scholarly journals Robotic grasp detection using a novel two-stage approach

2021 ◽  
Vol 1 (1) ◽  
pp. 19-29
Author(s):  
Zhe Chu ◽  
Mengkai Hu ◽  
Xiangyu Chen
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Network Models ◽  
Particle Swarm Optimizer ◽  
Neural Network Models ◽  
Two Stage ◽  
The Neural Network ◽  
End To End ◽  
Small Change ◽  
Robotic Grasp

Recently, deep learning has been successfully applied to robotic grasp detection. Based on convolutional neural networks (CNNs), there have been lots of end-to-end detection approaches. But end-to-end approaches have strict requirements for the dataset used for training the neural network models and it’s hard to achieve in practical use. Therefore, we proposed a two-stage approach using particle swarm optimizer (PSO) candidate estimator and CNN to detect the most likely grasp. Our approach achieved an accuracy of 92.8% on the Cornell Grasp Dataset, which leaped into the front ranks of the existing approaches and is able to run at real-time speeds. After a small change of the approach, we can predict multiple grasps per object in the meantime so that an object can be grasped in a variety of ways.

Artificial Neural Networks

2011 ◽  
pp. 222-243
Author(s):  
Joarder Kamruzzaman ◽  
Ruhul Sarker
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Artificial Neural Network ◽  
Artificial Neural Networks ◽  
Network Models ◽  
Neural Network Models ◽  
Network Applications ◽  
The Neural Network ◽  
Artificial Neural ◽  
Neural Network Applications

The primary aim of this chapter is to present an overview of the artificial neural network basics and operation, architectures, and the major algorithms used for training the neural network models. As can be seen in subsequent chapters, neural networks have made many useful contributions to solve theoretical and practical problems in finance and manufacturing areas. The secondary aim here is therefore to provide a brief review of artificial neural network applications in finance and manufacturing areas.

scholarly journals Real-Time Guitar Amplifier Emulation with Deep Learning

2020 ◽  
Vol 10 (3) ◽  
pp. 766 ◽  
Author(s):  
Alec Wright ◽  
Eero-Pekka Damskägg ◽  
Lauri Juvela ◽  
Vesa Välimäki
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Real Time ◽  
Reference Signal ◽  
Network Models ◽  
Neural Network Models ◽  
Desktop Computer ◽  
The Neural Network ◽  
Highly Nonlinear ◽  
The Difference

This article investigates the use of deep neural networks for black-box modelling of audio distortion circuits, such as guitar amplifiers and distortion pedals. Both a feedforward network, based on the WaveNet model, and a recurrent neural network model are compared. To determine a suitable hyperparameter configuration for the WaveNet, models of three popular audio distortion pedals were created: the Ibanez Tube Screamer, the Boss DS-1, and the Electro-Harmonix Big Muff Pi. It is also shown that three minutes of audio data is sufficient for training the neural network models. Real-time implementations of the neural networks were used to measure their computational load. To further validate the results, models of two valve amplifiers, the Blackstar HT-5 Metal and the Mesa Boogie 5:50 Plus, were created, and subjective tests were conducted. The listening test results show that the models of the first amplifier could be identified as different from the reference, but the sound quality of the best models was judged to be excellent. In the case of the second guitar amplifier, many listeners were unable to hear the difference between the reference signal and the signals produced with the two largest neural network models. This study demonstrates that the neural network models can convincingly emulate highly nonlinear audio distortion circuits, whilst running in real-time, with some models requiring only a relatively small amount of processing power to run on a modern desktop computer.

Identifying User Suitability in sEMG Based Hand Prosthesis Using Neural Networks

2019 ◽  
Vol 14 (2) ◽  
pp. 158-164 ◽  
Author(s):  
G. Emayavaramban ◽  
A. Amudha ◽  
T. Rajendran ◽  
M. Sivaramkumar ◽  
K. Balachandar ◽  
...  
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Pattern Recognition ◽  
Feature Extraction ◽  
Classification Accuracy ◽  
Network Models ◽  
Prosthetic Hand ◽  
Neural Network Models ◽  
The Neural Network ◽  
Semg Signals

Background: Identifying user suitability plays a vital role in various modalities like neuromuscular system research, rehabilitation engineering and movement biomechanics. This paper analysis the user suitability based on neural networks (NN), subjects, age groups and gender for surface electromyogram (sEMG) pattern recognition system to control the myoelectric hand. Six parametric feature extraction algorithms are used to extract the features from sEMG signals such as AR (Autoregressive) Burg, AR Yule Walker, AR Covariance, AR Modified Covariance, Levinson Durbin Recursion and Linear Prediction Coefficient. The sEMG signals are modeled using Cascade Forward Back propagation Neural Network (CFBNN) and Pattern Recognition Neural Network. Methods: sEMG signals generated from forearm muscles of the participants are collected through an sEMG acquisition system. Based on the sEMG signals, the type of movement attempted by the user is identified in the sEMG recognition module using signal processing, feature extraction and machine learning techniques. The information about the identified movement is passed to microcontroller wherein a control is developed to command the prosthetic hand to emulate the identified movement. Results: From the six feature extraction algorithms and two neural network models used in the study, the maximum classification accuracy of 95.13% was obtained using AR Burg with Pattern Recognition Neural Network. This justifies that the Pattern Recognition Neural Network is best suited for this study as the neural network model is specially designed for pattern matching problem. Moreover, it has simple architecture and low computational complexity. AR Burg is found to be the best feature extraction technique in this study due to its high resolution for short data records and its ability to always produce a stable model. In all the neural network models, the maximum classification accuracy is obtained for subject 10 as a result of his better muscle fitness and his maximum involvement in training sessions. Subjects in the age group of 26-30 years are best suited for the study due to their better muscle contractions. Better muscle fatigue resistance has contributed for better performance of female subjects as compared to male subjects. From the single trial analysis, it can be observed that the hand close movement has achieved best recognition rate for all neural network models. Conclusion: In this paper a study was conducted to identify user suitability for designing hand prosthesis. Data were collected from ten subjects for twelve tasks related to finger movements. The suitability of the user was identified using two neural networks with six parametric features. From the result, it was concluded thatfit women doing regular physical exercises aged between 26-30 years are best suitable for developing HMI for designing a prosthetic hand. Pattern Recognition Neural Network with AR Burg extraction features using extension movements will be a better way to design the HMI. However, Signal acquisition based on wireless method is worth considering for the future.

scholarly journals Feature-Based Interpretation of the Deep Neural Network

Electronics ◽  
2021 ◽  
Vol 10 (21) ◽  
pp. 2687
Author(s):  
Eun-Hun Lee ◽  
Hyeoncheol Kim
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Deep Neural Network ◽  
Lower Layer ◽  
Network Models ◽  
Neural Network Models ◽  
Network Pruning ◽  
The Neural Network ◽  
Single Instance ◽  
High Level

The significant advantage of deep neural networks is that the upper layer can capture the high-level features of data based on the information acquired from the lower layer by stacking layers deeply. Since it is challenging to interpret what knowledge the neural network has learned, various studies for explaining neural networks have emerged to overcome this problem. However, these studies generate the local explanation of a single instance rather than providing a generalized global interpretation of the neural network model itself. To overcome such drawbacks of the previous approaches, we propose the global interpretation method for the deep neural network through features of the model. We first analyzed the relationship between the input and hidden layers to represent the high-level features of the model, then interpreted the decision-making process of neural networks through high-level features. In addition, we applied network pruning techniques to make concise explanations and analyzed the effect of layer complexity on interpretability. We present experiments on the proposed approach using three different datasets and show that our approach could generate global explanations on deep neural network models with high accuracy and fidelity.

scholarly journals Analysis of Algorithms for Searching Objects in Images Using Convolutional Neural Network

2021 ◽  
Vol 6 (2) ◽  
pp. 128-133
Author(s):  
Ihor Koval ◽  
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Comparative Analysis ◽  
Analysis Of Algorithms ◽  
Network Models ◽  
Data Sets ◽  
Neural Network Models ◽  
Network Algorithms ◽  
Modern Computer ◽  
The Neural Network

The problem of finding objects in images using modern computer vision algorithms has been considered. The description of the main types of algorithms and methods for finding objects based on the use of convolutional neural networks has been given. A comparative analysis and modeling of neural network algorithms to solve the problem of finding objects in images has been conducted. The results of testing neural network models with different architectures on data sets VOC2012 and COCO have been presented. The results of the study of the accuracy of recognition depending on different hyperparameters of learning have been analyzed. The change in the value of the time of determining the location of the object depending on the different architectures of the neural network has been investigated.

Modified Tartagli Method for Calculation of Jominy Hardenability Curve

2008 ◽  
Vol 575-578 ◽  
pp. 892-897 ◽  
Author(s):  
Wojciech Sitek ◽  
Jacek Trzaska ◽  
Leszek Adam Dobrzański
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Chemical Composition ◽  
Network Models ◽  
Steel Grade ◽  
Regression Coefficients ◽  
Neural Network Models ◽  
The Neural Network ◽  
The Neural Networks ◽  
Hardenability Curve

Basing on the experimental results of the hardenability investigations, which employed Jominy method, the model of the neural networks was developed and fully verified experimentally. The model makes it possible to obtain Jominy hardenability curves basing on the steel chemical composition. The modified hardenability curves calculation method is presented in the paper, initially developed by Tartaglia, Eldis, and Geissler, later extended by T. Inoue. The method makes use of the similarity of the Jominy curve to the hyperbolic secant function. The empirical formulae proposed by the authors make calculation of the hardenability curve possible basing on the chemical composition of the steel. However, regression coefficients characteristic for the particular steel grade must be known. Replacing some formulae by the neural network models is proposed in the paper.

Artificial Neural Networks

2006 ◽  
pp. 1-27 ◽  
Author(s):  
Joarder Kamruzzaman ◽  
Ruhul A. Sarker
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Artificial Neural Network ◽  
Artificial Neural Networks ◽  
Network Models ◽  
Neural Network Models ◽  
Network Applications ◽  
The Neural Network ◽  
Artificial Neural ◽  
Neural Network Applications

The primary aim of this chapter is to present an overview of the artificial neural network basics and operation, architectures, and the major algorithms used for training the neural network models. As can be seen in subsequent chapters, neural networks have made many useful contributions to solve theoretical and practical problems in finance and manufacturing areas. The secondary aim here is therefore to provide a brief review of artificial neural network applications in finance and manufacturing areas.

scholarly journals A transparent cancer classifier

2018 ◽  
Vol 26 (1) ◽  
pp. 190-204 ◽  
Author(s):  
Pitoyo Hartono
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Visual Information ◽  
Network Models ◽  
Histopathological Analysis ◽  
Clinical Settings ◽  
Neural Network Models ◽  
The Neural Network ◽  
Reduction Methods ◽  
The Given

Recently, many neural network models have been successfully applied for histopathological analysis, including for cancer classifications. While some of them reach human–expert level accuracy in classifying cancers, most of them have to be treated as black box, in which they do not offer explanation on how they arrived at their decisions. This lack of transparency may hinder the further applications of neural networks in realistic clinical settings where not only decision but also explainability is important. This study proposes a transparent neural network that complements its classification decisions with visual information about the given problem. The auxiliary visual information allows the user to some extent understand how the neural network arrives at its decision. The transparency potentially increases the usability of neural networks in realistic histopathological analysis. In the experiment, the accuracy of the proposed neural network is compared against some existing classifiers, and the visual information is compared against some dimensional reduction methods.

scholarly journals A Novel Low-Bit Quantization Strategy for Compressing Deep Neural Networks

2020 ◽  
Vol 2020 ◽  
pp. 1-7
Author(s):  
Xin Long ◽  
XiangRong Zeng ◽  
Zongcheng Ben ◽  
Dianle Zhou ◽  
Maojun Zhang
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Deep Neural Networks ◽  
Computational Cost ◽  
Network Models ◽  
Memory Consumption ◽  
Neural Network Models ◽  
The Neural Network ◽  
The Neural Networks ◽  
Novel Strategy

The increase in sophistication of neural network models in recent years has exponentially expanded memory consumption and computational cost, thereby hindering their applications on ASIC, FPGA, and other mobile devices. Therefore, compressing and accelerating the neural networks are necessary. In this study, we introduce a novel strategy to train low-bit networks with weights and activations quantized by several bits and address two corresponding fundamental issues. One is to approximate activations through low-bit discretization for decreasing network computational cost and dot-product memory. The other is to specify weight quantization and update mechanism for discrete weights to avoid gradient mismatch. With quantized low-bit weights and activations, the costly full-precision operation will be replaced by shift operation. We evaluate the proposed method on common datasets, and results show that this method can dramatically compress the neural network with slight accuracy loss.

scholarly journals The Influence of Changes in Active Binder Content on the Control System of the Moulding Sand Quality

2012 ◽  
Vol 12 (4) ◽  
pp. 71-74 ◽  
Author(s):  
J. Jakubski ◽  
St. M. Dobosz ◽  
K. Major-Gabryś
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Network Models ◽  
Assessment Method ◽  
Neural Network Models ◽  
The Neural Network ◽  
Network Sensitivity ◽  
Artificial Neural ◽  
Moulding Sand ◽  
Artificial Neural Network Models

Abstract Artificial neural networks are one of the modern methods of the production optimisation. An attempt to apply neural networks for controlling the quality of bentonite moulding sands is presented in this paper. This is the assessment method of sands suitability by means of detecting correlations between their individual parameters. The presented investigations were aimed at the selection of the neural network able to predict the active bentonite content in the moulding sand on the basis of this sand properties such as: permeability, compactibility and the compressive strength. Then, the data of selected parameters of new moulding sand were set to selected artificial neural network models. This was made to test the universality of the model in relation to other moulding sands. An application of the Statistica program allowed to select automatically the type of network proper for the representation of dependencies occurring in between the proposed moulding sand parameters. The most advantageous conditions were obtained for the uni-directional multi-layer perception (MLP) network. Knowledge of the neural network sensitivity to individual moulding sand parameters, allowed to eliminate not essential ones.

Sign in / Sign up

Export Citation Format

Share Document