scholarly journals Inverse kinematics solution for robotic manipulator based on extreme learning machine and sequential mutation genetic algorithm

2018 ◽  
Vol 15 (4) ◽  
pp. 172988141879299 ◽  
Author(s):  
Zhiyu Zhou ◽  
Hanxuan Guo ◽  
Yaming Wang ◽  
Zefei Zhu ◽  
Jiang Wu ◽  
...  
Keyword(s):  
Genetic Algorithm ◽  
Extreme Learning Machine ◽  
Inverse Kinematics ◽  
Robotic Manipulator ◽  
Computational Time ◽  
Improved Genetic Algorithm ◽  
Intelligent Algorithm ◽  
End Effector ◽  
Training Time ◽  
Learning Machine

This article presents an intelligent algorithm based on extreme learning machine and sequential mutation genetic algorithm to determine the inverse kinematics solutions of a robotic manipulator with six degrees of freedom. This algorithm is developed to minimize the computational time without compromising the accuracy of the end effector. In the proposed algorithm, the preliminary inverse kinematics solution is first computed by extreme learning machine and the solution is then optimized by an improved genetic algorithm based on sequential mutation. Extreme learning machine randomly initializes the weights of the input layer and biases of the hidden layer, which greatly improves the training speed. Unlike classical genetic algorithms, sequential mutation genetic algorithm changes the order of the genetic codes from high to low, which reduces the randomness of mutation operation and improves the local search capability. Consequently, the convergence speed at the end of evolution is improved. The performance of the extreme learning machine and sequential mutation genetic algorithm is also compared with that of a hybrid intelligent algorithm, and the results showed that there is significant reduction in the training time and computational time while the solution accuracy is retained. Based on the experimental results, the proposed extreme learning machine and sequential mutation genetic algorithm can greatly improve the time efficiency while ensuring high accuracy of the end effector.

scholarly journals Identification of Crop Diseases Based on Improved Genetic Algorithm and Extreme Learning Machine

2020 ◽  
Vol 65 (1) ◽  
pp. 761-775
Author(s):  
Linguo Li ◽  
Lijuan Sun ◽  
Jian Guo ◽  
Shujing Li ◽  
Ping Jiang
Keyword(s):  
Genetic Algorithm ◽  
Extreme Learning Machine ◽  
Improved Genetic Algorithm ◽  
Crop Diseases ◽  
Learning Machine

scholarly journals Finite-Horizon Kinetic Energy Optimization of a Redundant Space Manipulator

2021 ◽  
Vol 11 (5) ◽  
pp. 2346
Author(s):  
Alessandro Tringali ◽  
Silvio Cocuzza
Keyword(s):  
Kinetic Energy ◽  
Real Time ◽  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Computational Time ◽  
Redundant Manipulators ◽  
Space Robotics ◽  
Optimal Method ◽  
End Effector ◽  
Global Optimal

The minimization of energy consumption is of the utmost importance in space robotics. For redundant manipulators tracking a desired end-effector trajectory, most of the proposed solutions are based on locally optimal inverse kinematics methods. On the one hand, these methods are suitable for real-time implementation; nevertheless, on the other hand, they often provide solutions quite far from the globally optimal one and, moreover, are prone to singularities. In this paper, a novel inverse kinematics method for redundant manipulators is presented, which overcomes the above mentioned issues and is suitable for real-time implementation. The proposed method is based on the optimization of the kinetic energy integral on a limited subset of future end-effector path points, making the manipulator joints to move in the direction of minimum kinetic energy. The proposed method is tested by simulation of a three degrees of freedom (DOF) planar manipulator in a number of test cases, and its performance is compared to the classical pseudoinverse solution and to a global optimal method. The proposed method outperforms the pseudoinverse-based one and proves to be able to avoid singularities. Furthermore, it provides a solution very close to the global optimal one with a much lower computational time, which is compatible for real-time implementation.

scholarly journals An Expert Diagnosis System for Parkinson Disease Based on Genetic Algorithm-Wavelet Kernel-Extreme Learning Machine

2016 ◽  
Vol 2016 ◽  
pp. 1-9 ◽  
Author(s):  
Derya Avci ◽  
Akif Dogantekin
Keyword(s):  
Genetic Algorithm ◽  
Parkinson Disease ◽  
Extreme Learning Machine ◽  
Classification Accuracy ◽  
Disease Diagnosis ◽  
Major Public Health Problem ◽  
Diagnosis System ◽  
Kernel Extreme Learning Machine ◽  
Learning Machine ◽  
Hidden Neurons

Parkinson disease is a major public health problem all around the world. This paper proposes an expert disease diagnosis system for Parkinson disease based on genetic algorithm- (GA-) wavelet kernel- (WK-) Extreme Learning Machines (ELM). The classifier used in this paper is single layer neural network (SLNN) and it is trained by the ELM learning method. The Parkinson disease datasets are obtained from the UCI machine learning database. In wavelet kernel-Extreme Learning Machine (WK-ELM) structure, there are three adjustable parameters of wavelet kernel. These parameters and the numbers of hidden neurons play a major role in the performance of ELM. In this study, the optimum values of these parameters and the numbers of hidden neurons of ELM were obtained by using a genetic algorithm (GA). The performance of the proposed GA-WK-ELM method is evaluated using statical methods such as classification accuracy, sensitivity and specificity analysis, and ROC curves. The calculated highest classification accuracy of the proposed GA-WK-ELM method is found as 96.81%.

scholarly journals Research on Quality Anomaly Recognition Method Based on Optimized Probabilistic Neural Network

2020 ◽  
Vol 2020 ◽  
pp. 1-11 ◽  
Author(s):  
Li-li Li ◽  
Kun Chen ◽  
Jian-min Gao ◽  
Hui Li
Keyword(s):  
Neural Network ◽  
Genetic Algorithm ◽  
Control Chart ◽  
Control Charts ◽  
Probabilistic Neural Network ◽  
Principal Component ◽  
Original Data ◽  
Improved Genetic Algorithm ◽  
Training Time ◽  
Mixed Pattern

Aiming at the problems of the lack of abnormal instances and the lag of quality anomaly discovery in quality database, this paper proposed the method of recognizing quality anomaly from the quality control chart data by probabilistic neural network (PNN) optimized by improved genetic algorithm, which made up deficiencies of SPC control charts in practical application. Principal component analysis (PCA) reduced the dimension and extracted the feature of the original data of a control chart, which reduced the training time of PNN. PNN recognized successfully both single pattern and mixed pattern of control charts because of its simple network structure and excellent recognition effect. In order to eliminate the defect of experience value, the key parameter of PNN was optimized by the improved (SGA) single-target optimization genetic algorithm, which made PNN achieve a higher rate of recognition accuracy than PNN optimized by standard genetic algorithm. Finally, the above method was validated by a simulation experiment and proved to be the most effective method compared with traditional BP neural network, single PNN, PCA-PNN without parameters optimized, and SVM optimized by particle swarm optimization algorithm.

scholarly journals A Novel Orthogonal Extreme Learning Machine for Regression and Classification Problems

Symmetry ◽  
2019 ◽  
Vol 11 (10) ◽  
pp. 1284
Author(s):  
Licheng Cui ◽  
Huawei Zhai ◽  
Hongfei Lin
Keyword(s):  
Least Squares ◽  
Extreme Learning Machine ◽  
Weight Matrix ◽  
Testing Time ◽  
Least Squares Regression ◽  
Classification Problems ◽  
Training Time ◽  
Discrimination Ability ◽  
Learning Machine ◽  
Hidden Layer

An extreme learning machine (ELM) is an innovative algorithm for the single hidden layer feed-forward neural networks and, essentially, only exists to find the optimal output weight so as to minimize output error based on the least squares regression from the hidden layer to the output layer. With a focus on the output weight, we introduce the orthogonal constraint into the output weight matrix, and propose a novel orthogonal extreme learning machine (NOELM) based on the idea of optimization column by column whose main characteristic is that the optimization of complex output weight matrix is decomposed into optimizing the single column vector of the matrix. The complex orthogonal procrustes problem is transformed into simple least squares regression with an orthogonal constraint, which can preserve more information from ELM feature space to output subspace, these make NOELM more regression analysis and discrimination ability. Experiments show that NOELM has better performance in training time, testing time and accuracy than ELM and OELM.

scholarly journals Short-Term Electric Load and Price Forecasting Using Enhanced Extreme Learning Machine Optimization in Smart Grids

Energies ◽  
2019 ◽  
Vol 12 (5) ◽  
pp. 866 ◽  
Author(s):  
Aqdas Naz ◽  
Muhammad Javed ◽  
Nadeem Javaid ◽  
Tanzila Saba ◽  
Musaed Alhussein ◽  
...  
Keyword(s):  
Logistic Regression ◽  
Mean Square Error ◽  
Extreme Learning Machine ◽  
Prediction Accuracy ◽  
Computational Time ◽  
Major Constituent ◽  
Smart Devices ◽  
Mean Square ◽  
Simulation Results ◽  
Learning Machine

A Smart Grid (SG) is a modernized grid to provide efficient, reliable and economic energy to the consumers. Energy is the most important resource in the world. An efficient energy distribution is required as smart devices are increasing dramatically. The forecasting of electricity consumption is supposed to be a major constituent to enhance the performance of SG. Various learning algorithms have been proposed to solve the forecasting problem. The sole purpose of this work is to predict the price and load efficiently. The first technique is Enhanced Logistic Regression (ELR) and the second technique is Enhanced Recurrent Extreme Learning Machine (ERELM). ELR is an enhanced form of Logistic Regression (LR), whereas, ERELM optimizes weights and biases using a Grey Wolf Optimizer (GWO). Classification and Regression Tree (CART), Relief-F and Recursive Feature Elimination (RFE) are used for feature selection and extraction. On the basis of selected features, classification is performed using ELR. Cross validation is done for ERELM using Monte Carlo and K-Fold methods. The simulations are performed on two different datasets. The first dataset, i.e., UMass Electric Dataset is multi-variate while the second dataset, i.e., UCI Dataset is uni-variate. The first proposed model performed better with UMass Electric Dataset than UCI Dataset and the accuracy of second model is better with UCI than UMass. The prediction accuracy is analyzed on the basis of four different performance metrics: Mean Absolute Percentage Error (MAPE), Mean Absolute Error (MAE), Mean Square Error (MSE) and Root Mean Square Error (RMSE). The proposed techniques are then compared with four benchmark schemes. The comparison is done to verify the adaptivity of the proposed techniques. The simulation results show that the proposed techniques outperformed benchmark schemes. The proposed techniques efficiently increased the prediction accuracy of load and price. However, the computational time is increased in both scenarios. ELR achieved almost 5% better results than Convolutional Neural Network (CNN) and almost 3% than LR. While, ERELM achieved almost 6% better results than ELM and almost 5% than RELM. However, the computational time is almost 20% increased with ELR and 50% with ERELM. Scalability is also addressed for the proposed techniques using half-yearly and yearly datasets. Simulation results show that ELR gives 5% better results while, ERELM gives 6% better results when used for yearly dataset.

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