MPID Control Tuning for a Flexible Manipulator Using a Neural Network

2010 ◽  
Vol 22 (1) ◽  
pp. 82-90 ◽  
Author(s):  
Tamer Mansour ◽  
◽  
Atsushi Konno ◽  
Masaru Uchiyama
Keyword(s):  
Neural Network ◽  
Vibration Control ◽  
Learning Algorithm ◽  
The Other ◽  
Gradient Algorithm ◽  
Flexible Manipulator ◽  
Computational Time ◽  
Speed Of Response ◽  
Control Gain ◽  
The Neural Network

This paper studies the use of neural networks as a tuning tool for the gain in Modified Proportional-Integral-Derivative (MPID) control used to control a flexible manipulator. The vibration control gain in the MPID controller has been determined in an empirical way so far. It is a considerable time consuming process because the vibration control performance depends not only on the vibration control gain but also on the other parameters such as the payload, references and PD joint servo gains. Hence, the vibration control gain must be tuned considering the other parameters. In order to find optimal vibration control gain for the MPID controller, a neural network based approach is proposed in this paper. The proposed neural network finds an optimum vibration control gain that minimizes a criteria function. The criteria function is selected to represent the effect of the vibration of the end effector in addition to the speed of response. The scaled conjugate gradient algorithm is used as a learning algorithm for the neural network. Tuned gain response results are compared to results for other types of gains. The effectiveness of using the neural network appears in the reduction of the computational time and the ability to tune the gain with different loading condition.

scholarly journals A Two-Stage Neural Network-Based Cold Start Item Recommender

2021 ◽  
Vol 11 (9) ◽  
pp. 4243
Author(s):  
Chieh-Yuan Tsai ◽  
Yi-Fan Chiu ◽  
Yu-Jen Chen
Keyword(s):  
Neural Network ◽  
Recommendation System ◽  
Service Providers ◽  
Cold Start ◽  
Computational Time ◽  
Two Stage ◽  
The Neural Network ◽  
Textual Description ◽  
Recommendation Algorithms ◽  
Content Information

Nowadays, recommendation systems have been successfully adopted in variant online services such as e-commerce, news, and social media. The recommenders provide users a convenient and efficient way to find their exciting items and increase service providers’ revenue. However, it is found that many recommenders suffered from the cold start (CS) problem where only a small number of ratings are available for some new items. To conquer the difficulties, this research proposes a two-stage neural network-based CS item recommendation system. The proposed system includes two major components, which are the denoising autoencoder (DAE)-based CS item rating (DACR) generator and the neural network-based collaborative filtering (NNCF) predictor. In the DACR generator, a textual description of an item is used as auxiliary content information to represent the item. Then, the DAE is applied to extract the content features from high-dimensional textual vectors. With the compact content features, a CS item’s rating can be efficiently derived based on the ratings of similar non-CS items. Second, the NNCF predictor is developed to predict the ratings in the sparse user–item matrix. In the predictor, both spare binary user and item vectors are projected to dense latent vectors in the embedding layer. Next, latent vectors are fed into multilayer perceptron (MLP) layers for user–item matrix learning. Finally, appropriate item suggestions can be accurately obtained. The extensive experiments show that the DAE can significantly reduce the computational time for item similarity evaluations while keeping the original features’ characteristics. Besides, the experiments show that the proposed NNCF predictor outperforms several popular recommendation algorithms. We also demonstrate that the proposed CS item recommender can achieve up to 8% MAE improvement compared to adding no CS item rating.

scholarly journals End-to-End Autonomous Driving Through Dueling Double Deep Q-Network

2021 ◽  
Author(s):  
Baiyu Peng ◽  
Qi Sun ◽  
Shengbo Eben Li ◽  
Dongsuk Kum ◽  
Yuming Yin ◽  
...  
Keyword(s):  
Neural Network ◽  
State Space ◽  
Learning Algorithm ◽  
Rapid Development ◽  
Autonomous Driving ◽  
Saliency Map ◽  
Hierarchical Architecture ◽  
Link Type ◽  
The Neural Network ◽  
End To End

AbstractRecent years have seen the rapid development of autonomous driving systems, which are typically designed in a hierarchical architecture or an end-to-end architecture. The hierarchical architecture is always complicated and hard to design, while the end-to-end architecture is more promising due to its simple structure. This paper puts forward an end-to-end autonomous driving method through a deep reinforcement learning algorithm Dueling Double Deep Q-Network, making it possible for the vehicle to learn end-to-end driving by itself. This paper firstly proposes an architecture for the end-to-end lane-keeping task. Unlike the traditional image-only state space, the presented state space is composed of both camera images and vehicle motion information. Then corresponding dueling neural network structure is introduced, which reduces the variance and improves sampling efficiency. Thirdly, the proposed method is applied to The Open Racing Car Simulator (TORCS) to demonstrate its great performance, where it surpasses human drivers. Finally, the saliency map of the neural network is visualized, which indicates the trained network drives by observing the lane lines. A video for the presented work is available online, https://youtu.be/76ciJmIHMD8 or https://v.youku.com/v_show/id_XNDM4ODc0MTM4NA==.html.

scholarly journals Stock Market Prediction Using Artificial Neural Networks

2012 ◽  
Vol 6-7 ◽  
pp. 1055-1060 ◽  
Author(s):  
Yang Bing ◽  
Jian Kun Hao ◽  
Si Chang Zhang
Keyword(s):  
Neural Network ◽  
Prediction Models ◽  
Learning Algorithm ◽  
Stock Exchange ◽  
Back Propagation ◽  
Composite Index ◽  
Network Models ◽  
Back Propagation Neural Network ◽  
Neural Network Models ◽  
The Neural Network

In this study we apply back propagation Neural Network models to predict the daily Shanghai Stock Exchange Composite Index. The learning algorithm and gradient search technique are constructed in the models. We evaluate the prediction models and conclude that the Shanghai Stock Exchange Composite Index is predictable in the short term. Empirical study shows that the Neural Network models is successfully applied to predict the daily highest, lowest, and closing value of the Shanghai Stock Exchange Composite Index, but it can not predict the return rate of the Shanghai Stock Exchange Composite Index in short terms.

scholarly journals Use of a Multilayer Perceptron to Automate Terrain Assessment for the Needs of the Armed Forces

2018 ◽  
Vol 7 (11) ◽  
pp. 430 ◽  
Author(s):  
Krzysztof Pokonieczny
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Multilayer Perceptron ◽  
Learning Algorithm ◽  
Armed Forces ◽  
Shuttle Radar Topography Mission ◽  
Terrain Classification ◽  
The Neural Network ◽  
Data Configuration ◽  
Trained Neural Network

The classification of terrain in terms of passability plays a significant role in the process of military terrain assessment. It involves classifying selected terrain to specific classes (GO, SLOW-GO, NO-GO). In this article, the problem of terrain classification to the respective category of passability was solved by applying artificial neural networks (multilayer perceptron) to generate a continuous Index of Passability (IOP). The neural networks defined this factor for primary fields in two sizes (1000 × 1000 m and 100 × 100 m) based on the land cover elements obtained from Vector Smart Map (VMap) Level 2 and Shuttle Radar Topography Mission (SRTM). The work used a feedforward neural network consisting of three layers. The paper presents a comprehensive analysis of the reliability of the neural network parameters, taking into account the number of neurons, learning algorithm, activation functions and input data configuration. The studies and tests carried out have shown that a well-trained neural network can automate the process of terrain classification in terms of passability conditions.

scholarly journals Use of neural networks in ground-based aerosol retrievals from multi-angle spectropolarimetric observations

2014 ◽  
Vol 7 (9) ◽  
pp. 9047-9094 ◽  
Author(s):  
A. Di Noia ◽  
O. P. Hasekamp ◽  
G. van Harten ◽  
J. H. H. Rietjens ◽  
J. M. Smit ◽  
...  
Keyword(s):  
Neural Network ◽  
Complex Refractive Index ◽  
Effective Radius ◽  
The Other ◽  
Look Up Table ◽  
The Neural Network ◽  
Retrieval Scheme ◽  
Small Set ◽  
Neural Network Algorithm ◽  
Aerosol Properties

Abstract. In this paper, the use of a neural network algorithm for the retrieval of the aerosol properties from ground-based spectropolarimetric measurements is discussed. The neural network is able to retrieve the aerosol properties with an accuracy that is almost comparable to that of an iterative retrieval. By using the outcome of the neural network as a first guess of the iterative retrieval scheme, the accuracy of the fine and coarse mode optical thickness are further improved while for the other parameters the improvement is small or absent. The resulting scheme (neural network + iterative retrieval) is compared to the original one (look-up table + iterative retrieval) on a set of simulated ground-based measurements, and on a small set of real observations carried out by an accurate ground-based spectropolarimeter. The results show that the use of a neural network based first guess leads to an increase in the number of converging retrievals, and possibly to more accurate estimates of the aerosol effective radius and complex refractive index.

Weight to Vision Neural Network Information Processing Influence Research

2012 ◽  
Vol 605-607 ◽  
pp. 2131-2136
Author(s):  
Chun Hua Yin ◽  
Jia Wei Chen ◽  
Lei Chen
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Information Processing ◽  
The Other ◽  
Chinese Characters ◽  
Initial Weight ◽  
Initial Value ◽  
Network Information ◽  
The Neural Network ◽  
Weight Distributions

Many factors influence vision neural network information processing process, for example: Signal initial value, weight, time and number of learning. This paper discussed the importance of weight in vision neural network information processing process. Different weight values can cause different results in neural networks learning. We structure a vision neural network model with three layers based on synapse dynamics at first. Then we change the weights of the vision neural network model’s to make the three layers a neural network of learning Chinese characters. At last we change the initial weight distribution to simulate the neural network of process of the learning Chinese words. Two results are produced. One is that weight plays a very important role in vision neural networks learning, the other is that different initial weight distributions have different results in vision neural networks learning.

scholarly journals FORECASTING OF THE SURFACE ROUGHNESS IN FINISHING MILLING USING NEURAL NETWORKS

2019 ◽  
Vol 4 (10) ◽  
pp. 135-141
Author(s):  
Е. Ерыгин ◽  
E. Erygin ◽  
Т. Дуюн ◽  
T. Duyun
Keyword(s):  
Neural Network ◽  
Cutting Tool ◽  
Learning Algorithm ◽  
Network Modeling ◽  
Training Sample ◽  
Neural Network Modeling ◽  
Network Learning ◽  
The Neural Network ◽  
And Training ◽  
Positive Results

This article describes the task of predicting roughness when finishing milling using neural network modeling. As a basis for the creation and training of an artificial neural network, a progressive formu-la for determining the roughness during finishing milling is chosen. The thermoEMF of the processing and processed materials is used as one of the parameters for calculating the roughness. The use of thermoEMF allows to take into account the material of the workpiece and the cutting tool, which af-fects the accuracy of the results. A training sample is created with data for five inputs and one output. The architecture, features and network learning algorithm are described. A neural network that de-termines the roughness for finishing milling has been created and configured. The process of learning and debugging of the neural network by means of graphs is clearly displayed. The network operability is checked on the test data, which allows obtaining positive results.

scholarly journals Diagnosing Diabetes Using Artificial Neural Networks

2020 ◽  
Vol 5 (2) ◽  
pp. 221-224
Author(s):  
Joy Oyinye Orukwo ◽  
Ledisi Giok Kabari
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Artificial Neural Networks ◽  
Success Rate ◽  
Medical Diagnosis ◽  
Learning Algorithm ◽  
Diabetes Diagnosis ◽  
Feed Forward Neural Network ◽  
The Neural Network ◽  
Artificial Neural

Diabetes has always been a silent killer and the number of people suffering from it has increased tremendously in the last few decades. More often than not, people continue with their normal lifestyle, unaware that their health is at severe risk and with each passing day diabetes goes undetected. Artificial Neural Networks have become extensively useful in medical diagnosis as it provides a powerful tool to help analyze, model and make sense of complex clinical data. This study developed a diabetes diagnosis system using feed-forward neural network with supervised learning algorithm. The neural network is systematically trained and tested and a success rate of 90% was achieved.

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