Position and pose measurement of 3-PRS ankle rehabilitation robot based on deep learning

2020 ◽  
Vol 13 ◽  
Author(s):  
Guoqiang Chen ◽  
Hongpeng Zhou ◽  
Junjie Huang ◽  
Mengchao Liu ◽  
Bingxin Bai
Keyword(s):  
Neural Network ◽  
Deep Learning ◽  
Real Time ◽  
Medical Staff ◽  
Back Propagation ◽  
Back Propagation Neural Network ◽  
Good Effect ◽  
Rehabilitation Robot ◽  
Ankle Rehabilitation ◽  
Robot Position

Introduction: The position and pose measurement of the rehabilitation robot plays a very important role in patient rehabilitation movement, and the non-contact real-time robot position and pose measurement is of great significance. Rehabilitation training is a relatively complicated process, so it is very important to detect the training process of the rehabilitation robot in real time and accuracy. The method of the deep learning has a very good effect on monitoring the rehabilitation robot state. Methods: The structure sketch and the 3D model of the 3-PRS ankle rehabilitation robot are established, and the mechanism kinematics is analyzed to obtain the relationship between the driving input - the three slider heights - and the position and pose parameters. The whole network of the position and pose measurement is composed of two stages: (1) measuring the slider heights using the CNN based on the robot image and (2) calculating the position and pose parameter using the BPNN based on the measured slider heights from the CNN. According to the characteristics of continuous variation of the slider heights, a regression CNN is proposed and established to measure the robot slider height. Based on the data calculated by using the inverse kinematics of the 3-PRS ankle rehabilitation robot, a BPNN is established to solve the forward kinematics for the position and pose. Results: The experimental results show that the regression CNN outputs the slider height and then the BPNN accurately outputs the corresponding position and pose. Eventually, the position and pose parameters are obtained from the robot image. Compared with the traditional robot position and pose measurement method, the proposed method has significant advantages. Conclusion: The proposed 3-PRS ankle rehabilitation position and pose method can not only shorten the experiment period and cost, but also get excellent timeliness and precision. The proposed approach can help the medical staff to monitor the status of the rehabilitation robot and help the patient rehabilitation in training. Discussion: The goal of the work is to construct a new position and pose detection network based on the combination of the regression convolutional neural network (CNN) and the back propagation neural network (BPNN). The main contribution is to measure the position and pose of the 3-PRS ankle rehabilitation robot in real time, which improves the measurement accuracy and the efficiency of the medical staff work.

An Anatomy of a Hybrid Color Descriptor with a Neural Network Model to Enhance the Retrieval Accuracy of an Image Retrieval System

2019 ◽  
Vol 13 ◽  
Author(s):  
Shikha Bhardwaj ◽  
Gitanjali Pandove ◽  
Pawan Kumar Dahiya
Keyword(s):  
Neural Network ◽  
Deep Learning ◽  
Image Retrieval ◽  
Hybrid System ◽  
Back Propagation ◽  
Back Propagation Neural Network ◽  
Retrieval Accuracy ◽  
Color Descriptor ◽  
Benchmark Datasets ◽  
Color Moment

Background: In order to retrieve a particular image from vast repository of images, an efficient system is required and such an eminent system is well-known by the name Content-based image retrieval (CBIR) system. Color is indeed an important attribute of an image and the proposed system consist of a hybrid color descriptor which is used for color feature extraction. Deep learning, has gained a prominent importance in the current era. So, the performance of this fusion based color descriptor is also analyzed in the presence of Deep learning classifiers. Method: This paper describes a comparative experimental analysis on various color descriptors and the best two are chosen to form an efficient color based hybrid system denoted as combined color moment-color autocorrelogram (Co-CMCAC). Then, to increase the retrieval accuracy of the hybrid system, a Cascade forward back propagation neural network (CFBPNN) is used. The classification accuracy obtained by using CFBPNN is also compared to Patternnet neural network. Results: The results of the hybrid color descriptor depict that the proposed system has superior results of the order of 95.4%, 88.2%, 84.4% and 96.05% on Corel-1K, Corel-5K, Corel-10K and Oxford flower benchmark datasets respectively as compared to many state-of-the-art related techniques. Conclusion: This paper depict an experimental and analytical analysis on different color feature descriptors namely, Color moment (CM), Color auto-correlogram (CAC), Color histogram (CH), Color coherence vector (CCV) and Dominant color descriptor (DCD). The proposed hybrid color descriptor (Co-CMCAC) is utilized for the withdrawal of color features with Cascade forward back propagation neural network (CFBPNN) is used as a classifier on four benchmark datasets namely Corel-1K, Corel-5K and Corel-10K and Oxford flower.

scholarly journals Face Recognition Model Using Back Propagation

2018 ◽  
Vol 7 (3.34) ◽  
pp. 237
Author(s):  
R Aswini Priyanka ◽  
C Ashwitha ◽  
R Arun Chakravarthi ◽  
R Prakash
Keyword(s):  
Neural Network ◽  
Deep Learning ◽  
Face Recognition ◽  
Back Propagation ◽  
Back Propagation Neural Network ◽  
Face Identification ◽  
Identification System ◽  
Scientific World ◽  
The Face ◽  
Deep Learning Neural Network

In scientific world, Face recognition becomes an important research topic. The face identification system is an application capable of verifying a human face from a live videos or digital images. One of the best methods is to compare the particular facial attributes of a person with the images and its database. It is widely used in biometrics and security systems. Back in old days, face identification was a challenging concept. Because of the variations in viewpoint and facial expression, the deep learning neural network came into the technology stack it’s been very easy to detect and recognize the faces. The efficiency has increased dramatically. In this paper, ORL database is about the ten images of forty people helps to evaluate our methodology. We use the concept of Back Propagation Neural Network (BPNN) in deep learning model is to recognize the faces and increase the efficiency of the model compared to previously existing face recognition models.   

scholarly journals Real-Time Stripe Width Computation Using Back Propagation Neural Network for Adaptive Control of Line Structured Light Sensors

Sensors ◽  
2020 ◽  
Vol 20 (9) ◽  
pp. 2618 ◽  
Author(s):  
Jingbo Zhou ◽  
Laisheng Pan ◽  
Yuehua Li ◽  
Peng Liu ◽  
Lijian Liu
Keyword(s):  
Neural Network ◽  
Adaptive Control ◽  
Real Time ◽  
Exposure Time ◽  
Control Method ◽  
Structured Light ◽  
Back Propagation ◽  
Back Propagation Neural Network ◽  
Stripe Width ◽  
Accuracy Result

A line structured light sensor (LSLS) is generally constituted of a laser line projector and a camera. With the advantages of simple construction, non-contact, and high measuring speed, it is of great perspective in 3D measurement. For traditional LSLSs, the camera exposure time is usually fixed while the surface properties can be varied for different measurement tasks. This would lead to under/over exposure of the stripe images or even failure of the measurement. To avoid these undesired situations, an adaptive control method was proposed to modulate the average stripe width (ASW) within a favorite range. The ASW is first computed based on the back propagation neural network (BPNN), which can reach a high accuracy result and reduce the runtime dramatically. Then, the approximate linear relationship between the ASW and the exposure time was demonstrated via a series of experiments. Thus, a linear iteration procedure was proposed to compute the optimal camera exposure time. When the optimized exposure time is real-time adjusted, stripe images with the favorite ASW can be obtained during the whole scanning process. The smoothness of the stripe center lines and the surface integrity can be improved. A small proportion of the invalid stripe images further proves the effectiveness of the control method.

Real-Time Reliability Assessment of Wind Turbine Components Using a Back-Propagation Neural Network and SCADA Data

2021 ◽  
Author(s):  
Shenglei Du ◽  
Jingmei Guo ◽  
Lin Yi ◽  
Chen Zhang ◽  
Shi Liu
Keyword(s):  
Neural Network ◽  
Wind Turbine ◽  
Real Time ◽  
Back Propagation ◽  
Reliability Assessment ◽  
Back Propagation Neural Network ◽  
Condition Assessment ◽  
Assessment Method ◽  
Operating Conditions ◽  
Research Trend

Abstract The high cost of operation and maintenance (O&M) management has become an important factor hindering the sustainable development of the wind power industry. Performing accurate condition assessment of wind turbine components to optimize the structural design and O&M strategy has become a research trend. However, the random and varying operating conditions of wind turbines make this problem difficult and challenging. A Supervisory Control and Data Acquisition (SCADA) system collects signals that contain a large amount of raw and useful information from critical wind turbine sub-assemblies. Extracting key information from the SCADA data is an economical and effective way for condition assessment. A real-time reliability assessment method of wind turbine components using a Back-Propagation Neural Network (BPNN) and SCADA data is presented in this paper. The normal behavior models are established with the processed SCADA data, and the real-time reliability of wind turbine components are assessed based on the prediction result. For verification, the BPNN-based reliability assessment method is applied to a gearbox with real SCADA data of a 1.5MW onshore wind turbine located along the southeast coast of China. The results show the capability of the proposed model in assessing the reliability of wind turbine components continuously and in real time.

scholarly journals Trace Identification and Visualization of Multiple Benzimidazole Pesticide Residues on Toona sinensis Leaves Using Terahertz Imaging Combined with Deep Learning

2021 ◽  
Vol 22 (7) ◽  
pp. 3425
Author(s):  
Pengcheng Nie ◽  
Fangfang Qu ◽  
Lei Lin ◽  
Yong He ◽  
Xuping Feng ◽  
...  
Keyword(s):  
Neural Network ◽  
Deep Learning ◽  
Pesticide Residues ◽  
Molecular Spectroscopy ◽  
Back Propagation ◽  
Back Propagation Neural Network ◽  
Rapid Identification ◽  
Molecular Structures ◽  
Thz Imaging ◽  
Toona Sinensis

Molecular spectroscopy has been widely used to identify pesticides. The main limitation of this approach is the difficulty of identifying pesticides with similar molecular structures. When these pesticide residues are in trace and mixed states in plants, it poses great challenges for practical identification. This study proposed a state-of-the-art method for the rapid identification of trace (10 mg·L−1) and multiple similar benzimidazole pesticide residues on the surface of Toona sinensis leaves, mainly including benzoyl (BNL), carbendazim (BCM), thiabendazole (TBZ), and their mixtures. The new method combines high-throughput terahertz (THz) imaging technology with a deep learning framework. To further improve the model reliability beyond the THz fingerprint peaks (BNL: 0.70, 1.07, 2.20 THz; BCM: 1.16, 1.35, 2.32 THz; TBZ: 0.92, 1.24, 1.66, 1.95, 2.58 THz), we extracted the absorption spectra in frequencies of 0.2–2.2 THz from images as the input to the deep convolution neural network (DCNN). Compared with fuzzy Sammon clustering and four back-propagation neural network (BPNN) models (TrainCGB, TrainCGF, TrainCGP, and TrainRP), DCNN achieved the highest prediction accuracies of 100%, 94.51%, 96.26%, 94.64%, 98.81%, 94.90%, 96.17%, and 96.99% for the control check group, BNL, BCM, TBZ, BNL + BCM, BNL + TBZ, BCM + TBZ, and BNL + BCM + TBZ, respectively. Taking advantage of THz imaging and DCNN, the image visualization of pesticide distribution and residue types on leaves was realized simultaneously. The results demonstrated that THz imaging and deep learning can be potentially adopted for rapid-sensing detection of trace multi-residues on leaf surfaces, which is of great significance for agriculture and food safety.

scholarly journals Forecasting Ionospheric foF2 Based on Deep Learning Method

2021 ◽  
Vol 13 (19) ◽  
pp. 3849
Author(s):  
Xiaojun Li ◽  
Chen Zhou ◽  
Qiong Tang ◽  
Jun Zhao ◽  
Fubin Zhang ◽  
...  
Keyword(s):  
Neural Network ◽  
Deep Learning ◽  
Short Term Memory ◽  
Back Propagation ◽  
Back Propagation Neural Network ◽  
Sequential Data ◽  
Activity Maximum ◽  
Forecasting Accuracy ◽  
Ionosphere Model ◽  
Forecasting Performance

In this paper, a deep learning long-short-term memory (LSTM) method is applied to the forecasting of the critical frequency of the ionosphere F2 layer (foF2). Hourly values of foF2 from 10 ionospheric stations in China and Australia (based on availability) from 2006 to 2019 are used for training and verifying. While 2015 and 2019 are exclusive for verifying the forecasting accuracy. The inputs of the LSTM model are sequential data for the previous values, which include local time (LT), day number, solar zenith angle, the sunspot number (SSN), the daily F10.7 solar flux, geomagnetic the Ap and Kp indices, geographic coordinates, neutral winds, and the observed value of foF2 at the previous moment. To evaluate the forecasting ability of the deep learning LSTM model, two different neural network forecasting models: a back-propagation neural network (BPNN) and a genetic algorithm optimized backpropagation neural network (GABP) were established for comparative analysis. The foF2 parameters were forecasted under geomagnetic quiet and geomagnetic disturbed conditions during solar activity maximum (2015) and minimum (2019), respectively. The forecasting results of these models are compared with those of the international reference ionosphere model (IRI2016) and the measurements. The diurnal and seasonal variations of foF2 for the 4 models were compared and analyzed from 8 selected verification stations. The forecasting results reveal that the deep learning LSTM model presents the optimal performance of all models in forecasting the time series of foF2, while the IRI2016 model has the poorest forecasting performance, and the BPNN model and GABP model are between two of them.

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