scholarly journals Development of a Basic Educational Kit for Robotic System with Deep Neural Networks

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3804
Author(s):  
Momomi Kanamura ◽  
Kanata Suzuki ◽  
Yuki Suga ◽  
Tetsuya Ogata
Keyword(s):  
Machine Learning ◽  
Neural Networks ◽  
Deep Neural Networks ◽  
System Development ◽  
Development Stage ◽  
Robotic System ◽  
Experience Based Learning ◽  
System Flow ◽  
Robot Tasks ◽  
And Task

In many robotics studies, deep neural networks (DNNs) are being actively studied due to their good performance. However, existing robotic techniques and DNNs have not been systematically integrated, and packages for beginners are yet to be developed. In this study, we proposed a basic educational kit for robotic system development with DNNs. Our goal was to educate beginners in both robotics and machine learning, especially the use of DNNs. Initially, we required the kit to (1) be easy to understand, (2) employ experience-based learning, and (3) be applicable in many areas. To clarify the learning objectives and important parts of the basic educational kit, we analyzed the research and development (R&D) of DNNs and divided the process into three steps of data collection (DC), machine learning (ML), and task execution (TE). These steps were configured under a hierarchical system flow with the ability to be executed individually at the development stage. To evaluate the practicality of the proposed system flow, we implemented it for a physical robotic grasping system using robotics middleware. We also demonstrated that the proposed system can be effectively applied to other hardware, sensor inputs, and robot tasks.

scholarly journals Trigonometric Inference Providing Learning in Deep Neural Networks

2021 ◽  
Vol 11 (15) ◽  
pp. 6704
Author(s):  
Jingyong Cai ◽  
Masashi Takemoto ◽  
Yuming Qiu ◽  
Hironori Nakajo
Keyword(s):  
Machine Learning ◽  
Neural Networks ◽  
Deep Neural Networks ◽  
Activation Function ◽  
Trigonometric Approximation ◽  
Model Parameters ◽  
Training Algorithms ◽  
Activation Functions ◽  
Classical Training ◽  
Sum Formula

Despite being heavily used in the training of deep neural networks (DNNs), multipliers are resource-intensive and insufficient in many different scenarios. Previous discoveries have revealed the superiority when activation functions, such as the sigmoid, are calculated by shift-and-add operations, although they fail to remove multiplications in training altogether. In this paper, we propose an innovative approach that can convert all multiplications in the forward and backward inferences of DNNs into shift-and-add operations. Because the model parameters and backpropagated errors of a large DNN model are typically clustered around zero, these values can be approximated by their sine values. Multiplications between the weights and error signals are transferred to multiplications of their sine values, which are replaceable with simpler operations with the help of the product to sum formula. In addition, a rectified sine activation function is utilized for further converting layer inputs into sine values. In this way, the original multiplication-intensive operations can be computed through simple add-and-shift operations. This trigonometric approximation method provides an efficient training and inference alternative for devices with insufficient hardware multipliers. Experimental results demonstrate that this method is able to obtain a performance close to that of classical training algorithms. The approach we propose sheds new light on future hardware customization research for machine learning.

414 Deep Neural Networks: A Survey Tool for Obstructive Sleep Apnea Prediction

SLEEP ◽  
2021 ◽  
Vol 44 (Supplement_2) ◽  
pp. A164-A164
Author(s):  
Pahnwat Taweesedt ◽  
JungYoon Kim ◽  
Jaehyun Park ◽  
Jangwoon Park ◽  
Munish Sharma ◽  
...  
Keyword(s):  
Machine Learning ◽  
Neural Networks ◽  
Obstructive Sleep Apnea ◽  
Sleep Apnea ◽  
Deep Neural Networks ◽  
Support Vector ◽  
Learning Models ◽  
Obstructive Sleep ◽  
Screening Questionnaires ◽  
Machine Learning Models

Abstract Introduction Obstructive sleep apnea (OSA) is a common sleep-related breathing disorder with an estimation of one billion people. Full-night polysomnography is considered the gold standard for OSA diagnosis. However, it is time-consuming, expensive and is not readily available in many parts of the world. Many screening questionnaires and scores have been proposed for OSA prediction with high sensitivity and low specificity. The present study is intended to develop models with various machine learning techniques to predict the severity of OSA by incorporating features from multiple questionnaires. Methods Subjects who underwent full-night polysomnography in Torr sleep center, Texas and completed 5 OSA screening questionnaires/scores were included. OSA was diagnosed by using Apnea-Hypopnea Index ≥ 5. We trained five different machine learning models including Deep Neural Networks with the scaled principal component analysis (DNN-PCA), Random Forest (RF), Adaptive Boosting classifier (ABC), and K-Nearest Neighbors classifier (KNC) and Support Vector Machine Classifier (SVMC). Training:Testing subject ratio of 65:35 was used. All features including demographic data, body measurement, snoring and sleepiness history were obtained from 5 OSA screening questionnaires/scores (STOP-BANG questionnaires, Berlin questionnaires, NoSAS score, NAMES score and No-Apnea score). Performance parametrics were used to compare between machine learning models. Results Of 180 subjects, 51.5 % of subjects were male with mean (SD) age of 53.6 (15.1). One hundred and nineteen subjects were diagnosed with OSA. Area Under the Receiver Operating Characteristic Curve (AUROC) of DNN-PCA, RF, ABC, KNC, SVMC, STOP-BANG questionnaire, Berlin questionnaire, NoSAS score, NAMES score, and No-Apnea score were 0.85, 0.68, 0.52, 0.74, 0.75, 0.61, 0.63, 0,61, 0.58 and 0,58 respectively. DNN-PCA showed the highest AUROC with sensitivity of 0.79, specificity of 0.67, positive-predictivity of 0.93, F1 score of 0.86, and accuracy of 0.77. Conclusion Our result showed that DNN-PCA outperforms OSA screening questionnaires, scores and other machine learning models. Support (if any):

scholarly journals A Survey on Bias in Deep NLP

2021 ◽  
Vol 11 (7) ◽  
pp. 3184
Author(s):  
Ismael Garrido-Muñoz  ◽  
Arturo Montejo-Ráez  ◽  
Fernando Martínez-Santiago  ◽  
L. Alfonso Ureña-López 
Keyword(s):  
Machine Learning ◽  
Neural Networks ◽  
Natural Language Processing ◽  
Probability Distribution ◽  
Natural Language ◽  
Network Design ◽  
Language Processing ◽  
Deep Neural Networks ◽  
Learning Processes ◽  
Relevant Issue

Deep neural networks are hegemonic approaches to many machine learning areas, including natural language processing (NLP). Thanks to the availability of large corpora collections and the capability of deep architectures to shape internal language mechanisms in self-supervised learning processes (also known as “pre-training”), versatile and performing models are released continuously for every new network design. These networks, somehow, learn a probability distribution of words and relations across the training collection used, inheriting the potential flaws, inconsistencies and biases contained in such a collection. As pre-trained models have been found to be very useful approaches to transfer learning, dealing with bias has become a relevant issue in this new scenario. We introduce bias in a formal way and explore how it has been treated in several networks, in terms of detection and correction. In addition, available resources are identified and a strategy to deal with bias in deep NLP is proposed.

scholarly journals Representing Deep Neural Networks Latent Space Geometries with Graphs

Algorithms ◽  
2021 ◽  
Vol 14 (2) ◽  
pp. 39
Author(s):  
Carlos Lassance ◽  
Vincent Gripon ◽  
Antonio Ortega
Keyword(s):  
Machine Learning ◽  
Neural Networks ◽  
Deep Learning ◽  
Objective Function ◽  
Learning Process ◽  
Deep Neural Networks ◽  
State Of The Art ◽  
The Core ◽  
Learning Tasks ◽  
Latent Space

Deep Learning (DL) has attracted a lot of attention for its ability to reach state-of-the-art performance in many machine learning tasks. The core principle of DL methods consists of training composite architectures in an end-to-end fashion, where inputs are associated with outputs trained to optimize an objective function. Because of their compositional nature, DL architectures naturally exhibit several intermediate representations of the inputs, which belong to so-called latent spaces. When treated individually, these intermediate representations are most of the time unconstrained during the learning process, as it is unclear which properties should be favored. However, when processing a batch of inputs concurrently, the corresponding set of intermediate representations exhibit relations (what we call a geometry) on which desired properties can be sought. In this work, we show that it is possible to introduce constraints on these latent geometries to address various problems. In more detail, we propose to represent geometries by constructing similarity graphs from the intermediate representations obtained when processing a batch of inputs. By constraining these Latent Geometry Graphs (LGGs), we address the three following problems: (i) reproducing the behavior of a teacher architecture is achieved by mimicking its geometry, (ii) designing efficient embeddings for classification is achieved by targeting specific geometries, and (iii) robustness to deviations on inputs is achieved via enforcing smooth variation of geometry between consecutive latent spaces. Using standard vision benchmarks, we demonstrate the ability of the proposed geometry-based methods in solving the considered problems.

EMOTIONS RECOGNITION IN HUMAN SPEECH USING DEEP NEURAL NETWORKS

2021 ◽  
pp. 44-51
Author(s):  
E. Yu. Shchetinin
Keyword(s):  
Neural Network ◽  
Machine Learning ◽  
Neural Networks ◽  
Convolutional Neural Network ◽  
Recurrent Neural Network ◽  
Deep Neural Networks ◽  
Learning Algorithms ◽  
Machine Learning Algorithms ◽  
Audio Recordings ◽  
Computer Studies

The recognition of human emotions is one of the most relevant and dynamically developing areas of modern speech technologies, and the recognition of emotions in speech (RER) is the most demanded part of them. In this paper, we propose a computer model of emotion recognition based on an ensemble of bidirectional recurrent neural network with LSTM memory cell and deep convolutional neural network ResNet18. In this paper, computer studies of the RAVDESS database containing emotional speech of a person are carried out. RAVDESS-a data set containing 7356 files. Entries contain the following emotions: 0 – neutral, 1 – calm, 2 – happiness, 3 – sadness, 4 – anger, 5 – fear, 6 – disgust, 7 – surprise. In total, the database contains 16 classes (8 emotions divided into male and female) for a total of 1440 samples (speech only). To train machine learning algorithms and deep neural networks to recognize emotions, existing audio recordings must be pre-processed in such a way as to extract the main characteristic features of certain emotions. This was done using Mel-frequency cepstral coefficients, chroma coefficients, as well as the characteristics of the frequency spectrum of audio recordings. In this paper, computer studies of various models of neural networks for emotion recognition are carried out on the example of the data described above. In addition, machine learning algorithms were used for comparative analysis. Thus, the following models were trained during the experiments: logistic regression (LR), classifier based on the support vector machine (SVM), decision tree (DT), random forest (RF), gradient boosting over trees – XGBoost, convolutional neural network CNN, recurrent neural network RNN (ResNet18), as well as an ensemble of convolutional and recurrent networks Stacked CNN-RNN. The results show that neural networks showed much higher accuracy in recognizing and classifying emotions than the machine learning algorithms used. Of the three neural network models presented, the CNN + BLSTM ensemble showed higher accuracy.

Framework for TCAD augmented machine learning on multi- I–V characteristics using convolutional neural network and multiprocessing

2021 ◽  
Vol 42 (12) ◽  
pp. 124101
Author(s):  
Thomas Hirtz ◽  
Steyn Huurman ◽  
He Tian ◽  
Yi Yang ◽  
Tian-Ling Ren
Keyword(s):  
Machine Learning ◽  
Neural Networks ◽  
Information Technologies ◽  
Deep Neural Networks ◽  
State Of The Art ◽  
Data Driven ◽  
Sufficient Data ◽  
Learning Models ◽  
Simulation Tools ◽  
New Information

Abstract In a world where data is increasingly important for making breakthroughs, microelectronics is a field where data is sparse and hard to acquire. Only a few entities have the infrastructure that is required to automate the fabrication and testing of semiconductor devices. This infrastructure is crucial for generating sufficient data for the use of new information technologies. This situation generates a cleavage between most of the researchers and the industry. To address this issue, this paper will introduce a widely applicable approach for creating custom datasets using simulation tools and parallel computing. The multi-I–V curves that we obtained were processed simultaneously using convolutional neural networks, which gave us the ability to predict a full set of device characteristics with a single inference. We prove the potential of this approach through two concrete examples of useful deep learning models that were trained using the generated data. We believe that this work can act as a bridge between the state-of-the-art of data-driven methods and more classical semiconductor research, such as device engineering, yield engineering or process monitoring. Moreover, this research gives the opportunity to anybody to start experimenting with deep neural networks and machine learning in the field of microelectronics, without the need for expensive experimentation infrastructure.

Chapter 15. Human-Centered Concept Explanations for Neural Networks

2021 ◽  
Author(s):  
Chih-Kuan Yeh ◽  
Been Kim ◽  
Pradeep Ravikumar
Keyword(s):  
Machine Learning ◽  
Neural Networks ◽  
Case Studies ◽  
Real World ◽  
Deep Neural Networks ◽  
Learning Models ◽  
Real World Applications ◽  
The Right ◽  
Concept Activation ◽  
Machine Learning Models

Understanding complex machine learning models such as deep neural networks with explanations is crucial in various applications. Many explanations stem from the model perspective, and may not necessarily effectively communicate why the model is making its predictions at the right level of abstraction. For example, providing importance weights to individual pixels in an image can only express which parts of that particular image is important to the model, but humans may prefer an explanation which explains the prediction by concept-based thinking. In this work, we review the emerging area of concept based explanations. We start by introducing concept explanations including the class of Concept Activation Vectors (CAV) which characterize concepts using vectors in appropriate spaces of neural activations, and discuss different properties of useful concepts, and approaches to measure the usefulness of concept vectors. We then discuss approaches to automatically extract concepts, and approaches to address some of their caveats. Finally, we discuss some case studies that showcase the utility of such concept-based explanations in synthetic settings and real world applications.

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