scholarly journals An Improved SOM-Based Method for Multi-Robot Task Assignment and Cooperative Search in Unknown Dynamic Environments

Energies ◽  
2020 ◽  
Vol 13 (12) ◽  
pp. 3296
Author(s):  
Hongwei Tang ◽  
Anping Lin ◽  
Wei Sun ◽  
Shuqi Shi
Keyword(s):  
Neural Network ◽  
Real Time ◽  
Task Assignment ◽  
Dynamic Environments ◽  
Self Organizing Map ◽  
Cooperative Search ◽  
Dynamic Task ◽  
Locking Mechanism ◽  
Som Neural Network ◽  
Multi Robot

The methods of task assignment and path planning have been reported by many researchers, but they are mainly focused on environments with prior information. In unknown dynamic environments, in which the real-time acquisition of the location information of obstacles is required, an integrated multi-robot dynamic task assignment and cooperative search method is proposed by combining an improved self-organizing map (SOM) neural network and the adaptive dynamic window approach (DWA). To avoid the robot oscillation and hovering issue that occurs with the SOM-based algorithm, an SOM neural network with a locking mechanism is developed to better realize task assignment. Then, in order to solve the obstacle avoidance problem and the speed jump problem, the weights of the winner of the SOM are updated by using an adaptive DWA. In addition, the proposed method can search dynamic multi-target in unknown dynamic environment, it can reassign tasks and re-plan searching paths in real time when the location of the targets and obstacle changes. The simulation results and comparative testing demonstrate the effectiveness and efficiency of the proposed method.

scholarly journals Music Waveform Analysis Based on SOM Neural Network and Big Data

2021 ◽  
Vol 2021 ◽  
pp. 1-11
Author(s):  
Xinmei Zhang
Keyword(s):  
Neural Network ◽  
Big Data ◽  
Audio Signal ◽  
The Self ◽  
Waveform Analysis ◽  
Self Organizing Map ◽  
Matching Method ◽  
Emotion Model ◽  
Som Neural Network ◽  
First Time

Music is an indispensable part of our life and study and is one of the most important forms of multimedia applications. With the development of deep learning and neural network in recent years, how to use cutting-edge technology to study and apply music has become a research hotspot. Music waveform is not only the main form of music frequency but also the basis of music feature extraction. This paper first designs a method of note extraction based on the fast Fourier transform principle of the audio signal packet route under the self-organizing map (SOM neural network) which can accurately extract the musical features of the note, such as amplitude, loudness, period, and so on. Secondly, the audio segments are divided into summary by adding window moving matching method, and the music features such as amplitude, loudness, and period of each bar are obtained according to the performance of audio signal in each bar. Finally, according to the similarity of the audio music theory of the adjacent summary of each bar, the audio segments are divided, and the music features of each segment are obtained. The traditional recurrent neural network (RNN) is improved, and the SOM neural network is used to recognize the audio emotion features. The final experimental results show that the proposed method based on SOM neural network and big data can effectively extract and analyze music waveform features. Compared with previous studies, this paper creatively proposed a new algorithm, which can more accurately and quickly extract and analyze the data sound waveform, and used SOM neural network to analyze the emotion model contained in music for the first time.

Task Allocation of Multiple Robotic Fishes Based on Self-Organizing Map Neural Network

2014 ◽  
Vol 563 ◽  
pp. 308-311 ◽  
Author(s):  
Yu Lian Jiang
Keyword(s):  
Neural Network ◽  
Task Allocation ◽  
Robotic Fish ◽  
The Self ◽  
Self Organizing Map ◽  
Ball Game ◽  
Target Task ◽  
Water Polo ◽  
Som Neural Network ◽  
Self Organizing

For a water polo ball game there are multiple water polos and multiple robotic fishes in each team, seeking a reasonable task allocation plan is the key point to win the game. To resolve the problem, this paper proposed a multi-target task allocation method based on the Self-organizing map (SOM) neural network. This method takes the position of the water polos as the input vector, competes and compares the position of the water polos and robotic fishes, outputs the corresponding robotic fish of each water polo. The robotic fish will move toward the target water polo when the weight was adjusted, and will finally reach the target water polo. Simulations show that the score of the team using this method is higher than another team. The results prove the correctness and reliability of this method.

scholarly journals Distributed on-line dynamic task assignment for multi-robot patrolling

2016 ◽  
Vol 41 (6) ◽  
pp. 1321-1345 ◽  
Author(s):  
Alessandro Farinelli ◽  
Luca Iocchi ◽  
Daniele Nardi
Keyword(s):  
Task Assignment ◽  
Dynamic Task ◽  
On Line ◽  
Dynamic Task Assignment ◽  
Multi Robot

scholarly journals Defect identification method for poplar veneer based on progressive growing generated adversarial network and MASK R-CNN model

BioResources ◽  
2020 ◽  
Vol 15 (2) ◽  
pp. 3041-3052
Author(s):  
Kai Hu ◽  
Baojin Wang ◽  
Yi Shen ◽  
Jieru Guan ◽  
Yi Cai
Keyword(s):  
Neural Network ◽  
Transfer Learning ◽  
Surface Defects ◽  
Learning Strategy ◽  
Back Propagation ◽  
Self Organizing Map ◽  
Generative Adversarial Network ◽  
Adversarial Network ◽  
Main Production ◽  
Som Neural Network

As the main production unit of plywood, the surface defects of veneer seriously affect the quality and grade of plywood. Therefore, a new method for identifying wood defects based on progressive growing generative adversarial network (PGGAN) and the MASK R-CNN model is presented. Poplar veneer was mainly studied in this paper, and its dead knots, live knots, and insect holes were identified and classified. The PGGAN model was used to expand the dataset of wood defect images. A key ideal employed the transfer learning in the base of MASK R-CNN with a classifier layer. Lastly, the trained model was used to identify and classify the veneer defects compared with the back- propagation (BP) neural network, self-organizing map (SOM) neural network, and convolutional neural network (CNN). Experimental results showed that under the same conditions, the algorithm proposed in this paper based on PGGAN and MASK R-CNN and the model obtained through the transfer learning strategy accurately identified the defects of live knots, dead knots, and insect holes. The accuracy of identification was 99.05%, 97.05%, and 99.10%, respectively.

scholarly journals On Unmanned Aerial Vehicles Light Show Systems: Algorithms, Software and Hardware

2021 ◽  
Vol 11 (16) ◽  
pp. 7687
Author(s):  
Jie Huang ◽  
Guoqing Tian ◽  
Jiancheng Zhang ◽  
Yutao Chen
Keyword(s):  
Real Time ◽  
Software Package ◽  
Task Assignment ◽  
3D Animation ◽  
Monitoring And Control ◽  
Real Time Monitoring ◽  
Dynamic Task ◽  
Assignment Algorithm ◽  
And Control ◽  
The Impact

Unmanned aerial vehicle (UAV) light shows (UAV-LS) have a wow factor due to their advantages in terms of environment friendliness and controllability compared to traditional fireworks. In this paper, a UAV-LS system is developed including a collision-free formation transformation trajectory planning algorithm, a software package that facilitates animation design and real-time monitoring and control, and hardware design and realization. In particular, a dynamic task assignment algorithm based on graph theory is proposed to reduce the impact of UAV collision avoidance on task assignment and the frequency of task assignment in the formation transformation. In addition, the software package consists of an animation interface for formation drawing and 3D animation simulation, which helps the monitoring and control of UAVs through a real-time monitoring application. The developed UAV-LS system hardware consists of subsystems of decision-making, real-time kinematic (RTK) global positioning system (GPS), wireless communication, and UAV platforms. Outdoor experiments using six quadrotors are performed and details of implementations of high-accuracy positioning, communication, and computation are presented. Results show that the developed UAV-LS system can successfully complete a light show and the proposed task assignment algorithm performs better than traditional static ones.

Integration of Self Organizing Map and Date Driven Methods to Predict Oil Formation Volume Factor: North Africa Crude Oil Examples

2021 ◽  
Author(s):  
Gamal Alusta ◽  
Hossein Algdamsi ◽  
Ahmed Amtereg ◽  
Ammar Agnia ◽  
Ahmed Alkouh ◽  
...  
Keyword(s):  
Neural Network ◽  
Multiple Regression ◽  
Statistical Prediction ◽  
Support Vector ◽  
Self Organizing Map ◽  
Volume Factor ◽  
Oil Formation Volume Factor ◽  
Som Neural Network ◽  
Oil Formation ◽  
Self Organizing

Abstract In this paper we introduce for the first time an innovative approach for deriving Oil Formation Volume Factor (Bo) by mean of artificial intelligence method. In a new proposed application Self-Organizing Map (SOM) technology has been merged with statistical prediction methods integrating in a single step dimensionality reduction, extraction of input data structure pattern and prediction of formation volume factor Bo. The SOM neural network method applies an unsupervised training algorithm combined with back propagation neural network BPNN to subdivide the entire set of PVT input into different patterns identifying a set of data that have something in common and run individual MLFF ANN models for each specific PVT cluster and computing Bo. PVT data for more than two hundred oil samples (total of 804 data points) were collected from the north African region representing different basin and covering a greater geographical area were used in this study. To establish clear Bound on the accuracy of Bo determination several statistical parameters and terminology included in the presentation of the result from SOM-Neural Network solution. the main outcome is the reduction of error obtained by the new proposed competitive Learning Structure integration of SOM and MLFF ANN to less than 1 % compared to other method. however also investigated in this work five independents means of model driven and data driven approach for estimating Bo theses are 1) Optimal Transformations for Multiple Regression as introduced by (McCain, 1998) using alternating conditional expectations (ACE) for selecting multiple regression transformations 2), Genetic programing and heuristic modeling using Symbolic Regression (SR) and cross validation for model automatic tuning 3) Machine learning predictive model (Nearest Neighbor Regression, Kernel Ridge regression, Gaussian Process Regression (GPR), Random Forest Regression (RF), Support Vector Regression (SVM), Decision Tree Regression (DT), Gradient Boosting Machine Regression (GBM), Group modeling data handling (GMDH). Regression Model Accuracy Metrics (Average absolute relative error, R-square), diagnostic plot was used to address the more adequate techniques and model for predicting Bo.

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