An Efficient Learning of Neural Networks to Acquire Inverse Kinematics Model

Author(s):  
Fusaomi Nagata ◽  
Maki K. Habib ◽  
Keigo Watanabe

In this chapter, effective learning approach of inverse kinematics using neural networks with efficient weights update ability has been presented for a serial link structure and industrial robot. Generally, in making neural networks learn a relation among multi inputs and outputs, a desired training data set prepared in advance is used. The training data set consists of multiple pairs of input and output vectors. The input layer receives each input vector for forward computation, and it is compared with the yielded vector from the output layer. The time required for the learning process of the neural networks depends on the number of total weights in the neural networks and that of the input-output pairs in the training data set.

Sensors ◽  
2020 ◽  
Vol 21 (1) ◽  
pp. 11
Author(s):  
Domonkos Haffner ◽  
Ferenc Izsák

The localization of multiple scattering objects is performed while using scattered waves. An up-to-date approach: neural networks are used to estimate the corresponding locations. In the scattering phenomenon under investigation, we assume known incident plane waves, fully reflecting balls with known diameters and measurement data of the scattered wave on one fixed segment. The training data are constructed while using the simulation package μ-diff in Matlab. The structure of the neural networks, which are widely used for similar purposes, is further developed. A complex locally connected layer is the main compound of the proposed setup. With this and an appropriate preprocessing of the training data set, the number of parameters can be kept at a relatively low level. As a result, using a relatively large training data set, the unknown locations of the objects can be estimated effectively.


2019 ◽  
Vol 488 (4) ◽  
pp. 5232-5250 ◽  
Author(s):  
Alexander Chaushev ◽  
Liam Raynard ◽  
Michael R Goad ◽  
Philipp Eigmüller ◽  
David J Armstrong ◽  
...  

ABSTRACT Vetting of exoplanet candidates in transit surveys is a manual process, which suffers from a large number of false positives and a lack of consistency. Previous work has shown that convolutional neural networks (CNN) provide an efficient solution to these problems. Here, we apply a CNN to classify planet candidates from the Next Generation Transit Survey (NGTS). For training data sets we compare both real data with injected planetary transits and fully simulated data, as well as how their different compositions affect network performance. We show that fewer hand labelled light curves can be utilized, while still achieving competitive results. With our best model, we achieve an area under the curve (AUC) score of $(95.6\pm {0.2}){{\ \rm per\ cent}}$ and an accuracy of $(88.5\pm {0.3}){{\ \rm per\ cent}}$ on our unseen test data, as well as $(76.5\pm {0.4}){{\ \rm per\ cent}}$ and $(74.6\pm {1.1}){{\ \rm per\ cent}}$ in comparison to our existing manual classifications. The neural network recovers 13 out of 14 confirmed planets observed by NGTS, with high probability. We use simulated data to show that the overall network performance is resilient to mislabelling of the training data set, a problem that might arise due to unidentified, low signal-to-noise transits. Using a CNN, the time required for vetting can be reduced by half, while still recovering the vast majority of manually flagged candidates. In addition, we identify many new candidates with high probabilities which were not flagged by human vetters.


Author(s):  
Fusaomi Nataga ◽  
Maki K. Habib ◽  
Keigo Watanabe

In making neural networks learn nonlinear relations effectively, it is desired to have appropriate training sets. In the proposed method, after a certain number of iterations, input-output pairs having worse errors are extracted from the original training set and form a new temporary set. From the following iteration, the temporary set is applied to the neural networks instead of the original set. In this case, only pairs with worse errors are used for updating the weights until the mean value of errors decreases to a desired level. Once the learning is conducted using the temporary set, the original set is applied again instead of the temporary set. The effectiveness of the proposed approach is demonstrated through simulations using kinematic models of a leg module with a serial link structure and an industrial robot.


2021 ◽  
Vol 11 (15) ◽  
pp. 6723
Author(s):  
Ariana Raluca Hategan ◽  
Romulus Puscas ◽  
Gabriela Cristea ◽  
Adriana Dehelean ◽  
Francois Guyon ◽  
...  

The present work aims to test the potential of the application of Artificial Neural Networks (ANNs) for food authentication. For this purpose, honey was chosen as the working matrix. The samples were originated from two countries: Romania (50) and France (53), having as floral origins: acacia, linden, honeydew, colza, galium verum, coriander, sunflower, thyme, raspberry, lavender and chestnut. The ANNs were built on the isotope and elemental content of the investigated honey samples. This approach conducted to the development of a prediction model for geographical recognition with an accuracy of 96%. Alongside this work, distinct models were developed and tested, with the aim of identifying the most suitable configurations for this application. In this regard, improvements have been continuously performed; the most important of them consisted in overcoming the unwanted phenomenon of over-fitting, observed for the training data set. This was achieved by identifying appropriate values for the number of iterations over the training data and for the size and number of the hidden layers and by introducing of a dropout layer in the configuration of the neural structure. As a conclusion, ANNs can be successfully applied in food authenticity control, but with a degree of caution with respect to the “over optimization” of the correct classification percentage for the training sample set, which can lead to an over-fitted model.


2019 ◽  
Vol 2019 (02) ◽  
pp. 89-98
Author(s):  
Vijayakumar T

Predicting the category of tumors and the types of the cancer in its early stage remains as a very essential process to identify depth of the disease and treatment available for it. The neural network that functions similar to the human nervous system is widely utilized in the tumor investigation and the cancer prediction. The paper presents the analysis of the performance of the neural networks such as the, FNN (Feed Forward Neural Networks), RNN (Recurrent Neural Networks) and the CNN (Convolutional Neural Network) investigating the tumors and predicting the cancer. The results obtained by evaluating the neural networks on the breast cancer Wisconsin original data set shows that the CNN provides 43 % better prediction than the FNN and 25% better prediction than the RNN.


2021 ◽  
pp. 1-17
Author(s):  
Luis Sa-Couto ◽  
Andreas Wichert

Abstract Convolutional neural networks (CNNs) evolved from Fukushima's neocognitron model, which is based on the ideas of Hubel and Wiesel about the early stages of the visual cortex. Unlike other branches of neocognitron-based models, the typical CNN is based on end-to-end supervised learning by backpropagation and removes the focus from built-in invariance mechanisms, using pooling not as a way to tolerate small shifts but as a regularization tool that decreases model complexity. These properties of end-to-end supervision and flexibility of structure allow the typical CNN to become highly tuned to the training data, leading to extremely high accuracies on typical visual pattern recognition data sets. However, in this work, we hypothesize that there is a flip side to this capability, a hidden overfitting. More concretely, a supervised, backpropagation based CNN will outperform a neocognitron/map transformation cascade (MTCCXC) when trained and tested inside the same data set. Yet if we take both models trained and test them on the same task but on another data set (without retraining), the overfitting appears. Other neocognitron descendants like the What-Where model go in a different direction. In these models, learning remains unsupervised, but more structure is added to capture invariance to typical changes. Knowing that, we further hypothesize that if we repeat the same experiments with this model, the lack of supervision may make it worse than the typical CNN inside the same data set, but the added structure will make it generalize even better to another one. To put our hypothesis to the test, we choose the simple task of handwritten digit classification and take two well-known data sets of it: MNIST and ETL-1. To try to make the two data sets as similar as possible, we experiment with several types of preprocessing. However, regardless of the type in question, the results align exactly with expectation.


Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-8
Author(s):  
Saad Naeem ◽  
Noreen Jamil ◽  
Habib Ullah Khan ◽  
Shah Nazir

Neural networks employ massive interconnection of simple computing units called neurons to compute the problems that are highly nonlinear and could not be hard coded into a program. These neural networks are computation-intensive, and training them requires a lot of training data. Each training example requires heavy computations. We look at different ways in which we can reduce the heavy computation requirement and possibly make them work on mobile devices. In this paper, we survey various techniques that can be matched and combined in order to improve the training time of neural networks. Additionally, we also review some extra recommendations to make the process work for mobile devices as well. We finally survey deep compression technique that tries to solve the problem by network pruning, quantization, and encoding the network weights. Deep compression reduces the time required for training the network by first pruning the irrelevant connections, i.e., the pruning stage, which is then followed by quantizing the network weights via choosing centroids for each layer. Finally, at the third stage, it employs Huffman encoding algorithm to deal with the storage issue of the remaining weights.


2013 ◽  
Vol 10 (04) ◽  
pp. 1350029 ◽  
Author(s):  
TADEJ PETRIČ ◽  
LUKA PETERNEL ◽  
ANDREJ GAMS ◽  
BOJAN NEMEC ◽  
LEON ŽLAJPAH

In this paper, we propose and evaluate methods for the local navigation using only visual perception for the skiing robot. Our skiing robot, capable of skiing using the carving technique, has no direct control on the velocity of skiing as it cannot break or accelerate, therefore well known navigation methods for nonholonomic mobile robots cannot be directly applied. We consider the following methods: an intuitive method of aiming at the closest gates, a human obstacle avoidance movement model, neural networks learning from a set of human demonstrations, and a global method that uses a predefined, spline-encoded path. The navigation performance of the robot on unknown ski courses is evaluated using two criteria: successful completion of the course and the time required to complete the course. Simulation results show the applicability and drawbacks of presented methods. Finally, the method using the neural networks was applied on a real-world skiing robot and we tested navigating a slalom course on both roller blades and skies.


2020 ◽  
Vol 12 (11) ◽  
pp. 1743
Author(s):  
Artur M. Gafurov ◽  
Oleg P. Yermolayev

Transition from manual (visual) interpretation to fully automated gully detection is an important task for quantitative assessment of modern gully erosion, especially when it comes to large mapping areas. Existing approaches to semi-automated gully detection are based on either object-oriented selection based on multispectral images or gully selection based on a probabilistic model obtained using digital elevation models (DEMs). These approaches cannot be used for the assessment of gully erosion on the territory of the European part of Russia most affected by gully erosion due to the lack of national large-scale DEM and limited resolution of open source multispectral satellite images. An approach based on the use of convolutional neural networks for automated gully detection on the RGB-synthesis of ultra-high resolution satellite images publicly available for the test region of the east of the Russian Plain with intensive basin erosion has been proposed and developed. The Keras library and U-Net architecture of convolutional neural networks were used for training. Preliminary results of application of the trained gully erosion convolutional neural network (GECNN) allow asserting that the algorithm performs well in detecting active gullies, well differentiates gullies from other linear forms of slope erosion — rills and balkas, but so far has errors in detecting complex gully systems. Also, GECNN does not identify a gully in 10% of cases and in another 10% of cases it identifies not a gully. To solve these problems, it is necessary to additionally train the neural network on the enlarged training data set.


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