scholarly journals Evaluation of Reinforcement and Deep Learning Algorithms in Controlling Unmanned Aerial Vehicles

2021 ◽  
Vol 11 (16) ◽  
pp. 7240
Author(s):  
Yalew Zelalem Jembre ◽  
Yuniarto Wimbo Nugroho ◽  
Muhammad Toaha Raza Khan ◽  
Muhammad Attique ◽  
Rajib Paul ◽  
...  
Keyword(s):  
Machine Learning ◽  
Deep Learning ◽  
Unmanned Aerial Vehicles ◽  
Physical Environment ◽  
Learning Algorithms ◽  
Q Learning ◽  
Planning And Control ◽  
Aerial Vehicles ◽  
Reinforcement Learning Models ◽  
And Control

Unmanned Aerial Vehicles (UAVs) are abundantly becoming a part of society, which is a trend that is expected to grow even further. The quadrotor is one of the drone technologies that is applicable in many sectors and in both military and civilian activities, with some applications requiring autonomous flight. However, stability, path planning, and control remain significant challenges in autonomous quadrotor flights. Traditional control algorithms, such as proportional-integral-derivative (PID), have deficiencies, especially in tuning. Recently, machine learning has received great attention in flying UAVs to desired positions autonomously. In this work, we configure the quadrotor to fly autonomously by using agents (the machine learning schemes being used to fly the quadrotor autonomously) to learn about the virtual physical environment. The quadrotor will fly from an initial to a desired position. When the agent brings the quadrotor closer to the desired position, it is rewarded; otherwise, it is punished. Two reinforcement learning models, Q-learning and SARSA, and a deep learning deep Q-network network are used as agents. The simulation is conducted by integrating the robot operating system (ROS) and Gazebo, which allowed for the implementation of the learning algorithms and the physical environment, respectively. The result has shown that the Deep Q-network network with Adadelta optimizer is the best setting to fly the quadrotor from the initial to desired position.

Modeling and Simulation of Perching With a Quadrotor Aerial Robot With Passive Bio-inspired Legs and Feet

2020 ◽  
Vol 1 (2) ◽  
Author(s):  
David J. Dunlop ◽  
Mark A. Minor
Keyword(s):  
Unmanned Aerial Vehicles ◽  
Control Approach ◽  
Planning And Control ◽  
Aerial Vehicles ◽  
Physical Experiments ◽  
Control Research ◽  
Physical Prototype ◽  
And Control ◽  
Future Work ◽  
Quadrotor System

Abstract Perching in unmanned aerial vehicles is appealing for reconnaissance, monitoring, communications, and charging. This paper focuses on modeling, simulation, and control of bioinspired perching in unmanned aerial vehicles on cylindrical objects, which will be used for future planning and control research. A modular approach is taken where the quadrotor, legs, feet, and toes are modeled separately and then integrated to form a complete simulation system. New models of these components consider kinematics and dynamics of each element and their coupling through tendons that provide actuation. The integrated model is assembled to simulate a physical prototype and then validated based upon physical experiments to provide calibration. Simulation results evaluate the validated model performing perching with different gripper-perch alignments. The simulation environment developed in this research provides a foundation to research control approaches for use with the discussed passive perching mechanism. The simulation was validated to capture the dynamics of the real perching mechanism. This platform will be used in future work to develop a control approach that will be implemented in a quadrotor system to land and take-off from a perch in a reliable manner.

scholarly journals A Review of Deep Learning Methods and Applications for Unmanned Aerial Vehicles

2017 ◽  
Vol 2017 ◽  
pp. 1-13 ◽  
Author(s):  
Adrian Carrio ◽  
Carlos Sampedro ◽  
Alejandro Rodriguez-Ramos ◽  
Pascual Campoy
Keyword(s):  
Deep Learning ◽  
Unmanned Aerial Vehicles ◽  
Complex Data ◽  
Aerial Vehicles ◽  
Detailed Explanation ◽  
Learning Techniques ◽  
Security Surveillance ◽  
And Control ◽  
Robotic Tasks ◽  
Robotic Applications

Deep learning is recently showing outstanding results for solving a wide variety of robotic tasks in the areas of perception, planning, localization, and control. Its excellent capabilities for learning representations from the complex data acquired in real environments make it extremely suitable for many kinds of autonomous robotic applications. In parallel, Unmanned Aerial Vehicles (UAVs) are currently being extensively applied for several types of civilian tasks in applications going from security, surveillance, and disaster rescue to parcel delivery or warehouse management. In this paper, a thorough review has been performed on recent reported uses and applications of deep learning for UAVs, including the most relevant developments as well as their performances and limitations. In addition, a detailed explanation of the main deep learning techniques is provided. We conclude with a description of the main challenges for the application of deep learning for UAV-based solutions.

scholarly journals Semantic segmentation of PolSAR image data using advanced deep learning model

2021 ◽  
Vol 11 (1) ◽  
Author(s):  
Rajat Garg ◽  
Anil Kumar ◽  
Nikunj Bansal ◽  
Manish Prateek ◽  
Shashi Kumar
Keyword(s):  
Machine Learning ◽  
Remote Sensing ◽  
Deep Learning ◽  
Urban Area ◽  
Urban Areas ◽  
Learning Algorithms ◽  
Semantic Segmentation ◽  
Learning Model ◽  
Machine Learning Algorithms ◽  
Deep Learning Model

AbstractUrban area mapping is an important application of remote sensing which aims at both estimation and change in land cover under the urban area. A major challenge being faced while analyzing Synthetic Aperture Radar (SAR) based remote sensing data is that there is a lot of similarity between highly vegetated urban areas and oriented urban targets with that of actual vegetation. This similarity between some urban areas and vegetation leads to misclassification of the urban area into forest cover. The present work is a precursor study for the dual-frequency L and S-band NASA-ISRO Synthetic Aperture Radar (NISAR) mission and aims at minimizing the misclassification of such highly vegetated and oriented urban targets into vegetation class with the help of deep learning. In this study, three machine learning algorithms Random Forest (RF), K-Nearest Neighbour (KNN), and Support Vector Machine (SVM) have been implemented along with a deep learning model DeepLabv3+ for semantic segmentation of Polarimetric SAR (PolSAR) data. It is a general perception that a large dataset is required for the successful implementation of any deep learning model but in the field of SAR based remote sensing, a major issue is the unavailability of a large benchmark labeled dataset for the implementation of deep learning algorithms from scratch. In current work, it has been shown that a pre-trained deep learning model DeepLabv3+ outperforms the machine learning algorithms for land use and land cover (LULC) classification task even with a small dataset using transfer learning. The highest pixel accuracy of 87.78% and overall pixel accuracy of 85.65% have been achieved with DeepLabv3+ and Random Forest performs best among the machine learning algorithms with overall pixel accuracy of 77.91% while SVM and KNN trail with an overall accuracy of 77.01% and 76.47% respectively. The highest precision of 0.9228 is recorded for the urban class for semantic segmentation task with DeepLabv3+ while machine learning algorithms SVM and RF gave comparable results with a precision of 0.8977 and 0.8958 respectively.

scholarly journals Reviewing the relationship between machines and radiology: the application of artificial intelligence

2021 ◽  
Vol 10 (2) ◽  
pp. 205846012199029
Author(s):  
Rani Ahmad
Keyword(s):  
Artificial Intelligence ◽  
Machine Learning ◽  
Deep Learning ◽  
Health Care Professionals ◽  
Learning Algorithms ◽  
Machine Learning Algorithms ◽  
Health Science ◽  
Computer Algorithms ◽  
Learning Models ◽  
Specificity And Sensitivity

Background The scope and productivity of artificial intelligence applications in health science and medicine, particularly in medical imaging, are rapidly progressing, with relatively recent developments in big data and deep learning and increasingly powerful computer algorithms. Accordingly, there are a number of opportunities and challenges for the radiological community. Purpose To provide review on the challenges and barriers experienced in diagnostic radiology on the basis of the key clinical applications of machine learning techniques. Material and Methods Studies published in 2010–2019 were selected that report on the efficacy of machine learning models. A single contingency table was selected for each study to report the highest accuracy of radiology professionals and machine learning algorithms, and a meta-analysis of studies was conducted based on contingency tables. Results The specificity for all the deep learning models ranged from 39% to 100%, whereas sensitivity ranged from 85% to 100%. The pooled sensitivity and specificity were 89% and 85% for the deep learning algorithms for detecting abnormalities compared to 75% and 91% for radiology experts, respectively. The pooled specificity and sensitivity for comparison between radiology professionals and deep learning algorithms were 91% and 81% for deep learning models and 85% and 73% for radiology professionals (p < 0.000), respectively. The pooled sensitivity detection was 82% for health-care professionals and 83% for deep learning algorithms (p < 0.005). Conclusion Radiomic information extracted through machine learning programs form images that may not be discernible through visual examination, thus may improve the prognostic and diagnostic value of data sets.

scholarly journals Pervasive Lying Posture Tracking

Sensors ◽  
2020 ◽  
Vol 20 (20) ◽  
pp. 5953 ◽  
Author(s):  
Parastoo Alinia ◽  
Ali Samadani ◽  
Mladen Milosevic ◽  
Hassan Ghasemzadeh ◽  
Saman Parvaneh
Keyword(s):  
Machine Learning ◽  
Deep Learning ◽  
Computational Models ◽  
Learning Algorithms ◽  
Pressure Sensors ◽  
Machine Learning Algorithms ◽  
Sensor System ◽  
Accurate Detection ◽  
Research Questions ◽  
Posture Tracking

Automated lying-posture tracking is important in preventing bed-related disorders, such as pressure injuries, sleep apnea, and lower-back pain. Prior research studied in-bed lying posture tracking using sensors of different modalities (e.g., accelerometer and pressure sensors). However, there remain significant gaps in research regarding how to design efficient in-bed lying posture tracking systems. These gaps can be articulated through several research questions, as follows. First, can we design a single-sensor, pervasive, and inexpensive system that can accurately detect lying postures? Second, what computational models are most effective in the accurate detection of lying postures? Finally, what physical configuration of the sensor system is most effective for lying posture tracking? To answer these important research questions, in this article we propose a comprehensive approach for designing a sensor system that uses a single accelerometer along with machine learning algorithms for in-bed lying posture classification. We design two categories of machine learning algorithms based on deep learning and traditional classification with handcrafted features to detect lying postures. We also investigate what wearing sites are the most effective in the accurate detection of lying postures. We extensively evaluate the performance of the proposed algorithms on nine different body locations and four human lying postures using two datasets. Our results show that a system with a single accelerometer can be used with either deep learning or traditional classifiers to accurately detect lying postures. The best models in our approach achieve an F1 score that ranges from 95.2% to 97.8% with a coefficient of variation from 0.03 to 0.05. The results also identify the thighs and chest as the most salient body sites for lying posture tracking. Our findings in this article suggest that, because accelerometers are ubiquitous and inexpensive sensors, they can be a viable source of information for pervasive monitoring of in-bed postures.

scholarly journals Towards Neuromorphic Learning Machines Using Emerging Memory Devices with Brain-Like Energy Efficiency

2018 ◽  
Vol 8 (4) ◽  
pp. 34 ◽  
Author(s):  
Vishal Saxena ◽  
Xinyu Wu ◽  
Ira Srivastava ◽  
Kehan Zhu
Keyword(s):  
Machine Learning ◽  
Energy Efficiency ◽  
Deep Learning ◽  
Large Scale ◽  
Learning Algorithms ◽  
Memory Devices ◽  
Cognitive Computing ◽  
Mixed Signal ◽  
Von Neumann ◽  
Emerging Memory

The ongoing revolution in Deep Learning is redefining the nature of computing that is driven by the increasing amount of pattern classification and cognitive tasks. Specialized digital hardware for deep learning still holds its predominance due to the flexibility offered by the software implementation and maturity of algorithms. However, it is being increasingly desired that cognitive computing occurs at the edge, i.e., on hand-held devices that are energy constrained, which is energy prohibitive when employing digital von Neumann architectures. Recent explorations in digital neuromorphic hardware have shown promise, but offer low neurosynaptic density needed for scaling to applications such as intelligent cognitive assistants (ICA). Large-scale integration of nanoscale emerging memory devices with Complementary Metal Oxide Semiconductor (CMOS) mixed-signal integrated circuits can herald a new generation of Neuromorphic computers that will transcend the von Neumann bottleneck for cognitive computing tasks. Such hybrid Neuromorphic System-on-a-chip (NeuSoC) architectures promise machine learning capability at chip-scale form factor, and several orders of magnitude improvement in energy efficiency. Practical demonstration of such architectures has been limited as performance of emerging memory devices falls short of the expected behavior from the idealized memristor-based analog synapses, or weights, and novel machine learning algorithms are needed to take advantage of the device behavior. In this article, we review the challenges involved and present a pathway to realize large-scale mixed-signal NeuSoCs, from device arrays and circuits to spike-based deep learning algorithms with ‘brain-like’ energy-efficiency.

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