
The Neural Networks ◽  
Simulation Package

The localization of multiple scattering objects is performed while using scattered waves. An up-to-date approach: neural networks are used to estimate the corresponding locations. In the scattering phenomenon under investigation, we assume known incident plane waves, fully reflecting balls with known diameters and measurement data of the scattered wave on one fixed segment. The training data are constructed while using the simulation package μ-diff in Matlab. The structure of the neural networks, which are widely used for similar purposes, is further developed. A complex locally connected layer is the main compound of the proposed setup. With this and an appropriate preprocessing of the training data set, the number of parameters can be kept at a relatively low level. As a result, using a relatively large training data set, the unknown locations of the objects can be estimated effectively.

scholarly journals An Efficient Neural Network-Based Method for Diagnosing Faults of PV Array

2021 ◽  
Vol 13 (11) ◽  
pp. 6194
Author(s):  
Selma Tchoketch_Kebir ◽  
Nawal Cheggaga ◽  
Adrian Ilinca ◽  
Sabri Boulouma
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Modeling Process ◽  
Photovoltaic Arrays ◽  
Mode Of Operation ◽  
Different Types ◽  
The Neural Networks ◽  
Operational Modes ◽  
Types Of Faults ◽  
Electrical Data

This paper presents an efficient neural network-based method for fault diagnosis in photovoltaic arrays. The proposed method was elaborated on three main steps: the data-feeding step, the fault-modeling step, and the decision step. The first step consists of feeding the real meteorological and electrical data to the neural networks, namely solar irradiance, panel temperature, photovoltaic-current, and photovoltaic-voltage. The second step consists of modeling a healthy mode of operation and five additional faulty operational modes; the modeling process is carried out using two networks of artificial neural networks. From this step, six classes are obtained, where each class corresponds to a predefined model, namely, the faultless scenario and five faulty scenarios. The third step involves the diagnosis decision about the system’s state. Based on the results from the above step, two probabilistic neural networks will classify each generated data according to the six classes. The obtained results show that the developed method can effectively detect different types of faults and classify them. Besides, this method still achieves high performances even in the presence of noises. It provides a diagnosis even in the presence of data injected at reduced real-time, which proves its robustness.

scholarly journals Application of Federal Kalman Filter with Neural Networks in the Velocity and Attitude Matching of Transfer Alignment

Complexity ◽  
2018 ◽  
Vol 2018 ◽  
pp. 1-7 ◽  
Author(s):  
Lijun Song ◽  
Zhongxing Duan ◽  
Bo He ◽  
Zhe Li
Keyword(s):  
Neural Networks ◽  
Kalman Filter ◽  
Navigation System ◽  
Inertial Navigation System ◽  
Estimation Error ◽  
Inertial Navigation ◽  
Transfer Alignment ◽  
The Neural Networks ◽  
Initial Attitude ◽  
Noise Statistics

The centralized Kalman filter is always applied in the velocity and attitude matching of Transfer Alignment (TA). But the centralized Kalman has many disadvantages, such as large amount of calculation, poor real-time performance, and low reliability. In the paper, the federal Kalman filter (FKF) based on neural networks is used in the velocity and attitude matching of TA, the Kalman filter is adjusted by the neural networks in the two subfilters, the federal filter is used to fuse the information of the two subfilters, and the global suboptimal state estimation is obtained. The result of simulation shows that the federal Kalman filter based on neural networks is better in estimating the initial attitude misalignment angle of inertial navigation system (INS) when the system dynamic model and noise statistics characteristics of inertial navigation system are unclear, and the estimation error is smaller and the accuracy is higher.

Modeling of Distributed Parameter Processes with Neural Networks

2014 ◽  
Vol 555 ◽  
pp. 530-540
Author(s):  
Honoriu Vălean ◽  
Mihail Abrudean ◽  
Mihaela Ligia Ungureşan ◽  
Iulia Clitan ◽  
Vlad Mureşan
Keyword(s):  
Neural Networks ◽  
Simulation Method ◽  
Distributed Parameter ◽  
Hearth Furnace ◽  
Original Solution ◽  
Steel Pipes ◽  
The Matrix ◽  
The Neural Networks ◽  
Derivatives Of ◽  
Seamless Steel

In this paper an original solution for the modeling of distributed parameter processes using neural networks is presented. The proposed method represents a particular alternative to a very accurate modeling-simulation method for this kind of processes, the method based on the matrix of partial derivatives of the state vector (Mpdx), associated with Taylor series. In order to compare the performances generated by the two methods, a distributed parameter thermal process associated to a rotary hearth furnace (R.H.F) from the technological flow of producing seamless steel pipes is considered. The main similarities and differences between the two methods are highlighted in the paper. The treated solution represents a premise for the usage of the neural networks in the automatic control of the distributed parameter processes domain.

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