scholarly journals ANN Based Inverse Dynamic Model of the 6-PGK Parallel Robot Manipulator

2015 ◽  
Vol 11 (1) ◽  
pp. 90 ◽  
Author(s):  
Liviu Moldovan ◽  
Horațiu-Ștefan Grif ◽  
Adrian Gligor
Keyword(s):  
Neural Network ◽  
Artificial Neural Network ◽  
Robot Manipulator ◽  
Parallel Robot ◽  
Model Estimation ◽  
Inverse Dynamic ◽  
Inverse Dynamic Model ◽  
The Neural Network ◽  
On Line ◽  
Artificial Neural

<p>This paper presents an inverse dynamic model estimation based on an artificial neural network of a complete new parallel robot manipulator prototype 6- PGK with six degrees of freedom, built at Petru Maior University of Tirgu-Mures. The model estimation of the parallel robot manipulator is performed with a feedforward artificial neural network. In the control engineering domain there are control structures that need the direct or inverse model of the process for ensuring the process control at the imposed performances. Usually, the determination of the direct/inverse mathematical model is a difficult or impossible task to be achieved. In these cases different non-parametric or parametric, off-line or on-line identification methods are used. A solution that may support the on-line parametric methods is represented by the feedforward artificial neural networks. By implementing feedforward artificial neural networks as a nonlinear autoregressive model with exogenous inputs, the authors investigate the possibility of choosing the optimum parameters that characterize the neural network so that it approximates as better as possible the model of the 6-PGK prototype robot. Finally an innovative algorithm is developed for obtaining the optimal configuration parameters set of the feedforward artificial neural network. The proposed algorithm helps in setting the optimal parameters of the neural network that offer high opportunities to provide satisfactory identification of the robot model. Experimental results obtained by a structure derived from the proposed solution demonstrate a good approximation related to the studied system, which is characterized by nonlinearities and high complexity.</p>

scholarly journals Application of artificial neural networks to predict the deflections of reinforced concrete beams

2016 ◽  
Vol 38 (2) ◽  
pp. 37-46 ◽  
Author(s):  
Mateusz Kaczmarek ◽  
Agnieszka Szymańska
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Artificial Neural Network ◽  
Reinforced Concrete ◽  
Concrete Beams ◽  
Reinforced Concrete Beams ◽  
The Neural Network ◽  
Eurocode 2 ◽  
Artificial Neural ◽  
Concrete Elements

Abstract Nonlinear structural mechanics should be taken into account in the practical design of reinforced concrete structures. Cracking is one of the major sources of nonlinearity. Description of deflection of reinforced concrete elements is a computational problem, mainly because of the difficulties in modelling the nonlinear stress-strain relationship of concrete and steel. In design practise, in accordance with technical rules (e.g., Eurocode 2), a simplified approach for reinforced concrete is used, but the results of simplified calculations differ from the results of experimental studies. Artificial neural network is a versatile modelling tool capable of making predictions of values that are difficult to obtain in numerical analysis. This paper describes the creation and operation of a neural network for making predictions of deflections of reinforced concrete beams at different load levels. In order to obtain a database of results, that is necessary for training and testing the neural network, a research on measurement of deflections in reinforced concrete beams was conducted by the authors in the Certified Research Laboratory of the Building Engineering Institute at Wrocław University of Science and Technology. The use of artificial neural networks is an innovation and an alternative to traditional methods of solving the problem of calculating the deflections of reinforced concrete elements. The results show the effectiveness of using artificial neural network for predicting the deflection of reinforced concrete beams, compared with the results of calculations conducted in accordance with Eurocode 2. The neural network model presented in this paper can acquire new data and be used for further analysis, with availability of more research results.

Artificial Neural Network and the Taguchi Method Application for Robust Wheatstone Bridge Design

1994 ◽  
Author(s):  
Jung-eui Hong ◽  
Cihan H. Dagli ◽  
Kenneth M. Ragsdell
Keyword(s):  
Neural Network ◽  
Artificial Neural Network ◽  
Wheatstone Bridge ◽  
Parameter Design ◽  
System Response ◽  
Measurement Circuit ◽  
Wide Range ◽  
Reduce Measurement Error ◽  
On Line ◽  
Artificial Neural

Abstract The primary function of the Wheatstone bridge is to measure an unknown resistance. The elements of this well-known measurement circuit will take on different values depending upon the range and accuracy required for a particular application. The Taguchi approach to parameter design is used to select values for the measurement circuit elements so as to reduce measurement error. Next we introduce the use of an artificial neural network to extrapolate limited experimental results to predict system response over a wide range of applications. This approach can be employed for on-line quality control of the manufacture of such device.

Watermelon Sorting Process by Frequency Identification and Artificial Neural Network

2021 ◽  
Author(s):  
Komsan Wongkalasin ◽  
Teerapon Upachaban ◽  
Wacharawish Daosawang ◽  
Nattadon Pannucharoenwong ◽  
Phadungsak Ratanadecho
Keyword(s):  
Neural Network ◽  
Artificial Neural Network ◽  
Selection Process ◽  
Network Processor ◽  
Data Set ◽  
The Neural Network ◽  
Frequency Identification ◽  
Sorting Process ◽  
Artificial Neural ◽  
Reasonable Prediction

This research aims to enhance the watermelon’s quality selection process, which was traditionally conducted by knocking the watermelon fruit and sort out by the sound’s character. The proposed method in this research is generating the sound spectrum through the watermelon and then analyzes the response signal’s frequency and the amplitude by Fast Fourier Transform (FFT). Then the obtained data were used to train and verify the neural network processor. The result shows that, the frequencies of 129 and 172 Hz were suit to be used in the comparison. Thirty watermelons, which were randomly selected from the orchard, were used to create a data set, and then were cut to manually check and match to the fruits’ quality. The 129 Hz frequency gave the response ranging from 13.57 and above in 3 groups of watermelons quality, including, not fully ripened, fully ripened, and close to rotten watermelons. When the 172 Hz gave the response between 11.11–12.72 in not fully ripened watermelons and those of 13.00 or more in the group of close to rotten and hollow watermelons. The response was then used as a training condition for the artificial neural network processor of the sorting machine prototype. The verification results provided a reasonable prediction of the ripeness level of watermelon and can be used as a pilot prototype to improve the efficiency of the tools to obtain a modern-watermelon quality selection tool, which could enhance the competitiveness of the local farmers on the product quality control.

A Model on the Correlation between Composition and Mechanical Properties of Mg-Al-Zn Alloys by Using Artificial Neural Network

2005 ◽  
Vol 488-489 ◽  
pp. 793-796 ◽  
Author(s):  
Hai Ding Liu ◽  
Ai Tao Tang ◽  
Fu Sheng Pan ◽  
Ru Lin Zuo ◽  
Ling Yun Wang
Keyword(s):  
Neural Network ◽  
Mechanical Properties ◽  
Artificial Neural Network ◽  
Magnesium Alloys ◽  
Tensile Yield Strength ◽  
Data Set ◽  
The Neural Network ◽  
Artificial Neural ◽  
Prediction Of Mechanical Properties ◽  
Artificial Neural Network Ann

A model was developed for the analysis and prediction of correlation between composition and mechanical properties of Mg-Al-Zn (AZ) magnesium alloys by applying artificial neural network (ANN). The input parameters of the neural network (NN) are alloy composition. The outputs of the NN model are important mechanical properties, including ultimate tensile strength, tensile yield strength and elongation. The model is based on multilayer feedforward neural network. The NN was trained with comprehensive data set collected from domestic and foreign literature. A very good performance of the neural network was achieved. The model can be used for the simulation and prediction of mechanical properties of AZ system magnesium alloys as functions of composition.

scholarly journals Применение искусственной нейронной сети в экспериментах по ядерному спиновому эху

2019 ◽  
Vol 45 (12) ◽  
pp. 16
Author(s):  
С.Н. Полулях ◽  
А.И. Горбованов
Keyword(s):  
Neural Network ◽  
Artificial Neural Network ◽  
Nuclear Spin ◽  
Spin Echo ◽  
Gaussian Form ◽  
The Neural Network ◽  
Network Application ◽  
Artificial Neural

The possibility of artificial neural network application to detect nuclear spin echo signals under conditions when the echo amplitude is comparable to the amplitude of the noise is demonstrated. Data obtained by superimposing the model echo signals of a Gaussian form on experimentally recorded noise signals is proposed to use for training the neural network.

scholarly journals Intrusion Detection for Industrial Control Systems Based on Open Set Artificial Neural Network

2021 ◽  
Vol 2021 ◽  
pp. 1-14
Author(s):  
Chao Wang ◽  
Bailing Wang ◽  
Yunxiao Sun ◽  
Yuliang Wei ◽  
Kai Wang ◽  
...  
Keyword(s):  
Neural Network ◽  
Artificial Neural Network ◽  
Intrusion Detection ◽  
Control Systems ◽  
Industrial Control ◽  
Industrial Control Systems ◽  
Open Set ◽  
The Neural Network ◽  
Center Loss ◽  
Artificial Neural

The security of industrial control systems (ICSs) has received a lot of attention in recent years. ICSs were once closed networks. But with the development of IT technologies, ICSs have become connected to the Internet, increasing the potential of cyberattacks. Because ICSs are so tightly linked to human lives, any harm to them could have disastrous implications. As a technique of providing protection, many intrusion detection system (IDS) studies have been conducted. However, because of the complicated network environment and rising means of attack, it is difficult to cover all attack classes, most of the existing classification techniques are hard to deploy in a real environment since they cannot deal with the open set problem. We propose a novel artificial neural network based-methodology to solve this problem. Our suggested method can classify known classes while also detecting unknown classes. We conduct research from two points of view. On the one hand, we use the openmax layer instead of the traditional softmax layer. Openmax overcomes the limitations of softmax, allowing neural networks to detect unknown attack classes. During training, on the other hand, a new loss function termed center loss is implemented to improve detection ability. The neural network model learns better feature representations with the combined supervision of center loss and softmax loss. We evaluate the neural network on NF-BoT-IoT-v2 and Gas Pipeline datasets. The experiments show our proposed method is comparable with the state-of-the-art algorithm in terms of detecting unknown classes. But our method has a better overall classification performance.

scholarly journals The implementation of optimized neural network to improve the accuracy of flow measurement by ultrasonic flowmeter

2019 ◽  
pp. 193-194
Author(s):  
Oleksandr Ihorovich Parfeniuk ◽  
Oleksandr Mykolaiovych Naumchuk ◽  
Olena Olehivna Poliukhovych ◽  
Pawel Mazurek
Keyword(s):  
Neural Network ◽  
Artificial Neural Network ◽  
Flow Measurement ◽  
Ultrasonic Flowmeter ◽  
Structural Scheme ◽  
Nonlinear Characteristics ◽  
The Neural Network ◽  
Artificial Neural

It is proposed the technology of intellectual measurement of expenses with the use of an artificial neural network for overcoming the constraints caused by nonlinear characteristics of ultrasonic flowmeters. It is presented structural scheme of the proposed technology and structure of the model of the neural network

scholarly journals Inverse Kinematic Solution of 5R Manipulator using ANN and ANFIS

2015 ◽  
Vol 4 (2) ◽  
pp. 109
Author(s):  
Panchand Jha
Keyword(s):  
Neural Network ◽  
Artificial Neural Network ◽  
Fuzzy Inference System ◽  
Inverse Kinematics ◽  
Fuzzy Inference ◽  
Robot Manipulator ◽  
Ann Model ◽  
Inference System ◽  
Artificial Neural ◽  
Neural Fuzzy

<span>Inverse kinematics of manipulator comprises the computation required to find the joint angles for a given Cartesian position and orientation of the end effector. There is no unique solution for the inverse kinematics thus necessitating application of appropriate predictive models from the soft computing domain. Artificial neural network and adaptive neural fuzzy inference system techniques can be gainfully used to yield the desired results. This paper proposes structured artificial neural network (ANN) model and adaptive neural fuzzy inference system (ANFIS) to find the inverse kinematics solution of robot manipulator. The ANN model used is a multi-layered perceptron Neural Network (MLPNN). Wherein, gradient descent type of learning rules is applied. An attempt has been made to find the best ANN configuration for the problem. It is found that ANFIS gives better result and minimum error as compared to ANN.</span>

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