Neural Networks for Optimal Control
DEFF Research Database (Denmark)
Sørensen, O.
1995-01-01
Two neural networks are trained to act as an observer and a controller, respectively, to control a non-linear, multi-variable process.......Two neural networks are trained to act as an observer and a controller, respectively, to control a non-linear, multi-variable process....
Neural Networks in Control Applications
DEFF Research Database (Denmark)
Sørensen, O.
The intention of this report is to make a systematic examination of the possibilities of applying neural networks in those technical areas, which are familiar to a control engineer. In other words, the potential of neural networks in control applications is given higher priority than a detailed...... examined, and it appears that considering 'normal' neural network models with, say, 500 samples, the problem of over-fitting is neglible, and therefore it is not taken into consideration afterwards. Numerous model types, often met in control applications, are implemented as neural network models...... Kalmann filter) representing state space description. The potentials of neural networks for control of non-linear processes are also examined, focusing on three different groups of control concepts, all considered as generalizations of known linear control concepts to handle also non-linear processes...
Neural Networks in Control Applications
DEFF Research Database (Denmark)
Sørensen, O.
simulated process and compared. The closing chapter describes some practical experiments, where the different control concepts and training methods are tested on the same practical process operating in very noisy environments. All tests confirm that neural networks also have the potential to be trained......The intention of this report is to make a systematic examination of the possibilities of applying neural networks in those technical areas, which are familiar to a control engineer. In other words, the potential of neural networks in control applications is given higher priority than a detailed...... study of the networks themselves. With this end in view the following restrictions have been made: - Amongst numerous neural network structures, only the Multi Layer Perceptron (a feed-forward network) is applied. - Amongst numerous training algorithms, only four algorithms are examined, all...
Neural Networks in Control Applications
DEFF Research Database (Denmark)
Sørensen, O.
The intention of this report is to make a systematic examination of the possibilities of applying neural networks in those technical areas, which are familiar to a control engineer. In other words, the potential of neural networks in control applications is given higher priority than a detailed...... study of the networks themselves. With this end in view the following restrictions have been made: - Amongst numerous neural network structures, only the Multi Layer Perceptron (a feed-forward network) is applied. - Amongst numerous training algorithms, only four algorithms are examined, all...... in a recursive form (sample updating). The simplest is the Back Probagation Error Algorithm, and the most complex is the recursive Prediction Error Method using a Gauss-Newton search direction. - Over-fitting is often considered to be a serious problem when training neural networks. This problem is specifically...
Simplified LQG Control with Neural Networks
DEFF Research Database (Denmark)
Sørensen, O.
1997-01-01
A new neural network application for non-linear state control is described. One neural network is modelled to form a Kalmann predictor and trained to act as an optimal state observer for a non-linear process. Another neural network is modelled to form a state controller and trained to produce...
Adaptive optimization and control using neural networks
Energy Technology Data Exchange (ETDEWEB)
Mead, W.C.; Brown, S.K.; Jones, R.D.; Bowling, P.S.; Barnes, C.W.
1993-10-22
Recent work has demonstrated the ability of neural-network-based controllers to optimize and control machines with complex, non-linear, relatively unknown control spaces. We present a brief overview of neural networks via a taxonomy illustrating some capabilities of different kinds of neural networks. We present some successful control examples, particularly the optimization and control of a small-angle negative ion source.
Neural Networks for Non-linear Control
DEFF Research Database (Denmark)
Sørensen, O.
1994-01-01
This paper describes how a neural network, structured as a Multi Layer Perceptron, is trained to predict, simulate and control a non-linear process.......This paper describes how a neural network, structured as a Multi Layer Perceptron, is trained to predict, simulate and control a non-linear process....
Additive Feed Forward Control with Neural Networks
DEFF Research Database (Denmark)
Sørensen, O.
1999-01-01
This paper demonstrates a method to control a non-linear, multivariable, noisy process using trained neural networks. The basis for the method is a trained neural network controller acting as the inverse process model. A training method for obtaining such an inverse process model is applied....... A suitable 'shaped' (low-pass filtered) reference is used to overcome problems with excessive control action when using a controller acting as the inverse process model. The control concept is Additive Feed Forward Control, where the trained neural network controller, acting as the inverse process model......, is placed in a supplementary pure feed-forward path to an existing feedback controller. This concept benefits from the fact, that an existing, traditional designed, feedback controller can be retained without any modifications, and after training the connection of the neural network feed-forward controller...
Control of autonomous robot using neural networks
Barton, Adam; Volna, Eva
2017-07-01
The aim of the article is to design a method of control of an autonomous robot using artificial neural networks. The introductory part describes control issues from the perspective of autonomous robot navigation and the current mobile robots controlled by neural networks. The core of the article is the design of the controlling neural network, and generation and filtration of the training set using ART1 (Adaptive Resonance Theory). The outcome of the practical part is an assembled Lego Mindstorms EV3 robot solving the problem of avoiding obstacles in space. To verify models of an autonomous robot behavior, a set of experiments was created as well as evaluation criteria. The speed of each motor was adjusted by the controlling neural network with respect to the situation in which the robot was found.
Neural network topology design for nonlinear control
Haecker, Jens; Rudolph, Stephan
2001-03-01
Neural networks, especially in nonlinear system identification and control applications, are typically considered to be black-boxes which are difficult to analyze and understand mathematically. Due to this reason, an in- depth mathematical analysis offering insight into the different neural network transformation layers based on a theoretical transformation scheme is desired, but up to now neither available nor known. In previous works it has been shown how proven engineering methods such as dimensional analysis and the Laplace transform may be used to construct a neural controller topology for time-invariant systems. Using the knowledge of neural correspondences of these two classical methods, the internal nodes of the network could also be successfully interpreted after training. As further extension to these works, the paper describes the latest of a theoretical interpretation framework describing the neural network transformation sequences in nonlinear system identification and control. This can be achieved By incorporation of the method of exact input-output linearization in the above mentioned two transform sequences of dimensional analysis and the Laplace transformation. Based on these three theoretical considerations neural network topologies may be designed in special situations by pure translation in the sense of a structural compilation of the known classical solutions into their correspondent neural topology. Based on known exemplary results, the paper synthesizes the proposed approach into the visionary goals of a structural compiler for neural networks. This structural compiler for neural networks is intended to automatically convert classical control formulations into their equivalent neural network structure based on the principles of equivalence between formula and operator, and operator and structure which are discussed in detail in this work.
Flexible body control using neural networks
Mccullough, Claire L.
1992-01-01
Progress is reported on the control of Control Structures Interaction suitcase demonstrator (a flexible structure) using neural networks and fuzzy logic. It is concluded that while control by neural nets alone (i.e., allowing the net to design a controller with no human intervention) has yielded less than optimal results, the neural net trained to emulate the existing fuzzy logic controller does produce acceptible system responses for the initial conditions examined. Also, a neural net was found to be very successful in performing the emulation step necessary for the anticipatory fuzzy controller for the CSI suitcase demonstrator. The fuzzy neural hybrid, which exhibits good robustness and noise rejection properties, shows promise as a controller for practical flexible systems, and should be further evaluated.
neural network based load frequency control for restructuring power
African Journals Online (AJOL)
2012-03-01
Mar 1, 2012 ... Abstract. In this study, an artificial neural network (ANN) application of load frequency control. (LFC) of a Multi-Area power system by using a neural network controller is presented. The comparison between a conventional Proportional Integral (PI) controller and the proposed artificial neural networks ...
Identification and Position Control of Marine Helm using Artificial Neural Network Neural Network
Directory of Open Access Journals (Sweden)
Hui ZHU
2008-02-01
Full Text Available If nonlinearities such as saturation of the amplifier gain and motor torque, gear backlash, and shaft compliances- just to name a few - are considered in the position control system of marine helm, traditional control methods are no longer sufficient to be used to improve the performance of the system. In this paper an alternative approach to traditional control methods - a neural network reference controller - is proposed to establish an adaptive control of the position of the marine helm to achieve the controlled variable at the command position. This neural network controller comprises of two neural networks. One is the plant model network used to identify the nonlinear system and the other the controller network used to control the output to follow the reference model. The experimental results demonstrate that this adaptive neural network reference controller has much better control performance than is obtained with traditional controllers.
Neural network controller for underwater work ROV. Suichu sagyoyo ROV no neural network controller
Energy Technology Data Exchange (ETDEWEB)
Yoshida, Y.; Kidoshi, H.; Arahata, M.; Shoji, K.; Takahashi, Y. (Ishikawajima-Harima Heavy Industries, Co. Ltd., Tokyo (Japan))
1993-07-01
The previous underwater work ROV (remotely operated vehicle) has been controlled manually because its dynamic properties are changeable underwater. Ishikawajima-Harima Heavy Industries (IHI) has applied a neural network to an adaptive controller for the ROV. This paper describes objectives of the research, design of control logic, and tank experiments on a model ROV. For the neural network, manual operation was used to provide the initial learning data for the neural network in order to initialize control parameters for optimization. The model ROV was designed to achieve and maintain constant depth in normal operation. As a consequence of the tank experiments, it was demonstrated that the controller can acquire skill of operators, can further improve the acquired skill of operators, and can construct an automatic control system autonomically even if any dynamic properties are not known. 6 refs., 8 figs.
Neural Network Control of Asymmetrical Multilevel Converters
Directory of Open Access Journals (Sweden)
Patrice WIRA
2009-12-01
Full Text Available This paper proposes a neural implementation of a harmonic eliminationstrategy (HES to control a Uniform Step Asymmetrical Multilevel Inverter(USAMI. The mapping between the modulation rate and the requiredswitching angles is learned and approximated with a Multi-Layer Perceptron(MLP neural network. After learning, appropriate switching angles can bedetermined with the neural network leading to a low-computational-costneural controller which is well suited for real-time applications. Thistechnique can be applied to multilevel inverters with any number of levels. Asan example, a nine-level inverter and an eleven-level inverter are consideredand the optimum switching angles are calculated on-line. Comparisons to thewell-known sinusoidal pulse-width modulation (SPWM have been carriedout in order to evaluate the performance of the proposed approach. Simulationresults demonstrate the technical advantages of the proposed neuralimplementation over the conventional method (SPWM in eliminatingharmonics while controlling a nine-level and eleven-level USAMI. Thisneural approach is applied for the supply of an asynchronous machine andresults show that it ensures a highest quality torque by efficiently cancelingthe harmonics generated by the inverters.
Neural Networks for Modeling and Control of Particle Accelerators
Edelen, A.L.; Chase, B.E.; Edstrom, D.; Milton, S.V.; Stabile, P.
2016-01-01
We describe some of the challenges of particle accelerator control, highlight recent advances in neural network techniques, discuss some promising avenues for incorporating neural networks into particle accelerator control systems, and describe a neural network-based control system that is being developed for resonance control of an RF electron gun at the Fermilab Accelerator Science and Technology (FAST) facility, including initial experimental results from a benchmark controller.
Neural PID Control Strategy for Networked Process Control
Directory of Open Access Journals (Sweden)
Jianhua Zhang
2013-01-01
Full Text Available A new method with a two-layer hierarchy is presented based on a neural proportional-integral-derivative (PID iterative learning method over the communication network for the closed-loop automatic tuning of a PID controller. It can enhance the performance of the well-known simple PID feedback control loop in the local field when real networked process control applied to systems with uncertain factors, such as external disturbance or randomly delayed measurements. The proposed PID iterative learning method is implemented by backpropagation neural networks whose weights are updated via minimizing tracking error entropy of closed-loop systems. The convergence in the mean square sense is analysed for closed-loop networked control systems. To demonstrate the potential applications of the proposed strategies, a pressure-tank experiment is provided to show the usefulness and effectiveness of the proposed design method in network process control systems.
Neural Network for Optimization of Existing Control Systems
DEFF Research Database (Denmark)
Madsen, Per Printz
1995-01-01
The purpose of this paper is to develop methods to use Neural Network based Controllers (NNC) as an optimization tool for existing control systems.......The purpose of this paper is to develop methods to use Neural Network based Controllers (NNC) as an optimization tool for existing control systems....
IDENTIFICATION AND CONTROL OF AN ASYNCHRONOUS MACHINE USING NEURAL NETWORKS
Directory of Open Access Journals (Sweden)
A ZERGAOUI
2000-06-01
Full Text Available In this work, we present the application of artificial neural networks to the identification and control of the asynchronous motor, which is a complex nonlinear system with variable internal dynamics. We show that neural networks can be applied to control the stator currents of the induction motor. The results of the different simulations are presented to evaluate the performance of the neural controller proposed.
Implementation of neural network based non-linear predictive control
DEFF Research Database (Denmark)
Sørensen, Paul Haase; Nørgård, Peter Magnus; Ravn, Ole
1999-01-01
of non-linear systems. GPC is model based and in this paper we propose the use of a neural network for the modeling of the system. Based on the neural network model, a controller with extended control horizon is developed and the implementation issues are discussed, with particular emphasis...
Fusion Control of Flexible Logic Control and Neural Network
Directory of Open Access Journals (Sweden)
Lihua Fu
2014-01-01
Full Text Available Based on the basic physical meaning of error E and error variety EC, this paper analyzes the logical relationship between them and uses Universal Combinatorial Operation Model in Universal Logic to describe it. Accordingly, a flexible logic control method is put forward to realize effective control on multivariable nonlinear system. In order to implement fusion control with artificial neural network, this paper proposes a new neuron model of Zero-level Universal Combinatorial Operation in Universal Logic. And the artificial neural network of flexible logic control model is implemented based on the proposed neuron model. Finally, stability control, anti-interference control of double inverted-pendulum system, and free walking of cart pendulum system on a level track are realized, showing experimentally the feasibility and validity of this method.
Active Engine Mounting Control Algorithm Using Neural Network
Directory of Open Access Journals (Sweden)
Fadly Jashi Darsivan
2009-01-01
Full Text Available This paper proposes the application of neural network as a controller to isolate engine vibration in an active engine mounting system. It has been shown that the NARMA-L2 neurocontroller has the ability to reject disturbances from a plant. The disturbance is assumed to be both impulse and sinusoidal disturbances that are induced by the engine. The performance of the neural network controller is compared with conventional PD and PID controllers tuned using Ziegler-Nichols. From the result simulated the neural network controller has shown better ability to isolate the engine vibration than the conventional controllers.
System Identification, Prediction, Simulation and Control with Neural Networks
DEFF Research Database (Denmark)
Sørensen, O.
1997-01-01
a Gauss-Newton search direction is applied. 3) Amongst numerous model types, often met in control applications, only the Non-linear ARMAX (NARMAX) model, representing input/output description, is examined. A simulated example confirms that a neural network has the potential to perform excellent System...... Identification, Prediction, Simulation and Control of a dynamic, non-linear and noisy process. Further, the difficulties to control a practical non-linear laboratory process in a satisfactory way by using a traditional controller are overcomed by using a trained neural network to perform non-linear System......The intention of this paper is to make a systematic examination of the possibilities of applying neural networks in those technical areas, which are familiar to a control engineer. In other words, the potential of neural networks in control applications is given higher priority than a detailed...
Neural Network Based Load Frequency Control for Restructuring ...
African Journals Online (AJOL)
Electric load variations can happen independently in both units. Both neural controllers are trained with the back propagation-through-time algorithm. Use of a neural network to model the dynamic system is avoided by introducing the Jacobian matrices of the system in the back propagation chain used in controller training.
Neural-Network Control Of Prosthetic And Robotic Hands
Buckley, Theresa M.
1991-01-01
Electronic neural networks proposed for use in controlling robotic and prosthetic hands and exoskeletal or glovelike electromechanical devices aiding intact but nonfunctional hands. Specific to patient, who activates grasping motion by voice command, by mechanical switch, or by myoelectric impulse. Patient retains higher-level control, while lower-level control provided by neural network analogous to that of miniature brain. During training, patient teaches miniature brain to perform specialized, anthropomorphic movements unique to himself or herself.
Neural Networks for Modeling and Control of Particle Accelerators
Edelen, A. L.; Biedron, S. G.; Chase, B. E.; Edstrom, D.; Milton, S. V.; Stabile, P.
2016-04-01
Particle accelerators are host to myriad nonlinear and complex physical phenomena. They often involve a multitude of interacting systems, are subject to tight performance demands, and should be able to run for extended periods of time with minimal interruptions. Often times, traditional control techniques cannot fully meet these requirements. One promising avenue is to introduce machine learning and sophisticated control techniques inspired by artificial intelligence, particularly in light of recent theoretical and practical advances in these fields. Within machine learning and artificial intelligence, neural networks are particularly well-suited to modeling, control, and diagnostic analysis of complex, nonlinear, and time-varying systems, as well as systems with large parameter spaces. Consequently, the use of neural network-based modeling and control techniques could be of significant benefit to particle accelerators. For the same reasons, particle accelerators are also ideal test-beds for these techniques. Many early attempts to apply neural networks to particle accelerators yielded mixed results due to the relative immaturity of the technology for such tasks. The purpose of this paper is to re-introduce neural networks to the particle accelerator community and report on some work in neural network control that is being conducted as part of a dedicated collaboration between Fermilab and Colorado State University (CSU). We describe some of the challenges of particle accelerator control, highlight recent advances in neural network techniques, discuss some promising avenues for incorporating neural networks into particle accelerator control systems, and describe a neural network-based control system that is being developed for resonance control of an RF electron gun at the Fermilab Accelerator Science and Technology (FAST) facility, including initial experimental results from a benchmark controller.
Projection learning algorithm for threshold - controlled neural networks
Energy Technology Data Exchange (ETDEWEB)
Reznik, A.M.
1995-03-01
The projection learning algorithm proposed in [1, 2] and further developed in [3] substantially improves the efficiency of memorizing information and accelerates the learning process in neural networks. This algorithm is compatible with the completely connected neural network architecture (the Hopfield network [4]), but its application to other networks involves a number of difficulties. The main difficulties include constraints on interconnection structure and the need to eliminate the state uncertainty of latent neurons if such are present in the network. Despite the encouraging preliminary results of [3], further extension of the applications of the projection algorithm therefore remains problematic. In this paper, which is a continuation of the work begun in [3], we consider threshold-controlled neural networks. Networks of this type are quite common. They represent the receptor neuron layers in some neurocomputer designs. A similar structure is observed in the lower divisions of biological sensory systems [5]. In multilayer projection neural networks with lateral interconnections, the neuron layers or parts of these layers may also have the structure of a threshold-controlled completely connected network. Here the thresholds are the potentials delivered through the projection connections from other parts of the network. The extension of the projection algorithm to the class of threshold-controlled networks may accordingly prove to be useful both for extending its technical applications and for better understanding of the operation of the nervous system in living organisms.
A hyperstable neural network for the modelling and control of ...
Indian Academy of Sciences (India)
A multivariable hyperstable robust adaptive decoupling control algorithm based on a neural network is presented for the control of nonlinear multivariable coupled systems with unknown parameters and structure. The Popov theorem is used in the design of the controller. The modelling errors, coupling action and other ...
Dual adaptive dynamic control of mobile robots using neural networks.
Bugeja, Marvin K; Fabri, Simon G; Camilleri, Liberato
2009-02-01
This paper proposes two novel dual adaptive neural control schemes for the dynamic control of nonholonomic mobile robots. The two schemes are developed in discrete time, and the robot's nonlinear dynamic functions are assumed to be unknown. Gaussian radial basis function and sigmoidal multilayer perceptron neural networks are used for function approximation. In each scheme, the unknown network parameters are estimated stochastically in real time, and no preliminary offline neural network training is used. In contrast to other adaptive techniques hitherto proposed in the literature on mobile robots, the dual control laws presented in this paper do not rely on the heuristic certainty equivalence property but account for the uncertainty in the estimates. This results in a major improvement in tracking performance, despite the plant uncertainty and unmodeled dynamics. Monte Carlo simulation and statistical hypothesis testing are used to illustrate the effectiveness of the two proposed stochastic controllers as applied to the trajectory-tracking problem of a differentially driven wheeled mobile robot.
An artificial neural network controller for intelligent transportation systems applications
Energy Technology Data Exchange (ETDEWEB)
Vitela, J.E.; Hanebutte, U.R.; Reifman, J. [Argonne National Lab., IL (United States). Reactor Analysis Div.
1996-04-01
An Autonomous Intelligent Cruise Control (AICC) has been designed using a feedforward artificial neural network, as an example for utilizing artificial neural networks for nonlinear control problems arising in intelligent transportation systems applications. The AICC is based on a simple nonlinear model of the vehicle dynamics. A Neural Network Controller (NNC) code developed at Argonne National Laboratory to control discrete dynamical systems was used for this purpose. In order to test the NNC, an AICC-simulator containing graphical displays was developed for a system of two vehicles driving in a single lane. Two simulation cases are shown, one involving a lead vehicle with constant velocity and the other a lead vehicle with varying acceleration. More realistic vehicle dynamic models will be considered in future work.
Stability and synchronization control of stochastic neural networks
Zhou, Wuneng; Zhou, Liuwei; Tong, Dongbing
2016-01-01
This book reports on the latest findings in the study of Stochastic Neural Networks (SNN). The book collects the novel model of the disturbance driven by Levy process, the research method of M-matrix, and the adaptive control method of the SNN in the context of stability and synchronization control. The book will be of interest to university researchers, graduate students in control science and engineering and neural networks who wish to learn the core principles, methods, algorithms and applications of SNN.
Qualitative analysis and control of complex neural networks with delays
Wang, Zhanshan; Zheng, Chengde
2016-01-01
This book focuses on the stability of the dynamical neural system, synchronization of the coupling neural system and their applications in automation control and electrical engineering. The redefined concept of stability, synchronization and consensus are adopted to provide a better explanation of the complex neural network. Researchers in the fields of dynamical systems, computer science, electrical engineering and mathematics will benefit from the discussions on complex systems. The book will also help readers to better understand the theory behind the control technique and its design.
Steam turbine stress control using NARX neural network
Dominiczak, Krzysztof; Rzadkowski, Romuald; Radulski, Wojciech
2015-11-01
Considered here is concept of steam turbine stress control, which is based on Nonlinear AutoRegressive neural networks with eXogenous inputs. Using NARX neural networks,whichwere trained based on experimentally validated FE model allows to control stresses in protected thickwalled steam turbine element with FE model quality. Additionally NARX neural network, which were trained base on FE model, includes: nonlinearity of steam expansion in turbine steam path during transients, nonlinearity of heat exchange inside the turbine during transients and nonlinearity of material properties during transients. In this article NARX neural networks stress controls is shown as an example of HP rotor of 18K390 turbine. HP part thermodynamic model as well as heat exchange model in vicinity of HP rotor,whichwere used in FE model of the HP rotor and the HP rotor FE model itself were validated based on experimental data for real turbine transient events. In such a way it is ensured that NARX neural network behave as real HP rotor during steam turbine transient events.
Neural Network Predictive Control for Vanadium Redox Flow Battery
Directory of Open Access Journals (Sweden)
Hai-Feng Shen
2013-01-01
Full Text Available The vanadium redox flow battery (VRB is a nonlinear system with unknown dynamics and disturbances. The flowrate of the electrolyte is an important control mechanism in the operation of a VRB system. Too low or too high flowrate is unfavorable for the safety and performance of VRB. This paper presents a neural network predictive control scheme to enhance the overall performance of the battery. A radial basis function (RBF network is employed to approximate the dynamics of the VRB system. The genetic algorithm (GA is used to obtain the optimum initial values of the RBF network parameters. The gradient descent algorithm is used to optimize the objective function of the predictive controller. Compared with the constant flowrate, the simulation results show that the flowrate optimized by neural network predictive controller can increase the power delivered by the battery during the discharge and decrease the power consumed during the charge.
Neural networks for process control and optimization: two industrial applications.
Bloch, Gérard; Denoeux, Thierry
2003-01-01
The two most widely used neural models, multilayer perceptron (MLP) and radial basis function network (RBFN), are presented in the framework of system identification and control. The main steps for building such nonlinear black box models are regressor choice, selection of internal architecture, and parameter estimation. The advantages of neural network models are summarized: universal approximation capabilities, flexibility, and parsimony. Two applications are described in steel industry and water treatment, respectively, the control of alloying process in a hot dipped galvanizing line and the control of a coagulation process in a drinking water treatment plant. These examples highlight the interest of neural techniques, when complex nonlinear phenomena are involved, but the empirical knowledge of control operators can be learned.
Spiking neural network-based control chart pattern recognition
Directory of Open Access Journals (Sweden)
Medhat H.A. Awadalla
2012-03-01
Full Text Available Due to an increasing competition in products, consumers have become more critical in choosing products. The quality of products has become more important. Statistical Process Control (SPC is usually used to improve the quality of products. Control charting plays the most important role in SPC. Control charts help to monitor the behavior of the process to determine whether it is stable or not. Unnatural patterns in control charts mean that there are some unnatural causes for variations in SPC. Spiking neural networks (SNNs are the third generation of artificial neural networks that consider time as an important feature for information representation and processing. In this paper, a spiking neural network architecture is proposed to be used for control charts pattern recognition (CCPR. Furthermore, enhancements to the SpikeProp learning algorithm are proposed. These enhancements provide additional learning rules for the synaptic delays, time constants and for the neurons thresholds. Simulated experiments have been conducted and the achieved results show a remarkable improvement in the overall performance compared with artificial neural networks.
Four Degree Freedom Robot Arm with Fuzzy Neural Network Control
Directory of Open Access Journals (Sweden)
Şinasi Arslan
2013-01-01
Full Text Available In this study, the control of four degree freedom robot arm has been realized with the computed torque control method.. It is usually required that the four jointed robot arm has high precision capability and good maneuverability for using in industrial applications. Besides, high speed working and external applied loads have been acting as important roles. For those purposes, the computed torque control method has been developed in a good manner that the robot arm can track the given trajectory, which has been able to enhance the feedback control together with fuzzy neural network control. The simulation results have proved that the computed torque control with the neural network has been so successful in robot control.
Adaptive nonlinear control of missiles using neural networks
McFarland, Michael Bryan
Research has shown that neural networks can be used to improve upon approximate dynamic inversion for control of uncertain nonlinear systems. In one architecture, the neural network adaptively cancels inversion errors through on-line learning. Such learning is accomplished by a simple weight update rule derived from Lyapunov theory, thus assuring stability of the closed-loop system. In this research, previous results using linear-in-parameters neural networks were reformulated in the context of a more general class of composite nonlinear systems, and the control scheme was shown to possess important similarities and major differences with established methods of adaptive control. The neural-adaptive nonlinear control methodology in question has been used to design an autopilot for an anti-air missile with enhanced agile maneuvering capability, and simulation results indicate that this approach is a feasible one. There are, however, certain difficulties associated with choosing the proper network architecture which make it difficult to achieve the rapid learning required in this application. Accordingly, this technique has been further extended to incorporate the important class of feedforward neural networks with a single hidden layer. These neural networks feature well-known approximation capabilities and provide an effective, although nonlinear, parameterization of the adaptive control problem. Numerical results from a six-degree-of-freedom nonlinear agile anti-air missile simulation demonstrate the effectiveness of the autopilot design based on multilayer networks. Previous work in this area has implicitly assumed precise knowledge of the plant order, and made no allowances for unmodeled dynamics. This thesis describes an approach to the problem of controlling a class of nonlinear systems in the face of both unknown nonlinearities and unmodeled dynamics. The proposed methodology is similar to robust adaptive control techniques derived for control of linear
Adaptive model predictive process control using neural networks
Buescher, K.L.; Baum, C.C.; Jones, R.D.
1997-08-19
A control system for controlling the output of at least one plant process output parameter is implemented by adaptive model predictive control using a neural network. An improved method and apparatus provides for sampling plant output and control input at a first sampling rate to provide control inputs at the fast rate. The MPC system is, however, provided with a network state vector that is constructed at a second, slower rate so that the input control values used by the MPC system are averaged over a gapped time period. Another improvement is a provision for on-line training that may include difference training, curvature training, and basis center adjustment to maintain the weights and basis centers of the neural in an updated state that can follow changes in the plant operation apart from initial off-line training data. 46 figs.
An architecture for designing fuzzy logic controllers using neural networks
Berenji, Hamid R.
1991-01-01
Described here is an architecture for designing fuzzy controllers through a hierarchical process of control rule acquisition and by using special classes of neural network learning techniques. A new method for learning to refine a fuzzy logic controller is introduced. A reinforcement learning technique is used in conjunction with a multi-layer neural network model of a fuzzy controller. The model learns by updating its prediction of the plant's behavior and is related to the Sutton's Temporal Difference (TD) method. The method proposed here has the advantage of using the control knowledge of an experienced operator and fine-tuning it through the process of learning. The approach is applied to a cart-pole balancing system.
Ghrab, Nadya; Kallel, Hichem
2013-01-01
A comparative study between static and dynamic neural networks for robotic systems control is considered. So, two approaches of neural robot control were selected, exposed, and compared. One uses a static neural network; the other uses a dynamic neural network. Both compensate the nonlinear modeling and uncertainties of robotic systems. The first approach is direct; it approximates the nonlinearities and uncertainties by a static neural network. The second approach is indirect; it uses a dyna...
PID Neural Network Based Speed Control of Asynchronous Motor Using Programmable Logic Controller
Directory of Open Access Journals (Sweden)
MARABA, V. A.
2011-11-01
Full Text Available This paper deals with the structure and characteristics of PID Neural Network controller for single input and single output systems. PID Neural Network is a new kind of controller that includes the advantages of artificial neural networks and classic PID controller. Functioning of this controller is based on the update of controller parameters according to the value extracted from system output pursuant to the rules of back propagation algorithm used in artificial neural networks. Parameters obtained from the application of PID Neural Network training algorithm on the speed model of the asynchronous motor exhibiting second order linear behavior were used in the real time speed control of the motor. Programmable logic controller (PLC was used as real time controller. The real time control results show that reference speed successfully maintained under various load conditions.
Direct Adaptive Aircraft Control Using Dynamic Cell Structure Neural Networks
Jorgensen, Charles C.
1997-01-01
A Dynamic Cell Structure (DCS) Neural Network was developed which learns topology representing networks (TRNS) of F-15 aircraft aerodynamic stability and control derivatives. The network is integrated into a direct adaptive tracking controller. The combination produces a robust adaptive architecture capable of handling multiple accident and off- nominal flight scenarios. This paper describes the DCS network and modifications to the parameter estimation procedure. The work represents one step towards an integrated real-time reconfiguration control architecture for rapid prototyping of new aircraft designs. Performance was evaluated using three off-line benchmarks and on-line nonlinear Virtual Reality simulation. Flight control was evaluated under scenarios including differential stabilator lock, soft sensor failure, control and stability derivative variations, and air turbulence.
Two stage neural network modelling for robust model predictive control.
Patan, Krzysztof
2017-11-02
The paper proposes a novel robust model predictive control scheme realized by means of artificial neural networks. The neural networks are used twofold: to design the so-called fundamental model of a plant and to catch uncertainty associated with the plant model. In order to simplify the optimization process carried out within the framework of predictive control an instantaneous linearization is applied which renders it possible to define the optimization problem in the form of constrained quadratic programming. Stability of the proposed control system is also investigated by showing that a cost function is monotonically decreasing with respect to time. Derived robust model predictive control is tested and validated on the example of a pneumatic servomechanism working at different operating regimes. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
Practical Application of Neural Networks in State Space Control
DEFF Research Database (Denmark)
Bendtsen, Jan Dimon
theoretic notions followed by a detailed description of the topology, neuron functions and learning rules of the two types of neural networks treated in the thesis, the multilayer perceptron and the neurofuzzy networks. In both cases, a Least Squares second-order gradient method is used to train....... Then the controller is shown to work on a simulation example. We also address the potential problem of too rapidly fluctuating parameters by including regularization in the learning rule. Next we develop a direct adaptive certainty-equivalence controller based on neurofuzzy models. The control loop is proven...
The Adaptive Neural Network Control of Quadrotor Helicopter
Directory of Open Access Journals (Sweden)
A. S. Yushenko
2017-01-01
Full Text Available The current steady-rising interest in using the unmanned multi-rotor aerial vehicles (UMAV designed to solve a wide range of tasks is, mainly, due to their simple design and high weight-carrying capacity as compared to classical helicopter options. Unfortunately, to solve a problem of multi-copter control is complicated because of essential nonlinearity and environmental perturbations. The most widely spread PID controllers and linear-quadratic regulators do not quite well cope with this task. The need arises for the prompt adjustment of PID controller coefficients in the course of operation or their complete re-tuning in cases of changing parameters of the control object.One of the control methods under changing conditions is the use of the sliding mode. This technology enables us to reach the stabilization and proper operation of the controlled system even under accidental external exposures and when there is a lack of the reasonably accurate mathematical model of the control object. The sliding principle is to ensure the system motion in the immediate vicinity of the sliding surface in the phase space. On the other hand, the sliding mode has some essential disadvantages. The most significant one is the high-frequency jitter of the system near the sliding surface. The sliding mode also implies the complete knowledge of the system dynamics. Various methods have been proposed to eliminate these drawbacks. For example, A.G. Aissaoui’s, H. Abid’s and M. Abid’s paper describes the application of fuzzy logic to control a drive and in Lon-Chen Hung’s and Hung-Yuan Chung’s paper an artificial neural network is used for the manipulator control.This paper presents a method of the quad-copter control with the aid of a neural network controller. This method enables us to control the system without a priori information on parameters of the dynamic model of the controlled object. The main neural network is a MIMO (“Multiple Input Multiple
Noise Control for a Moving Evaluation Point Using Neural Networks
Maeda, Toshiki; Shiraishi, Toshihiko
2016-09-01
This paper describes the noise control for a moving evaluation point using neural networks by making the best use of its learning ability. Noise control is a technology which is effective on low-frequency noise. Based on the principle of superposition, a primary sound wave can be cancelled at an evaluation point by emitting a secondary opposite sound wave. To obtain good control performance, it is important to precisely identify the characteristics of all the sound paths. One of the most popular algorithms of noise control is filtered-x LMS algorithm. This algorithm can deliver a good result while all the sound paths do not change. However, the control system becomes uncontrollable while the evaluation point is moving. To solve the problem, the characteristics of all the paths are must be identified at all time. In this paper, we applied neural networks with the learning ability to the noise control system to follow the time-varying paths and verified its control performance by numerical simulations. Then, dropout technique for the networks is also applied. Dropout is a technique that prevent the network from overfitting and enables better control performance. By applying dropout for noise control, it prevents the system from diverging.
The application of neural network PID controller to control the light gasoline etherification
Cheng, Huanxin; Zhang, Yimin; Kong, Lingling; Meng, Xiangyong
2017-06-01
Light gasoline etherification technology can effectively improve the quality of gasoline, which is environmental- friendly and economical. By combining BP neural network and PID control and using BP neural network self-learning ability for online parameter tuning, this method optimizes the parameters of PID controller and applies this to the Fcc gas flow control to achieve the control of the final product- heavy oil concentration. Finally, through MATLAB simulation, it is found that the PID control based on BP neural network has better controlling effect than traditional PID control.
Diagnostics and control of pressurized reactors using artificial neural networks
Ikonomopoulos, Andreas; Tsoukalas, Lefteri H.; Uhrig, Robert E.
1992-09-01
A methodology employing artificial neural networks and fuzzy arithmetic in the diagnosis and control of complex systems such as pressurized water reactors is presented. Fuzzy numbers represent the linguistic values of plant-specific variables, e.g., performance or availability. The notion of a virtual instrument, i.e., a software-based measuring device calibrated to the idiosyncrasies of a specific system is used. Neural networks perform a mapping of physically measurable parameters to fuzzy numbers called Virtual Measurement Values (VMV). The methodology is tested with start-up data from an experimental nuclear reactor. The results demonstrate the very good capacity of such virtual instruments for failure-tolerance and suggest the possibility of developing alternative algorithms for diagnostics and control.
Piecewise-linear artificial neural networks for PID controller tuning
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Petr Doležel
2012-12-01
Full Text Available A new algorithm of PID controller tuning is presented in this paper. It is well known that there have been introduced manytechniques for PID controller tuning, both theoretical and experimental ones. However, this algorithm is suitable especially forhighly nonlinear processes. It uses a model of the controlled process in the shape of piecewise-linear neural network which islinearized continuously and resulting linearized model is used for PID controller online tuning. While at the beginning of the paperthe algorithm is described in theory, at the end there are mentioned some practical applications
Adaptive Gain Scheduled Semiactive Vibration Control Using a Neural Network
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Kazuhiko Hiramoto
2018-01-01
Full Text Available We propose an adaptive gain scheduled semiactive control method using an artificial neural network for structural systems subject to earthquake disturbance. In order to design a semiactive control system with high control performance against earthquakes with different time and/or frequency properties, multiple semiactive control laws with high performance for each of multiple earthquake disturbances are scheduled with an adaptive manner. Each semiactive control law to be scheduled is designed based on the output emulation approach that has been proposed by the authors. As the adaptive gain scheduling mechanism, we introduce an artificial neural network (ANN. Input signals of the ANN are the measured earthquake disturbance itself, for example, the acceleration, velocity, and displacement. The output of the ANN is the parameter for the scheduling of multiple semiactive control laws each of which has been optimized for a single disturbance. Parameters such as weight and bias in the ANN are optimized by the genetic algorithm (GA. The proposed design method is applied to semiactive control design of a base-isolated building with a semiactive damper. With simulation study, the proposed adaptive gain scheduling method realizes control performance exceeding single semiactive control optimizing the average of the control performance subject to various earthquake disturbances.
Neural Network Control for a Batch Distillation Column
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Duraid Fadhil Ahmed
2016-07-01
Full Text Available The present work deals with studying the dynamic behavior of a batch distillation column and implemented two types of control strategies for the separation different types of binary systems. The model was derived and then simulated using "MATLAB" program. The experimental data of dynamic behavior were to tune the parameters of PID controller and developed the training of neural networks controller by using supervised learning algorithms. The simulation results show a qualitatively acceptable behavior. This study shows also that the response of PID controller was oscillatory behavior with high offset value while neural network controller gave less offset value and less time to reach the steady state. In general, a good improvement is achieved when the neural network controller is used compared with PID control.
Control of 12-Cylinder Camless Engine with Neural Networks
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Ashhab Moh’d Sami
2017-01-01
Full Text Available The 12-cyliner camless engine breathing process is modeled with artificial neural networks (ANN’s. The inputs to the net are the intake valve lift (IVL and intake valve closing timing (IVC whereas the output of the net is the cylinder air charge (CAC. The ANN is trained with data collected from an engine simulation model which is based on thermodynamics principles and calibrated against real engine data. A method for adapting single-output feed-forward neural networks is proposed and applied to the camless engine ANN model. As a consequence the overall 12-cyliner camless engine feedback controller is upgraded and the necessary changes are implemented in order to contain the adaptive neural network with the objective of tracking the cylinder air charge (driver’s torque demand while minimizing the pumping losses (increasing engine efficiency. All the needed measurements are extracted only from the two conventional and inexpensive sensors, namely, the mass air flow through the throttle body (MAF and the intake manifold absolute pressure (MAP sensors. The feedback controller’s capability is demonstrated through computer simulation.
Neural network model to control an experimental chaotic pendulum
Bakker, R; Schouten, JC; Takens, F; vandenBleek, CM
1996-01-01
A feedforward neural network was trained to predict the motion of an experimental, driven, and damped pendulum operating in a chaotic regime. The network learned the behavior of the pendulum from a time series of the pendulum's angle, the single measured variable. The validity of the neural
Adaptive PID control based on orthogonal endocrine neural networks.
Milovanović, Miroslav B; Antić, Dragan S; Milojković, Marko T; Nikolić, Saša S; Perić, Staniša Lj; Spasić, Miodrag D
2016-12-01
A new intelligent hybrid structure used for online tuning of a PID controller is proposed in this paper. The structure is based on two adaptive neural networks, both with built-in Chebyshev orthogonal polynomials. First substructure network is a regular orthogonal neural network with implemented artificial endocrine factor (OENN), in the form of environmental stimuli, to its weights. It is used for approximation of control signals and for processing system deviation/disturbance signals which are introduced in the form of environmental stimuli. The output values of OENN are used to calculate artificial environmental stimuli (AES), which represent required adaptation measure of a second network-orthogonal endocrine adaptive neuro-fuzzy inference system (OEANFIS). OEANFIS is used to process control, output and error signals of a system and to generate adjustable values of proportional, derivative, and integral parameters, used for online tuning of a PID controller. The developed structure is experimentally tested on a laboratory model of the 3D crane system in terms of analysing tracking performances and deviation signals (error signals) of a payload. OENN-OEANFIS performances are compared with traditional PID and 6 intelligent PID type controllers. Tracking performance comparisons (in transient and steady-state period) showed that the proposed adaptive controller possesses performances within the range of other tested controllers. The main contribution of OENN-OEANFIS structure is significant minimization of deviation signals (17%-79%) compared to other controllers. It is recommended to exploit it when dealing with a highly nonlinear system which operates in the presence of undesirable disturbances. Copyright © 2016 Elsevier Ltd. All rights reserved.
Spacecraft Neural Network Control System Design using FPGA
Hanaa T. El-Madany; Faten H. Fahmy; Ninet M. A. El-Rahman; Hassen T. Dorrah
2011-01-01
Designing and implementing intelligent systems has become a crucial factor for the innovation and development of better products of space technologies. A neural network is a parallel system, capable of resolving paradigms that linear computing cannot. Field programmable gate array (FPGA) is a digital device that owns reprogrammable properties and robust flexibility. For the neural network based instrument prototype in real time application, conventional specific VLSI neural chip design suffer...
Statistical process control using optimized neural networks: a case study.
Addeh, Jalil; Ebrahimzadeh, Ata; Azarbad, Milad; Ranaee, Vahid
2014-09-01
The most common statistical process control (SPC) tools employed for monitoring process changes are control charts. A control chart demonstrates that the process has altered by generating an out-of-control signal. This study investigates the design of an accurate system for the control chart patterns (CCPs) recognition in two aspects. First, an efficient system is introduced that includes two main modules: feature extraction module and classifier module. In the feature extraction module, a proper set of shape features and statistical feature are proposed as the efficient characteristics of the patterns. In the classifier module, several neural networks, such as multilayer perceptron, probabilistic neural network and radial basis function are investigated. Based on an experimental study, the best classifier is chosen in order to recognize the CCPs. Second, a hybrid heuristic recognition system is introduced based on cuckoo optimization algorithm (COA) algorithm to improve the generalization performance of the classifier. The simulation results show that the proposed algorithm has high recognition accuracy. Copyright © 2013 ISA. Published by Elsevier Ltd. All rights reserved.
A biologically inspired neural network controller for ballistic arm movements
Directory of Open Access Journals (Sweden)
Schmid Maurizio
2007-09-01
Full Text Available Abstract Background In humans, the implementation of multijoint tasks of the arm implies a highly complex integration of sensory information, sensorimotor transformations and motor planning. Computational models can be profitably used to better understand the mechanisms sub-serving motor control, thus providing useful perspectives and investigating different control hypotheses. To this purpose, the use of Artificial Neural Networks has been proposed to represent and interpret the movement of upper limb. In this paper, a neural network approach to the modelling of the motor control of a human arm during planar ballistic movements is presented. Methods The developed system is composed of three main computational blocks: 1 a parallel distributed learning scheme that aims at simulating the internal inverse model in the trajectory formation process; 2 a pulse generator, which is responsible for the creation of muscular synergies; and 3 a limb model based on two joints (two degrees of freedom and six muscle-like actuators, that can accommodate for the biomechanical parameters of the arm. The learning paradigm of the neural controller is based on a pure exploration of the working space with no feedback signal. Kinematics provided by the system have been compared with those obtained in literature from experimental data of humans. Results The model reproduces kinematics of arm movements, with bell-shaped wrist velocity profiles and approximately straight trajectories, and gives rise to the generation of synergies for the execution of movements. The model allows achieving amplitude and direction errors of respectively 0.52 cm and 0.2 radians. Curvature values are similar to those encountered in experimental measures with humans. The neural controller also manages environmental modifications such as the insertion of different force fields acting on the end-effector. Conclusion The proposed system has been shown to properly simulate the development of
Liu, Jinkun
2013-01-01
Radial Basis Function (RBF) Neural Network Control for Mechanical Systems is motivated by the need for systematic design approaches to stable adaptive control system design using neural network approximation-based techniques. The main objectives of the book are to introduce the concrete design methods and MATLAB simulation of stable adaptive RBF neural control strategies. In this book, a broad range of implementable neural network control design methods for mechanical systems are presented, such as robot manipulators, inverted pendulums, single link flexible joint robots, motors, etc. Advanced neural network controller design methods and their stability analysis are explored. The book provides readers with the fundamentals of neural network control system design. This book is intended for the researchers in the fields of neural adaptive control, mechanical systems, Matlab simulation, engineering design, robotics and automation. Jinkun Liu is a professor at Beijing University of Aeronautics and Astronauti...
Directory of Open Access Journals (Sweden)
Bahita Mohamed
2011-01-01
Full Text Available In this work, we introduce an adaptive neural network controller for a class of nonlinear systems. The approach uses two Radial Basis Functions, RBF networks. The first RBF network is used to approximate the ideal control law which cannot be implemented since the dynamics of the system are unknown. The second RBF network is used for on-line estimating the control gain which is a nonlinear and unknown function of the states. The updating laws for the combined estimator and controller are derived through Lyapunov analysis. Asymptotic stability is established with the tracking errors converging to a neighborhood of the origin. Finally, the proposed method is applied to control and stabilize the inverted pendulum system.
Active Vibration Control of the Smart Plate Using Artificial Neural Network Controller
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Mohit
2015-01-01
Full Text Available The active vibration control (AVC of a rectangular plate with single input and single output approach is investigated using artificial neural network. The cantilever plate of finite length, breadth, and thickness having piezoelectric patches as sensors/actuators fixed at the upper and lower surface of the metal plate is considered for examination. The finite element model of the cantilever plate is utilized to formulate the whole strategy. The compact RIO and MATLAB simulation software are exercised to get the appropriate results. The cantilever plate is subjected to impulse input and uniform white noise disturbance. The neural network is trained offline and tuned with LQR controller. The various training algorithms to tune the neural network are exercised. The best efficient algorithm is finally considered to tune the neural network controller designed for active vibration control of the smart plate.
Neural network output feedback control of robot formations.
Dierks, Travis; Jagannathan, Sarangapani
2010-04-01
In this paper, a combined kinematic/torque output feedback control law is developed for leader-follower-based formation control using backstepping to accommodate the dynamics of the robots and the formation in contrast with kinematic-based formation controllers. A neural network (NN) is introduced to approximate the dynamics of the follower and its leader using online weight tuning. Furthermore, a novel NN observer is designed to estimate the linear and angular velocities of both the follower robot and its leader. It is shown, by using the Lyapunov theory, that the errors for the entire formation are uniformly ultimately bounded while relaxing the separation principle. In addition, the stability of the formation in the presence of obstacles, is examined using Lyapunov methods, and by treating other robots in the formation as obstacles, collisions within the formation are prevented. Numerical results are provided to verify the theoretical conjectures.
Complex Dynamical Network Control for Trajectory Tracking Using Delayed Recurrent Neural Networks
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Jose P. Perez
2014-01-01
Full Text Available In this paper, the problem of trajectory tracking is studied. Based on the V-stability and Lyapunov theory, a control law that achieves the global asymptotic stability of the tracking error between a delayed recurrent neural network and a complex dynamical network is obtained. To illustrate the analytic results, we present a tracking simulation of a dynamical network with each node being just one Lorenz’s dynamical system and three identical Chen’s dynamical systems.
Sufficient Condition for the Existence of the Compact Set in the RBF Neural Network Control.
Zhu, Jiaming; Cao, Zhiqiang; Zhang, Tianping; Yang, Yuequan; Yi, Yang
2017-06-20
In this brief, sufficient conditions are proposed for the existence of the compact sets in the neural network controls. First, we point out that the existence of the compact set in a classical neural network control scheme is unsolved and its result is incomplete. Next, as a simple case, we derive the sufficient condition of the existence of the compact set for the neural network control of first-order systems. Finally, we propose the sufficient condition of the existence of the compact set for the neural-network-based backstepping control of high-order nonlinear systems. The theoretic result is illustrated through a simulation example.
Region stability analysis and tracking control of memristive recurrent neural network.
Bao, Gang; Zeng, Zhigang; Shen, Yanjun
2018-02-01
Memristor is firstly postulated by Leon Chua and realized by Hewlett-Packard (HP) laboratory. Research results show that memristor can be used to simulate the synapses of neurons. This paper presents a class of recurrent neural network with HP memristors. Firstly, it shows that memristive recurrent neural network has more compound dynamics than the traditional recurrent neural network by simulations. Then it derives that n dimensional memristive recurrent neural network is composed of [Formula: see text] sub neural networks which do not have a common equilibrium point. By designing the tracking controller, it can make memristive neural network being convergent to the desired sub neural network. At last, two numerical examples are given to verify the validity of our result. Copyright © 2017 Elsevier Ltd. All rights reserved.
Web based educational tool for neural network robot control
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Jure Čas
2007-05-01
Full Text Available Abstract— This paper describes the application for teleoperations of the SCARA robot via the internet. The SCARA robot is used by students of mehatronics at the University of Maribor as a remote educational tool. The developed software consists of two parts i.e. the continuous neural network sliding mode controller (CNNSMC and the graphical user interface (GUI. Application is based on two well-known commercially available software packages i.e. MATLAB/Simulink and LabVIEW. Matlab/Simulink and the DSP2 Library for Simulink are used for control algorithm development, simulation and executable code generation. While this code is executing on the DSP-2 Roby controller and through the analog and digital I/O lines drives the real process, LabVIEW virtual instrument (VI, running on the PC, is used as a user front end. LabVIEW VI provides the ability for on-line parameter tuning, signal monitoring, on-line analysis and via Remote Panels technology also teleoperation. The main advantage of a CNNSMC is the exploitation of its self-learning capability. When friction or an unexpected impediment occurs for example, the user of a remote application has no information about any changed robot dynamic and thus is unable to dispatch it manually. This is not a control problem anymore because, when a CNNSMC is used, any approximation of changed robot dynamic is estimated independently of the remote’s user. Index Terms—LabVIEW; Matlab/Simulink; Neural network control; remote educational tool; robotics
Multi-layer neural networks for robot control
Pourboghrat, Farzad
1989-01-01
Two neural learning controller designs for manipulators are considered. The first design is based on a neural inverse-dynamics system. The second is the combination of the first one with a neural adaptive state feedback system. Both types of controllers enable the manipulator to perform any given task very well after a period of training and to do other untrained tasks satisfactorily. The second design also enables the manipulator to compensate for unpredictable perturbations.
Directory of Open Access Journals (Sweden)
Schwindling Jerome
2010-04-01
Full Text Available This course presents an overview of the concepts of the neural networks and their aplication in the framework of High energy physics analyses. After a brief introduction on the concept of neural networks, the concept is explained in the frame of neuro-biology, introducing the concept of multi-layer perceptron, learning and their use as data classifer. The concept is then presented in a second part using in more details the mathematical approach focussing on typical use cases faced in particle physics. Finally, the last part presents the best way to use such statistical tools in view of event classifers, putting the emphasis on the setup of the multi-layer perceptron. The full article (15 p. corresponding to this lecture is written in french and is provided in the proceedings of the book SOS 2008.
Output feedback control of a quadrotor UAV using neural networks.
Dierks, Travis; Jagannathan, Sarangapani
2010-01-01
In this paper, a new nonlinear controller for a quadrotor unmanned aerial vehicle (UAV) is proposed using neural networks (NNs) and output feedback. The assumption on the availability of UAV dynamics is not always practical, especially in an outdoor environment. Therefore, in this work, an NN is introduced to learn the complete dynamics of the UAV online, including uncertain nonlinear terms like aerodynamic friction and blade flapping. Although a quadrotor UAV is underactuated, a novel NN virtual control input scheme is proposed which allows all six degrees of freedom (DOF) of the UAV to be controlled using only four control inputs. Furthermore, an NN observer is introduced to estimate the translational and angular velocities of the UAV, and an output feedback control law is developed in which only the position and the attitude of the UAV are considered measurable. It is shown using Lyapunov theory that the position, orientation, and velocity tracking errors, the virtual control and observer estimation errors, and the NN weight estimation errors for each NN are all semiglobally uniformly ultimately bounded (SGUUB) in the presence of bounded disturbances and NN functional reconstruction errors while simultaneously relaxing the separation principle. The effectiveness of proposed output feedback control scheme is then demonstrated in the presence of unknown nonlinear dynamics and disturbances, and simulation results are included to demonstrate the theoretical conjecture.
Energy Technology Data Exchange (ETDEWEB)
Mjalli, F.S.; Al-Asheh, S. [Chemical Engineering Department, Qatar University, Doha (Qatar)
2005-10-01
In this work advanced nonlinear neural networks based control system design algorithms are adopted to control a mechanistic model for an ethanol fermentation process. The process model equations for such systems are highly nonlinear. A neural network strategy has been implemented in this work for capturing the dynamics of the mechanistic model for the fermentation process. The neural network achieved has been validated against the mechanistic model. Two neural network based nonlinear control strategies have also been adopted using the model identified. The performance of the feedback linearization technique was compared to neural network model predictive control in terms of stability and set point tracking capabilities. Under servo conditions, the feedback linearization algorithm gave comparable tracking and stability. The feedback linearization controller achieved the control target faster than the model predictive one but with vigorous and sudden controller moves. (Abstract Copyright [2005], Wiley Periodicals, Inc.)
Neural network based adaptive control for nonlinear dynamic regimes
Shin, Yoonghyun
Adaptive control designs using neural networks (NNs) based on dynamic inversion are investigated for aerospace vehicles which are operated at highly nonlinear dynamic regimes. NNs play a key role as the principal element of adaptation to approximately cancel the effect of inversion error, which subsequently improves robustness to parametric uncertainty and unmodeled dynamics in nonlinear regimes. An adaptive control scheme previously named 'composite model reference adaptive control' is further developed so that it can be applied to multi-input multi-output output feedback dynamic inversion. It can have adaptive elements in both the dynamic compensator (linear controller) part and/or in the conventional adaptive controller part, also utilizing state estimation information for NN adaptation. This methodology has more flexibility and thus hopefully greater potential than conventional adaptive designs for adaptive flight control in highly nonlinear flight regimes. The stability of the control system is proved through Lyapunov theorems, and validated with simulations. The control designs in this thesis also include the use of 'pseudo-control hedging' techniques which are introduced to prevent the NNs from attempting to adapt to various actuation nonlinearities such as actuator position and rate saturations. Control allocation is introduced for the case of redundant control effectors including thrust vectoring nozzles. A thorough comparison study of conventional and NN-based adaptive designs for a system under a limit cycle, wing-rock, is included in this research, and the NN-based adaptive control designs demonstrate their performances for two highly maneuverable aerial vehicles, NASA F-15 ACTIVE and FQM-117B unmanned aerial vehicle (UAV), operated under various nonlinearities and uncertainties.
Control of a hybrid compensator in a power network by an artificial neural network
Directory of Open Access Journals (Sweden)
I. S. Shaw
1998-07-01
Full Text Available Increased interest in the elimination of distortion in electrical power networks has led to the development of various compensator topologies. The increasing cost of electrical energy necessitates the cost-effective operation of any of these topologies. This paper considers the development of an artificial neural network based controller, trained by means of the backpropagation method, that ensures the cost-effective operation of the hybrid compensator consisting of various converters and filters.
Wen, Shiping; Zeng, Zhigang; Chen, Michael Z Q; Huang, Tingwen
2017-10-01
This paper addresses the issue of synchronization of switched delayed neural networks with communication delays via event-triggered control. For synchronizing coupled switched neural networks, we propose a novel event-triggered control law which could greatly reduce the number of control updates for synchronization tasks of coupled switched neural networks involving embedded microprocessors with limited on-board resources. The control signals are driven by properly defined events, which depend on the measurement errors and current-sampled states. By using a delay system method, a novel model of synchronization error system with delays is proposed with the communication delays and event-triggered control in the unified framework for coupled switched neural networks. The criteria are derived for the event-triggered synchronization analysis and control synthesis of switched neural networks via the Lyapunov-Krasovskii functional method and free weighting matrix approach. A numerical example is elaborated on to illustrate the effectiveness of the derived results.
NNSYSID and NNCTRL Tools for system identification and control with neural networks
DEFF Research Database (Denmark)
Nørgaard, Magnus; Ravn, Ole; Poulsen, Niels Kjølstad
2001-01-01
a number of nonlinear model structures based on neural networks, effective training algorithms and tools for model validation and model structure selection. The NNCTRL toolkit is an add-on to NNSYSID and provides tools for design and simulation of control systems based on neural networks. The user can......Two toolsets for use with MATLAB have been developed: the neural network based system identification toolbox (NNSYSID) and the neural network based control system design toolkit (NNCTRL). The NNSYSID toolbox has been designed to assist identification of nonlinear dynamic systems. It contains...... choose among several designs such as direct inverse control, internal model control, nonlinear feedforward, feedback linearisation, optimal control, gain scheduling based on instantaneous linearisation of neural network models and nonlinear model predictive control. This article gives an overview...
NNSYSID and NNCTRL Tools for system identification and control with neural networks
DEFF Research Database (Denmark)
Nørgaard, Magnus; Ravn, Ole; Poulsen, Niels Kjølstad
2001-01-01
choose among several designs such as direct inverse control, internal model control, nonlinear feedforward, feedback linearisation, optimal control, gain scheduling based on instantaneous linearisation of neural network models and nonlinear model predictive control. This article gives an overview......Two toolsets for use with MATLAB have been developed: the neural network based system identification toolbox (NNSYSID) and the neural network based control system design toolkit (NNCTRL). The NNSYSID toolbox has been designed to assist identification of nonlinear dynamic systems. It contains...... a number of nonlinear model structures based on neural networks, effective training algorithms and tools for model validation and model structure selection. The NNCTRL toolkit is an add-on to NNSYSID and provides tools for design and simulation of control systems based on neural networks. The user can...
Boussalis, Dhemetrios; Wang, Shyh J.
1992-01-01
This paper presents a method for utilizing artificial neural networks for direct adaptive control of dynamic systems with poorly known dynamics. The neural network weights (controller gains) are adapted in real time using state measurements and a random search optimization algorithm. The results are demonstrated via simulation using two highly nonlinear systems.
Modeling of the height control system using artificial neural networks
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A. R Tahavvor
2016-09-01
Full Text Available Introduction Automation of agricultural and machinery construction has generally been enhanced by intelligent control systems due to utility and efficiency rising, ease of use, profitability and upgrading according to market demand. A broad variety of industrial merchandise are now supplied with computerized control systems of earth moving processes to be performed by construction and agriculture field vehicle such as grader, backhoe, tractor and scraper machines. A height control machine which is used in measuring base thickness is consisted of two mechanical and electronic parts. The mechanical part is consisted of conveyor belt, main body, electrical engine and invertors while the electronic part is consisted of ultrasonic, wave transmitter and receiver sensor, electronic board, control set, and microcontroller. The main job of these controlling devices consists of the topographic surveying, cutting and filling of elevated and spotted low area, and these actions fundamentally dependent onthe machine's ability in elevation and thickness measurement and control. In this study, machine was first tested and then some experiments were conducted for data collection. Study of system modeling in artificial neural networks (ANN was done for measuring, controlling the height for bases by input variable input vectors such as sampling time, probe speed, conveyer speed, sound wave speed and speed sensor are finally the maximum and minimum probe output vector on various conditions. The result reveals the capability of this procedure for experimental recognition of sensors' behavior and improvement of field machine control systems. Inspection, calibration and response, diagnosis of the elevation control system in combination with machine function can also be evaluated by some extra development of this system. Materials and Methods Designing and manufacture of the planned apparatus classified in three dissimilar, mechanical and electronic module, courses of
Composite learning from adaptive backstepping neural network control.
Pan, Yongping; Sun, Tairen; Liu, Yiqi; Yu, Haoyong
2017-11-01
In existing neural network (NN) learning control methods, the trajectory of NN inputs must be recurrent to satisfy a stringent condition termed persistent excitation (PE) so that NN parameter convergence is obtainable. This paper focuses on command-filtered backstepping adaptive control for a class of strict-feedback nonlinear systems with functional uncertainties, where an NN composite learning technique is proposed to guarantee convergence of NN weights to their ideal values without the PE condition. In the NN composite learning, spatially localized NN approximation is employed to handle functional uncertainties, online historical data together with instantaneous data are exploited to generate prediction errors, and both tracking errors and prediction errors are employed to update NN weights. The influence of NN approximation errors on the control performance is also clearly shown. The distinctive feature of the proposed NN composite learning is that NN parameter convergence is guaranteed without the requirement of the trajectory of NN inputs being recurrent. Illustrative results have verified effectiveness and superiority of the proposed method compared with existing NN learning control methods. Copyright © 2017 Elsevier Ltd. All rights reserved.
Quantized Synchronization of Chaotic Neural Networks With Scheduled Output Feedback Control.
Wan, Ying; Cao, Jinde; Wen, Guanghui
In this paper, the synchronization problem of master-slave chaotic neural networks with remote sensors, quantization process, and communication time delays is investigated. The information communication channel between the master chaotic neural network and slave chaotic neural network consists of several remote sensors, with each sensor able to access only partial knowledge of output information of the master neural network. At each sampling instants, each sensor updates its own measurement and only one sensor is scheduled to transmit its latest information to the controller's side in order to update the control inputs for the slave neural network. Thus, such communication process and control strategy are much more energy-saving comparing with the traditional point-to-point scheme. Sufficient conditions for output feedback control gain matrix, allowable length of sampling intervals, and upper bound of network-induced delays are derived to ensure the quantized synchronization of master-slave chaotic neural networks. Lastly, Chua's circuit system and 4-D Hopfield neural network are simulated to validate the effectiveness of the main results.In this paper, the synchronization problem of master-slave chaotic neural networks with remote sensors, quantization process, and communication time delays is investigated. The information communication channel between the master chaotic neural network and slave chaotic neural network consists of several remote sensors, with each sensor able to access only partial knowledge of output information of the master neural network. At each sampling instants, each sensor updates its own measurement and only one sensor is scheduled to transmit its latest information to the controller's side in order to update the control inputs for the slave neural network. Thus, such communication process and control strategy are much more energy-saving comparing with the traditional point-to-point scheme. Sufficient conditions for output feedback control
Neural network control of mobile robot formations using RISE feedback.
Dierks, Travis; Jagannathan, S
2009-04-01
In this paper, an asymptotically stable (AS) combined kinematic/torque control law is developed for leader-follower-based formation control using backstepping in order to accommodate the complete dynamics of the robots and the formation, and a neural network (NN) is introduced along with robust integral of the sign of the error feedback to approximate the dynamics of the follower as well as its leader using online weight tuning. It is shown using Lyapunov theory that the errors for the entire formation are AS and that the NN weights are bounded as opposed to uniformly ultimately bounded stability which is typical with most NN controllers. Additionally, the stability of the formation in the presence of obstacles is examined using Lyapunov methods, and by treating other robots in the formation as obstacles, collisions within the formation do not occur. The asymptotic stability of the follower robots as well as the entire formation during an obstacle avoidance maneuver is demonstrated using Lyapunov methods, and numerical results are provided to verify the theoretical conjectures.
Self-Tuning Vibration Control of a Rotational Flexible Timoshenko Arm Using Neural Networks
Directory of Open Access Journals (Sweden)
Minoru Sasaki
2012-01-01
Full Text Available A self-tuning vibration control of a rotational flexible arm using neural networks is presented. To the self-tuning control system, the control scheme consists of gain tuning neural networks and a variable-gain feedback controller. The neural networks are trained so as to make the root moment zero. In the process, the neural networks learn the optimal gain of the feedback controller. The feedback controller is designed based on Lyapunov's direct method. The feedback control of the vibration of the flexible system is derived by considering the time rate of change of the total energy of the system. This approach has the advantage over the conventional methods in the respect that it allows one to deal directly with the system's partial differential equations without resorting to approximations. Numerical and experimental results for the vibration control of a rotational flexible arm are discussed. It verifies that the proposed control system is effective at controlling flexible dynamical systems.
Neural network based optimal control of HVAC&R systems
Ning, Min
Heating, Ventilation, Air-Conditioning and Refrigeration (HVAC&R) systems have wide applications in providing a desired indoor environment for different types of buildings. It is well acknowledged that 30%-40% of the total energy generated is consumed by buildings and HVAC&R systems alone account for more than 50% of the building energy consumption. Low operational efficiency especially under partial load conditions and poor control are part of reasons for such high energy consumption. To improve energy efficiency, HVAC&R systems should be properly operated to maintain a comfortable and healthy indoor environment under dynamic ambient and indoor conditions with the least energy consumption. This research focuses on the optimal operation of HVAC&R systems. The optimization problem is formulated and solved to find the optimal set points for the chilled water supply temperature, discharge air temperature and AHU (air handling unit) fan static pressure such that the indoor environment is maintained with the least chiller and fan energy consumption. To achieve this objective, a dynamic system model is developed first to simulate the system behavior under different control schemes and operating conditions. The system model is modular in structure, which includes a water-cooled vapor compression chiller model and a two-zone VAV system model. A fuzzy-set based extended transformation approach is then applied to investigate the uncertainties of this model caused by uncertain parameters and the sensitivities of the control inputs with respect to the interested model outputs. A multi-layer feed forward neural network is constructed and trained in unsupervised mode to minimize the cost function which is comprised of overall energy cost and penalty cost when one or more constraints are violated. After training, the network is implemented as a supervisory controller to compute the optimal settings for the system. In order to implement the optimal set points predicted by the
Kim, Nakwan
Utilizing the universal approximation property of neural networks, we develop several novel approaches to neural network-based adaptive output feedback control of nonlinear systems, and illustrate these approaches for several flight control applications. In particular, we address the problem of non-affine systems and eliminate the fixed point assumption present in earlier work. All of the stability proofs are carried out in a form that eliminates an algebraic loop in the neural network implementation. An approximate input/output feedback linearizing controller is augmented with a neural network using input/output sequences of the uncertain system. These approaches permit adaptation to both parametric uncertainty and unmodeled dynamics. All physical systems also have control position and rate limits, which may either deteriorate performance or cause instability for a sufficiently high control bandwidth. Here we apply a method for protecting an adaptive process from the effects of input saturation and time delays, known as "pseudo control hedging". This method was originally developed for the state feedback case, and we provide a stability analysis that extends its domain of applicability to the case of output feedback. The approach is illustrated by the design of a pitch-attitude flight control system for a linearized model of an R-50 experimental helicopter, and by the design of a pitch-rate control system for a 58-state model of a flexible aircraft consisting of rigid body dynamics coupled with actuator and flexible modes. A new approach to augmentation of an existing linear controller is introduced. It is especially useful when there is limited information concerning the plant model, and the existing controller. The approach is applied to the design of an adaptive autopilot for a guided munition. Design of a neural network adaptive control that ensures asymptotically stable tracking performance is also addressed.
Analog neural network control method proposed for use in a backup satellite control mode
Energy Technology Data Exchange (ETDEWEB)
Frigo, J.R.; Tilden, M.W.
1998-03-01
The authors propose to use an analog neural network controller implemented in hardware, independent of the active control system, for use in a satellite backup control mode. The controller uses coarse sun sensor inputs. The field of view of the sensors activate the neural controller, creating an analog dead band with respect to the direction of the sun on each axis. This network controls the orientation of the vehicle toward the sunlight to ensure adequate power for the system. The attitude of the spacecraft is stabilized with respect to the ambient magnetic field on orbit. This paper develops a model of the controller using real-time coarse sun sensor data and a dynamic model of a prototype system based on a satellite system. The simulation results and the feasibility of this control method for use in a satellite backup control mode are discussed.
Neural network based adaptive output feedback control: Applications and improvements
Kutay, Ali Turker
Application of recently developed neural network based adaptive output feedback controllers to a diverse range of problems both in simulations and experiments is investigated in this thesis. The purpose is to evaluate the theory behind the development of these controllers numerically and experimentally, identify the needs for further development in practical applications, and to conduct further research in directions that are identified to ultimately enhance applicability of adaptive controllers to real world problems. We mainly focus our attention on adaptive controllers that augment existing fixed gain controllers. A recently developed approach holds great potential for successful implementations on real world applications due to its applicability to systems with minimal information concerning the plant model and the existing controller. In this thesis the formulation is extended to the multi-input multi-output case for distributed control of interconnected systems and successfully tested on a formation flight wind tunnel experiment. The command hedging method is formulated for the approach to further broaden the class of systems it can address by including systems with input nonlinearities. Also a formulation is adopted that allows the approach to be applied to non-minimum phase systems for which non-minimum phase characteristics are modeled with sufficient accuracy and treated properly in the design of the existing controller. It is shown that the approach can also be applied to augment nonlinear controllers under certain conditions and an example is presented where the nonlinear guidance law of a spinning projectile is augmented. Simulation results on a high fidelity 6 degrees-of-freedom nonlinear simulation code are presented. The thesis also presents a preliminary adaptive controller design for closed loop flight control with active flow actuators. Behavior of such actuators in dynamic flight conditions is not known. To test the adaptive controller design in
Real-Time Control Strategy of Elman Neural Network for the Parallel Hybrid Electric Vehicle
Directory of Open Access Journals (Sweden)
Ruijun Liu
2014-01-01
Full Text Available Through researching the instantaneous control strategy and Elman neural network, the paper established equivalent fuel consumption functions under the charging and discharging conditions of power batteries, deduced the optimal control objective function of instantaneous equivalent consumption, established the instantaneous optimal control model, and designs the Elman neural network controller. Based on the ADVISOR 2002 platform, the instantaneous optimal control strategy and the Elman neural network control strategy were simulated on a parallel HEV. The simulation results were analyzed in the end. The contribution of the paper is that the trained Elman neural network control strategy can reduce the simulation time by 96% and improve the real-time performance of energy control, which also ensures the good performance of power and fuel economy.
Evolving Spiking Neural Networks for Control of Artificial Creatures
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Arash Ahmadi
2013-10-01
Full Text Available To understand and analysis behavior of complicated and intelligent organisms, scientists apply bio-inspired concepts including evolution and learning to mathematical models and analyses. Researchers utilize these perceptions in different applications, searching for improved methods andapproaches for modern computational systems. This paper presents a genetic algorithm based evolution framework in which Spiking Neural Network (SNN of artificial creatures are evolved for higher chance of survival in a virtual environment. The artificial creatures are composed ofrandomly connected Izhikevich spiking reservoir neural networks using population activity rate coding. Inspired by biological neurons, the neuronal connections are considered with different axonal conduction delays. Simulations results prove that the evolutionary algorithm has thecapability to find or synthesis artificial creatures which can survive in the environment successfully.
Adaptive Wavelet Neural Network Backstepping Sliding Mode Tracking Control for PMSM Drive System
Liu, Da; Li, Muguo
2015-01-01
This paper presents a wavelet neural network backstepping sliding mode controller (WNNBSSM) for permanent-magnet synchronous motor (PMSM) position servo control system. Backstepping sliding mode (BSSM) is utilized to guarantee favorable tracking performance and stability of the whole system, meanwhile, wavelet neural network (WNN) is used for approximating nonlinear uncertainties. The designed controller combined the merits of the backstepping sliding mode control with robust characteristics ...
Neural networks for predictive control of the mechanism of ...
African Journals Online (AJOL)
In this paper, we are interested in the study of the control of orientation of a wind turbine like means of optimization of his output/input ratio (efficiency). The approach suggested is based on the neural predictive control which is justified by the randomness of the wind on the one hand, and on the other hand by the capacity of ...
Experiments in Neural-Network Control of a Free-Flying Space Robot
Wilson, Edward
1995-01-01
Four important generic issues are identified and addressed in some depth in this thesis as part of the development of an adaptive neural network based control system for an experimental free flying space robot prototype. The first issue concerns the importance of true system level design of the control system. A new hybrid strategy is developed here, in depth, for the beneficial integration of neural networks into the total control system. A second important issue in neural network control concerns incorporating a priori knowledge into the neural network. In many applications, it is possible to get a reasonably accurate controller using conventional means. If this prior information is used purposefully to provide a starting point for the optimizing capabilities of the neural network, it can provide much faster initial learning. In a step towards addressing this issue, a new generic Fully Connected Architecture (FCA) is developed for use with backpropagation. A third issue is that neural networks are commonly trained using a gradient based optimization method such as backpropagation; but many real world systems have Discrete Valued Functions (DVFs) that do not permit gradient based optimization. One example is the on-off thrusters that are common on spacecraft. A new technique is developed here that now extends backpropagation learning for use with DVFs. The fourth issue is that the speed of adaptation is often a limiting factor in the implementation of a neural network control system. This issue has been strongly resolved in the research by drawing on the above new contributions.
Berenji, Hamid R.
1992-01-01
Fuzzy logic and neural networks provide new methods for designing control systems. Fuzzy logic controllers do not require a complete analytical model of a dynamic system and can provide knowledge-based heuristic controllers for ill-defined and complex systems. Neural networks can be used for learning control. In this chapter, we discuss hybrid methods using fuzzy logic and neural networks which can start with an approximate control knowledge base and refine it through reinforcement learning.
RBF Neural Network of Sliding Mode Control for Time-Varying 2-DOF Parallel Manipulator System
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Haizhong Chen
2013-01-01
Full Text Available This paper presents a radial basis function (RBF neural network control scheme for manipulators with actuator nonlinearities. The control scheme consists of a time-varying sliding mode control (TVSMC and an RBF neural network compensator. Since the actuator nonlinearities are usually included in the manipulator driving motor, a compensator using RBF network is proposed to estimate the actuator nonlinearities and their upper boundaries. Subsequently, an RBF neural network controller that requires neither the evaluation of off-line dynamical model nor the time-consuming training process is given. In addition, Barbalat Lemma is introduced to help prove the stability of the closed control system. Considering the SMC controller and the RBF network compensator as the whole control scheme, the closed-loop system is proved to be uniformly ultimately bounded. The whole scheme provides a general procedure to control the manipulators with actuator nonlinearities. Simulation results verify the effectiveness of the designed scheme and the theoretical discussion.
Course Control of Underactuated Ship Based on Nonlinear Robust Neural Network Backstepping Method.
Yuan, Junjia; Meng, Hao; Zhu, Qidan; Zhou, Jiajia
2016-01-01
The problem of course control for underactuated surface ship is addressed in this paper. Firstly, neural networks are adopted to determine the parameters of the unknown part of ideal virtual backstepping control, even the weight values of neural network are updated by adaptive technique. Then uniform stability for the convergence of course tracking errors has been proven through Lyapunov stability theory. Finally, simulation experiments are carried out to illustrate the effectiveness of proposed control method.
Yang, Shiju; Li, Chuandong; Huang, Tingwen
2016-03-01
The problem of exponential stabilization and synchronization for fuzzy model of memristive neural networks (MNNs) is investigated by using periodically intermittent control in this paper. Based on the knowledge of memristor and recurrent neural network, the model of MNNs is formulated. Some novel and useful stabilization criteria and synchronization conditions are then derived by using the Lyapunov functional and differential inequality techniques. It is worth noting that the methods used in this paper are also applied to fuzzy model for complex networks and general neural networks. Numerical simulations are also provided to verify the effectiveness of theoretical results. Copyright © 2015 Elsevier Ltd. All rights reserved.
Guo, Zhenyuan; Yang, Shaofu; Wang, Jun
2016-12-01
This paper presents theoretical results on global exponential synchronization of multiple memristive neural networks in the presence of external noise by means of two types of distributed pinning control. The multiple memristive neural networks are coupled in a general structure via a nonlinear function, which consists of a linear diffusive term and a discontinuous sign term. A pinning impulsive control law is introduced in the coupled system to synchronize all neural networks. Sufficient conditions are derived for ascertaining global exponential synchronization in mean square. In addition, a pinning adaptive control law is developed to achieve global exponential synchronization in mean square. Both pinning control laws utilize only partial state information received from the neighborhood of the controlled neural network. Simulation results are presented to substantiate the theoretical results. Copyright © 2016 Elsevier Ltd. All rights reserved.
Behavior Emergence in Autonomous Robot Control by Means of Evolutionary Neural Networks
Neruda, Roman; Slušný, Stanislav; Vidnerová, Petra
We study the emergence of intelligent behavior of a simple mobile robot. Robot control system is realized by mechanisms based on neural networks and evolutionary algorithms. The evolutionary algorithm is responsible for the adaptation of a neural network parameters based on the robot's performance in a simulated environment. In experiments, we demonstrate the performance of evolutionary algorithm on selected problems, namely maze exploration and discrimination of walls and cylinders. A comparison of different networks architectures is presented and discussed.
A Gain-Scheduling PI Control Based on Neural Networks
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Stefania Tronci
2017-01-01
Full Text Available This paper presents a gain-scheduling design technique that relies upon neural models to approximate plant behaviour. The controller design is based on generic model control (GMC formalisms and linearization of the neural model of the process. As a result, a PI controller action is obtained, where the gain depends on the state of the system and is adapted instantaneously on-line. The algorithm is tested on a nonisothermal continuous stirred tank reactor (CSTR, considering both single-input single-output (SISO and multi-input multi-output (MIMO control problems. Simulation results show that the proposed controller provides satisfactory performance during set-point changes and disturbance rejection.
Introduction to neural networks
James, Frederick E
1994-02-02
1. Introduction and overview of Artificial Neural Networks. 2,3. The Feed-forward Network as an inverse Problem, and results on the computational complexity of network training. 4.Physics applications of neural networks.
Peng, Jinzhu; Dubay, Rickey
2011-10-01
In this paper, an adaptive control approach based on the neural networks is presented to control a DC motor system with dead-zone characteristics (DZC), where two neural networks are proposed to formulate the traditional identification and control approaches. First, a Wiener-type neural network (WNN) is proposed to identify the motor DZC, which formulates the Wiener model with a linear dynamic block in cascade with a nonlinear static gain. Second, a feedforward neural network is proposed to formulate the traditional PID controller, termed as PID-type neural network (PIDNN), which is then used to control and compensate for the DZC. In this way, the DC motor system with DZC is identified by the WNN identifier, which provides model information to the PIDNN controller in order to make it adaptive. Back-propagation algorithms are used to train both neural networks. Also, stability and convergence analysis are conducted using the Lyapunov theorem. Finally, experiments on the DC motor system demonstrated accurate identification and good compensation for dead-zone with improved control performance over the conventional PID control. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.
Adaptive RBF Neural Network Control for Three-Phase Active Power Filter
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Juntao Fei
2013-05-01
Full Text Available Abstract An adaptive radial basis function (RBF neural network control system for three-phase active power filter (APF is proposed to eliminate harmonics. Compensation current is generated to track command current so as to eliminate the harmonic current of non-linear load and improve the quality of the power system. The asymptotical stability of the APF system can be guaranteed with the proposed adaptive neural network strategy. The parameters of the neural network can be adaptively updated to achieve the desired tracking task. The simulation results demonstrate good performance, for example showing small current tracking error, reduced total harmonic distortion (THD, improved accuracy and strong robustness in the presence of parameters variation and nonlinear load. It is shown that the adaptive RBF neural network control system for three-phase APF gives better control than hysteresis control.
Earth Station Neural Network Control Methodology and Simulation
Hanaa T. El-Madany; Faten H. Fahmy; Ninet M. A. El-Rahman; Hassen T. Dorrah
2012-01-01
Renewable energy resources are inexhaustible, clean as compared with conventional resources. Also, it is used to supply regions with no grid, no telephone lines, and often with difficult accessibility by common transport. Satellite earth stations which located in remote areas are the most important application of renewable energy. Neural control is a branch of the general field of intelligent control, which is based on the concept of artificial intelligence. This paper presents the mathematic...
Adaptive Control of Nonlinear Discrete-Time Systems by Using OS-ELM Neural Networks
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Xiao-Li Li
2014-01-01
Full Text Available As a kind of novel feedforward neural network with single hidden layer, ELM (extreme learning machine neural networks are studied for the identification and control of nonlinear dynamic systems. The property of simple structure and fast convergence of ELM can be shown clearly. In this paper, we are interested in adaptive control of nonlinear dynamic plants by using OS-ELM (online sequential extreme learning machine neural networks. Based on data scope division, the problem that training process of ELM neural network is sensitive to the initial training data is also solved. According to the output range of the controlled plant, the data corresponding to this range will be used to initialize ELM. Furthermore, due to the drawback of conventional adaptive control, when the OS-ELM neural network is used for adaptive control of the system with jumping parameters, the topological structure of the neural network can be adjusted dynamically by using multiple model switching strategy, and an MMAC (multiple model adaptive control will be used to improve the control performance. Simulation results are included to complement the theoretical results.
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Heryanto M Ary
2015-01-01
Full Text Available UAVs are mostly used for surveillance, inspection and data acquisition. We have developed a Quadrotor UAV that is constructed based on a four motors with a lift-generating propeller at each motors. In this paper, we discuss the development of a quadrotor and its neural networks direct inverse control model using the actual flight data. To obtain a better performance of the control system of the UAV, we proposed an Optimized Direct Inverse controller based on re-training the neural networks with the new data generated from optimal maneuvers of the quadrotor. Through simulation of the quadrotor using the developed DIC and Optimized DIC model, results show that both models have the ability to stabilize the quadrotor with a good tracking performance. The optimized DIC model, however, has shown a better performance, especially in the settling time parameter.
Neural network for solving Nash equilibrium problem in application of multiuser power control.
He, Xing; Yu, Junzhi; Huang, Tingwen; Li, Chuandong; Li, Chaojie
2014-09-01
In this paper, based on an equivalent mixed linear complementarity problem, we propose a neural network to solve multiuser power control optimization problems (MPCOP), which is modeled as the noncooperative Nash game in modern digital subscriber line (DSL). If the channel crosstalk coefficients matrix is positive semidefinite, it is shown that the proposed neural network is stable in the sense of Lyapunov and global convergence to a Nash equilibrium, and the Nash equilibrium is unique if the channel crosstalk coefficients matrix is positive definite. Finally, simulation results on two numerical examples show the effectiveness and performance of the proposed neural network. Copyright © 2014 Elsevier Ltd. All rights reserved.
Sun, Ran; Wang, Jihe; Zhang, Dexin; Shao, Xiaowei
2018-02-01
This paper presents an adaptive neural networks-based control method for spacecraft formation with coupled translational and rotational dynamics using only aerodynamic forces. It is assumed that each spacecraft is equipped with several large flat plates. A coupled orbit-attitude dynamic model is considered based on the specific configuration of atmospheric-based actuators. For this model, a neural network-based adaptive sliding mode controller is implemented, accounting for system uncertainties and external perturbations. To avoid invalidation of the neural networks destroying stability of the system, a switching control strategy is proposed which combines an adaptive neural networks controller dominating in its active region and an adaptive sliding mode controller outside the neural active region. An optimal process is developed to determine the control commands for the plates system. The stability of the closed-loop system is proved by a Lyapunov-based method. Comparative results through numerical simulations illustrate the effectiveness of executing attitude control while maintaining the relative motion, and higher control accuracy can be achieved by using the proposed neural-based switching control scheme than using only adaptive sliding mode controller.
Adaptive Global Sliding Mode Control for MEMS Gyroscope Using RBF Neural Network
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Yundi Chu
2015-01-01
Full Text Available An adaptive global sliding mode control (AGSMC using RBF neural network (RBFNN is proposed for the system identification and tracking control of micro-electro-mechanical system (MEMS gyroscope. Firstly, a new kind of adaptive identification method based on the global sliding mode controller is designed to update and estimate angular velocity and other system parameters of MEMS gyroscope online. Moreover, the output of adaptive neural network control is used to adjust the switch gain of sliding mode control dynamically to approach the upper bound of unknown disturbances. In this way, the switch item of sliding mode control can be converted to the output of continuous neural network which can weaken the chattering in the sliding mode control in contrast to the conventional fixed gain sliding mode control. Simulation results show that the designed control system can get satisfactory tracking performance and effective estimation of unknown parameters of MEMS gyroscope.
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Tat-Bao-Thien Nguyen
2014-01-01
Full Text Available In this paper, based on fuzzy neural networks, we develop an adaptive sliding mode controller for chaos suppression and tracking control in a chaotic permanent magnet synchronous motor (PMSM drive system. The proposed controller consists of two parts. The first is an adaptive sliding mode controller which employs a fuzzy neural network to estimate the unknown nonlinear models for constructing the sliding mode controller. The second is a compensational controller which adaptively compensates estimation errors. For stability analysis, the Lyapunov synthesis approach is used to ensure the stability of controlled systems. Finally, simulation results are provided to verify the validity and superiority of the proposed method.
Adaptive Neural Network Sliding Mode Control for Quad Tilt Rotor Aircraft
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Yanchao Yin
2017-01-01
Full Text Available A novel neural network sliding mode control based on multicommunity bidirectional drive collaborative search algorithm (M-CBDCS is proposed to design a flight controller for performing the attitude tracking control of a quad tilt rotors aircraft (QTRA. Firstly, the attitude dynamic model of the QTRA concerning propeller tension, channel arm, and moment of inertia is formulated, and the equivalent sliding mode control law is stated. Secondly, an adaptive control algorithm is presented to eliminate the approximation error, where a radial basis function (RBF neural network is used to online regulate the equivalent sliding mode control law, and the novel M-CBDCS algorithm is developed to uniformly update the unknown neural network weights and essential model parameters adaptively. The nonlinear approximation error is obtained and serves as a novel leakage term in the adaptations to guarantee the sliding surface convergence and eliminate the chattering phenomenon, which benefit the overall attitude control performance for QTRA. Finally, the appropriate comparisons among the novel adaptive neural network sliding mode control, the classical neural network sliding mode control, and the dynamic inverse PID control are examined, and comparative simulations are included to verify the efficacy of the proposed control method.
A Predictive Neural Network-Based Cascade Control for pH Reactors
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Mujahed AlDhaifallah
2016-01-01
Full Text Available This paper is concerned with the development of predictive neural network-based cascade control for pH reactors. The cascade structure consists of a master control loop (fuzzy proportional-integral and a slave one (predictive neural network. The master loop is chosen to be more accurate but slower than the slave one. The strong features found in cascade structure have been added to the inherent features in model predictive neural network. The neural network is used to alleviate modeling difficulties found with pH reactor and to predict its behavior. The parameters of predictive algorithm are determined using an optimization algorithm. The effectiveness and feasibility of the proposed design have been demonstrated using MatLab.
Torghabeh, A. A.; Tousi, A. M.
2007-08-01
This paper presents Fuzzy Logic and Neural Networks approach to Gas Turbine Fuel schedules. Modeling of non-linear system using feed forward artificial Neural Networks using data generated by a simulated gas turbine program is introduced. Two artificial Neural Networks are used , depicting the non-linear relationship between gas generator speed and fuel flow, and turbine inlet temperature and fuel flow respectively . Off-line fast simulations are used for engine controller design for turbojet engine based on repeated simulation. The Mamdani and Sugeno models are used to expression the Fuzzy system . The linguistic Fuzzy rules and membership functions are presents and a Fuzzy controller will be proposed to provide an Open-Loop control for the gas turbine engine during acceleration and deceleration . MATLAB Simulink was used to apply the Fuzzy Logic and Neural Networks analysis. Both systems were able to approximate functions characterizing the acceleration and deceleration schedules . Surge and Flame-out avoidance during acceleration and deceleration phases are then checked . Turbine Inlet Temperature also checked and controls by Neural Networks controller. This Fuzzy Logic and Neural Network Controllers output results are validated and evaluated by GSP software . The validation results are used to evaluate the generalization ability of these artificial Neural Networks and Fuzzy Logic controllers.
Research on Environmental Adjustment of Cloud Ranch Based on BP Neural Network PID Control
Ren, Jinzhi; Xiang, Wei; Zhao, Lin; Wu, Jianbo; Huang, Lianzhen; Tu, Qinggang; Zhao, Heming
2018-01-01
In order to make the intelligent ranch management mode replace the traditional artificial one gradually, this paper proposes a pasture environment control system based on cloud server, and puts forward the PID control algorithm based on BP neural network to control temperature and humidity better in the pasture environment. First, to model the temperature and humidity (controlled object) of the pasture, we can get the transfer function. Then the traditional PID control algorithm and the PID one based on BP neural network are applied to the transfer function. The obtained step tracking curves can be seen that the PID controller based on BP neural network has obvious superiority in adjusting time and error, etc. This algorithm, calculating reasonable control parameters of the temperature and humidity to control environment, can be better used in the cloud service platform.
Rotor Resistance Online Identification of Vector Controlled Induction Motor Based on Neural Network
Bo Fan; Zhixin Yang; Wei Xu; Xianbo Wang
2014-01-01
Rotor resistance identification has been well recognized as one of the most critical factors affecting the theoretical study and applications of AC motor’s control for high performance variable frequency speed adjustment. This paper proposes a novel model for rotor resistance parameters identification based on Elman neural networks. Elman recurrent neural network is capable of performing nonlinear function approximation and possesses the ability of time-variable characteristic adaptation. Tho...
Directory of Open Access Journals (Sweden)
Elakhdar BENYOUSSEF
2014-02-01
Full Text Available This paper presents a direct torque control strategy for double star synchronous machine fed by two three-level inverters. The analysis of the torque and the stator flux linkage reference frame shows that the concept of direct torque control can be extended easily to double star synchronous machine. The proposed approach consists to replace the switching tables by one artificial neural networks controller. The output switching states vectors of the artificial neural networks controller are used to control the two three-level inverters. Simulations results are given to show the effectiveness and the robustness of the suggested control method.
Selected Flight Test Results for Online Learning Neural Network-Based Flight Control System
Williams-Hayes, Peggy S.
2004-01-01
The NASA F-15 Intelligent Flight Control System project team developed a series of flight control concepts designed to demonstrate neural network-based adaptive controller benefits, with the objective to develop and flight-test control systems using neural network technology to optimize aircraft performance under nominal conditions and stabilize the aircraft under failure conditions. This report presents flight-test results for an adaptive controller using stability and control derivative values from an online learning neural network. A dynamic cell structure neural network is used in conjunction with a real-time parameter identification algorithm to estimate aerodynamic stability and control derivative increments to baseline aerodynamic derivatives in flight. This open-loop flight test set was performed in preparation for a future phase in which the learning neural network and parameter identification algorithm output would provide the flight controller with aerodynamic stability and control derivative updates in near real time. Two flight maneuvers are analyzed - pitch frequency sweep and automated flight-test maneuver designed to optimally excite the parameter identification algorithm in all axes. Frequency responses generated from flight data are compared to those obtained from nonlinear simulation runs. Flight data examination shows that addition of flight-identified aerodynamic derivative increments into the simulation improved aircraft pitch handling qualities.
Cheng, Longlong; Zhang, Guangju; Wan, Baikun; Hao, Linlin; Qi, Hongzhi; Ming, Dong
2009-01-01
Functional electrical stimulation (FES) has been widely used in the area of neural engineering. It utilizes electrical current to activate nerves innervating extremities affected by paralysis. An effective combination of a traditional PID controller and a neural network, being capable of nonlinear expression and adaptive learning property, supply a more reliable approach to construct FES controller that help the paraplegia complete the action they want. A FES system tuned by Radial Basis Function (RBF) Neural Network-based Proportional-Integral-Derivative (PID) model was designed to control the knee joint according to the desired trajectory through stimulation of lower limbs muscles in this paper. Experiment result shows that the FES system with RBF Neural Network-based PID model get a better performance when tracking the preset trajectory of knee angle comparing with the system adjusted by Ziegler- Nichols tuning PID model.
Design of an Adaptive-Neural Network Attitude Controller of a Satellite using Reaction Wheels
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Abbas Ajorkar
2015-04-01
Full Text Available In this paper, an adaptive attitude control algorithm is developed based on neural network for a satellite using four reaction wheels in a tetrahedron configuration. Then, an attitude control based on feedback linearization control has been designed and uncertainties in the moment of inertia matrix and disturbances torque have been considered. In order to eliminate the effect of these uncertainties, a multilayer neural network with back-propagation law is designed. In this structure, the parameters of the moment of inertia matrix and external disturbances are estimated and used in feedback linearization control law. Finally, the performance of the designed attitude controller is investigated by several simulations.
Bifurcation and Hybrid Control for A Simple Hopfield Neural Networks with Delays
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Zisen Mao
2013-01-01
Full Text Available A detailed analysis on the Hopf bifurcation of a delayed Hopfield neural network is given. Moreover, a new hybrid control strategy is proposed, in which time-delayed state feedback and parameter perturbation are used to control the Hopf bifurcation of the model. Numerical simulation results confirm that the new hybrid controller using time delay is efficient in controlling Hopf bifurcation.
Active random noise control using adaptive learning rate neural networks with an immune feedback law
Sasaki, Minoru; Kuribayashi, Takumi; Ito, Satoshi
2005-12-01
In this paper an active random noise control using adaptive learning rate neural networks with an immune feedback law is presented. The adaptive learning rate strategy increases the learning rate by a small constant if the current partial derivative of the objective function with respect to the weight and the exponential average of the previous derivatives have the same sign, otherwise the learning rate is decreased by a proportion of its value. The use of an adaptive learning rate attempts to keep the learning step size as large as possible without leading to oscillation. In the proposed method, because of the immune feedback law change a learning rate of the neural networks individually and adaptively, it is expected that a cost function minimize rapidly and training time is decreased. Numerical simulations and experiments of active random noise control with the transfer function of the error path will be performed, to validate the convergence properties of the adaptive learning rate Neural Networks with the immune feedback law. Control results show that adaptive learning rate Neural Networks control structure can outperform linear controllers and conventional neural network controller for the active random noise control.
Model-Following Controller Based on Neural Network for Variable Displacement Pump
Chu, Ming-Hui; Kang, Yuan; Chang, Yih-Fong; Liu, Yuan-Liang; Chang, Chuan-Wei
The variable displacement axial piston pump (VDAPP) is inherently nonlinear, time variant and subjected to load disturbance. The controls of flow and pressure of VDAPP are achieved by changing the swashplate angle. The swashplate actuators are controlled by an electro-hydraulic proportional valve (EHPV). It is reasonable for swashplate angle of a VDAPP to employ neural network based on adaptive control. In this study, the nonlinear model of the VDAPP with a three-way electro-hydraulic proportional valve is proposed, and a neural network model-following controller is designed to control the swashplate swivel angle. The time response for the swashplate angle is analyzed by simulation and experiment, and a favorable model-following characteristic is achieved. The proposed neural controller can conduct nonlinear control in VDAPP, enhance adaptability and robustness, and improve the performance of the control system.
Energy Technology Data Exchange (ETDEWEB)
Ritter, G.X.; Sussner, P. [Univ. of Florida, Gainesville, FL (United States)
1996-12-31
The theory of artificial neural networks has been successfully applied to a wide variety of pattern recognition problems. In this theory, the first step in computing the next state of a neuron or in performing the next layer neural network computation involves the linear operation of multiplying neural values by their synaptic strengths and adding the results. Thresholding usually follows the linear operation in order to provide for nonlinearity of the network. In this paper we introduce a novel class of neural networks, called morphological neural networks, in which the operations of multiplication and addition are replaced by addition and maximum (or minimum), respectively. By taking the maximum (or minimum) of sums instead of the sum of products, morphological network computation is nonlinear before thresholding. As a consequence, the properties of morphological neural networks are drastically different than those of traditional neural network models. In this paper we consider some of these differences and provide some particular examples of morphological neural network.
Finite-Time Stabilization and Adaptive Control of Memristor-Based Delayed Neural Networks.
Wang, Leimin; Shen, Yi; Zhang, Guodong
Finite-time stability problem has been a hot topic in control and system engineering. This paper deals with the finite-time stabilization issue of memristor-based delayed neural networks (MDNNs) via two control approaches. First, in order to realize the stabilization of MDNNs in finite time, a delayed state feedback controller is proposed. Then, a novel adaptive strategy is applied to the delayed controller, and finite-time stabilization of MDNNs can also be achieved by using the adaptive control law. Some easily verified algebraic criteria are derived to ensure the stabilization of MDNNs in finite time, and the estimation of the settling time functional is given. Moreover, several finite-time stability results as our special cases for both memristor-based neural networks (MNNs) without delays and neural networks are given. Finally, three examples are provided for the illustration of the theoretical results.Finite-time stability problem has been a hot topic in control and system engineering. This paper deals with the finite-time stabilization issue of memristor-based delayed neural networks (MDNNs) via two control approaches. First, in order to realize the stabilization of MDNNs in finite time, a delayed state feedback controller is proposed. Then, a novel adaptive strategy is applied to the delayed controller, and finite-time stabilization of MDNNs can also be achieved by using the adaptive control law. Some easily verified algebraic criteria are derived to ensure the stabilization of MDNNs in finite time, and the estimation of the settling time functional is given. Moreover, several finite-time stability results as our special cases for both memristor-based neural networks (MNNs) without delays and neural networks are given. Finally, three examples are provided for the illustration of the theoretical results.
Position Control of a Pneumatic Muscle Actuator Using RBF Neural Network Tuned PID Controller
Directory of Open Access Journals (Sweden)
Jie Zhao
2015-01-01
Full Text Available Pneumatic Muscle Actuator (PMA has a broad application prospect in soft robotics. However, PMA has highly nonlinear and hysteretic properties among force, displacement, and pressure, which lead to difficulty in accurate position control. A phenomenological model is developed to portray the hysteretic behavior of PMA. This phenomenological model consists of linear component and hysteretic component force. The latter component is described by Duhem model. An experimental apparatus is built up and sets of experimental data are acquired. Based on the experimental data, parameters of the model are identified. Validation of the model is performed. Then a novel cascade position PID controller is devised for a 1-DOF manipulator actuated by PMA. The outer loop of the controller is to cope with position control whilst the inner loop deals with pressure dynamics within PMA. To enhance the adaptability of the PID algorithm to the high nonlinearities of the manipulator, PID parameters are tuned online using RBF Neural Network. Experiments are performed and comparison between position response of RBF Neural Network based PID controller and that of classic PID controller demonstrates the effectiveness of the novel adaptive controller on the manipulator.
Simulation, State Estimation and Control of Nonlinear Superheater Attemporator using Neural Networks
DEFF Research Database (Denmark)
Bendtsen, Jan Dimon; Sørensen, O.
2000-01-01
This paper considers the use of neural networks for nonlinear state estimation, system identification and control. As a case study we use data taken from a nonlinear injection valve for a superheater attemporator at a power plant. One neural network is trained as a nonlinear simulation model......-by-sample linearizations and state estimates provided by the observer network. Simulation studies show that the nonlinear observer-based control loop performs better than a similar control loop based on a linear observer....... of the process, then another network is trained to act as a combined state and parameter estimator for the process. The observer network incorporates smoothing of the parameter estimates in the form of regularization. A pole placement controller is designed which takes advantage of the sample...
Simulation, State Estimation and Control of Nonlinear Superheater Attemporator using Neural Networks
DEFF Research Database (Denmark)
Bendtsen, Jan Dimon; Sørensen, O.
1999-01-01
This paper considers the use of neural networks for nonlinear state estimation, system identification and control. As a case study we use data taken from a nonlinear injection valve for a superheater attemporator at a power plant. One neural network is trained as a nonlinear simulation model......-by-sample linearizations and state estimates provided by the observer network. Simulation studies show that the nonlinear observer-based control loop performs better than a similar control loop based on a linear observer....... of the process, then another network is trained to act as a combined state and parameter estimator for the process. The observer network incorporates smoothing of the parameter estimates in the form of regularization. A pole placement controller is designed which takes advantage of the sample...
Artificial neural networks in variable process control: application in particleboard manufacture
Energy Technology Data Exchange (ETDEWEB)
Esteban, L. G.; Garcia Fernandez, F.; Palacios, P. de; Conde, M.
2009-07-01
Artificial neural networks are an efficient tool for modelling production control processes using data from the actual production as well as simulated or design of experiments data. In this study two artificial neural networks were combined with the control process charts and it was checked whether the data obtained by the networks were valid for variable process control in particleboard manufacture. The networks made it possible to obtain the mean and standard deviation of the internal bond strength of the particleboard within acceptable margins using known data of thickness, density, moisture content, swelling and absorption. The networks obtained met the acceptance criteria for test values from non-standard test methods, as well as the criteria for using these values in statistical process control. (Author) 47 refs.
Modulation of grasping force in prosthetic hands using neural network-based predictive control.
Pasluosta, Cristian F; Chiu, Alan W L
2015-01-01
This chapter describes the implementation of a neural network-based predictive control system for driving a prosthetic hand. Nonlinearities associated with the electromechanical aspects of prosthetic devices present great challenges for precise control of this type of device. Model-based controllers may overcome this issue. Moreover, given the complexity of these kinds of electromechanical systems, neural network-based modeling arises as a good fit for modeling the fingers' dynamics. The results of simulations mimicking potential situations encountered during activities of daily living demonstrate the feasibility of this technique.
Schreiner, John N.
This thesis proposes a method of performing fault detection and isolation in spacecraft attitude determination and control systems. The proposed method works by deploying a trained neural network to analyze a set of residuals that are defined such that they encompass the attitude control, guidance, and attitude determination subsystems. Eight neural networks were trained using either the resilient backpropagation, Levenberg-Marquardt, or Levenberg-Marquardt with Bayesian regularization training algorithms. The results of each of the neural networks were analyzed to determine the accuracy of the networks with respect to isolating the faulty component or faulty subsystem within the ADCS. The performance of the proposed neural network-based fault detection and isolation method was compared and contrasted with other ADCS FDI methods. The results obtained via simulation showed that the best neural networks employing this method successfully detected the presence of a fault 79% of the time. The faulty subsystem was successfully isolated 75% of the time and the faulty components within the faulty subsystem were isolated 37% of the time.
D-FNN Based Modeling and BP Neural Network Decoupling Control of PVC Stripping Process
Directory of Open Access Journals (Sweden)
Shu-zhi Gao
2014-01-01
Full Text Available PVC stripping process is a kind of complicated industrial process with characteristics of highly nonlinear and time varying. Aiming at the problem of establishing the accurate mathematics model due to the multivariable coupling and big time delay, the dynamic fuzzy neural network (D-FNN is adopted to establish the PVC stripping process model based on the actual process operation datum. Then, the PVC stripping process is decoupled by the distributed neural network decoupling module to obtain two single-input-single-output (SISO subsystems (slurry flow to top tower temperature and steam flow to bottom tower temperature. Finally, the PID controller based on BP neural networks is used to control the decoupled PVC stripper system. Simulation results show the effectiveness of the proposed integrated intelligent control method.
Neural network for quality control of submunitions produced by injection loading
Energy Technology Data Exchange (ETDEWEB)
Smith, R.E.; Parkinson, W.J.; Hinde, R.F. Jr.; Wantuck, P.J. [Los Alamos National Lab., NM (United States). Engineering Sciences and Applications Div.; Newman, K.E. [Naval Surface Warfare Center, Yorktown, VA (United States)
1998-12-01
Injection loading of submunitions for smart weapons is a novel automated processing technique that can benefit from adaptive process control. This paper describes how the quality of submunitions could be controlled by using a neural network code in real time. Future work is planned to demonstrate fewer rejects and pollution reduction during submunition manufacturing.
An Inventory Controlled Supply Chain Model Based on Improved BP Neural Network
Directory of Open Access Journals (Sweden)
Wei He
2013-01-01
Full Text Available Inventory control is a key factor for reducing supply chain cost and increasing customer satisfaction. However, prediction of inventory level is a challenging task for managers. As one of the widely used techniques for inventory control, standard BP neural network has such problems as low convergence rate and poor prediction accuracy. Aiming at these problems, a new fast convergent BP neural network model for predicting inventory level is developed in this paper. By adding an error offset, this paper deduces the new chain propagation rule and the new weight formula. This paper also applies the improved BP neural network model to predict the inventory level of an automotive parts company. The results show that the improved algorithm not only significantly exceeds the standard algorithm but also outperforms some other improved BP algorithms both on convergence rate and prediction accuracy.
Adaptive Sliding Mode Control of MEMS Gyroscope Based on Neural Network Approximation
Directory of Open Access Journals (Sweden)
Yuzheng Yang
2014-01-01
Full Text Available An adaptive sliding controller using radial basis function (RBF network to approximate the unknown system dynamics microelectromechanical systems (MEMS gyroscope sensor is proposed. Neural controller is proposed to approximate the unknown system model and sliding controller is employed to eliminate the approximation error and attenuate the model uncertainties and external disturbances. Online neural network (NN weight tuning algorithms, including correction terms, are designed based on Lyapunov stability theory, which can guarantee bounded tracking errors as well as bounded NN weights. The tracking error bound can be made arbitrarily small by increasing a certain feedback gain. Numerical simulation for a MEMS angular velocity sensor is investigated to verify the effectiveness of the proposed adaptive neural control scheme and demonstrate the satisfactory tracking performance and robustness.
An Artificial Neural Network Based Robot Controller that Uses Rat’s Brain Signals
Directory of Open Access Journals (Sweden)
Marsel Mano
2013-04-01
Full Text Available Brain machine interface (BMI has been proposed as a novel technique to control prosthetic devices aimed at restoring motor functions in paralyzed patients. In this paper, we propose a neural network based controller that maps rat’s brain signals and transforms them into robot movement. First, the rat is trained to move the robot by pressing the right and left lever in order to get food. Next, we collect brain signals with four implanted electrodes, two in the motor cortex and two in the somatosensory cortex area. The collected data are used to train and evaluate different artificial neural controllers. Trained neural controllers are employed online to map brain signals and transform them into robot motion. Offline and online classification results of rat’s brain signals show that the Radial Basis Function Neural Networks (RBFNN outperforms other neural networks. In addition, online robot control results show that even with a limited number of electrodes, the robot motion generated by RBFNN matched the motion generated by the left and right lever position.
Dynamic neural networking as a basis for plasticity in the control of heart rate.
Kember, G; Armour, J A; Zamir, M
2013-01-21
A model is proposed in which the relationship between individual neurons within a neural network is dynamically changing to the effect of providing a measure of "plasticity" in the control of heart rate. The neural network on which the model is based consists of three populations of neurons residing in the central nervous system, the intrathoracic extracardiac nervous system, and the intrinsic cardiac nervous system. This hierarchy of neural centers is used to challenge the classical view that the control of heart rate, a key clinical index, resides entirely in central neuronal command (spinal cord, medulla oblongata, and higher centers). Our results indicate that dynamic networking allows for the possibility of an interplay among the three populations of neurons to the effect of altering the order of control of heart rate among them. This interplay among the three levels of control allows for different neural pathways for the control of heart rate to emerge under different blood flow demands or disease conditions and, as such, it has significant clinical implications because current understanding and treatment of heart rate anomalies are based largely on a single level of control and on neurons acting in unison as a single entity rather than individually within a (plastically) interconnected network. Copyright © 2012 Elsevier Ltd. All rights reserved.
SpikingLab: modelling agents controlled by Spiking Neural Networks in Netlogo.
Jimenez-Romero, Cristian; Johnson, Jeffrey
2017-01-01
The scientific interest attracted by Spiking Neural Networks (SNN) has lead to the development of tools for the simulation and study of neuronal dynamics ranging from phenomenological models to the more sophisticated and biologically accurate Hodgkin-and-Huxley-based and multi-compartmental models. However, despite the multiple features offered by neural modelling tools, their integration with environments for the simulation of robots and agents can be challenging and time consuming. The implementation of artificial neural circuits to control robots generally involves the following tasks: (1) understanding the simulation tools, (2) creating the neural circuit in the neural simulator, (3) linking the simulated neural circuit with the environment of the agent and (4) programming the appropriate interface in the robot or agent to use the neural controller. The accomplishment of the above-mentioned tasks can be challenging, especially for undergraduate students or novice researchers. This paper presents an alternative tool which facilitates the simulation of simple SNN circuits using the multi-agent simulation and the programming environment Netlogo (educational software that simplifies the study and experimentation of complex systems). The engine proposed and implemented in Netlogo for the simulation of a functional model of SNN is a simplification of integrate and fire (I&F) models. The characteristics of the engine (including neuronal dynamics, STDP learning and synaptic delay) are demonstrated through the implementation of an agent representing an artificial insect controlled by a simple neural circuit. The setup of the experiment and its outcomes are described in this work.
Dynamic control of ROV`s making use of the neural network concept
Energy Technology Data Exchange (ETDEWEB)
Ooi, Tadashi; Yoshida, Yuki; Takahashi, Yoshiaki; Kidoushi, Hideki [Ishikawajima-Harima Heavy Industries Co., Ltd., Tokyo (Japan)
1994-12-31
An attempt is made to combine the classical controller with the concept of neural network, the result of which is a control system that they have named the Robust Adaptive Neural-net Controller (RANC). The RANC identifies the dynamic characteristics of the remotely operated vehicle (ROV) including its ambient environment involving cyclic disturbances such as forces induced by waves, and organizes automatically an optimized controller. A tank experiment is described in which the RANC is set to maintain a model ROV at a prescribed depth of water under artificially generated wave disturbance.
Modified Neural Network for Dynamic Control and Operation of a Hybrid Generation Systems
Directory of Open Access Journals (Sweden)
Cong-Hui Huang
2014-12-01
Full Text Available This paper presents modified neural network for dynamic control and operation of a hybrid generation systems. PV and wind power are the primary power sources of the system to take full advantages of renewable energy, and the diesel-engine is used as a backup system. The simulation model of the hybrid system was developed using MATLAB Simulink. To achieve a fast and stable response for the real power control, the intelligent controller consists of a Radial Basis Function Network (RBFN and an modified Elman Neural Network (ENN for maximum power point tracking (MPPT. The pitch angle of wind turbine is controlled by ENN, and the PV system uses RBFN, where the output signal is used to control the DC I DC boost converters to achieve the MPPT. And the results show the hybrid generation system can effectively extract the maximum power from the PV and wind energy sources.
Dynamic recurrent neural networks for stable adaptive control of wing rock motion
Kooi, Steven Boon-Lam
Wing rock is a self-sustaining limit cycle oscillation (LCO) which occurs as the result of nonlinear coupling between the dynamic response of the aircraft and the unsteady aerodynamic forces. In this thesis, dynamic recurrent RBF (Radial Basis Function) network control methodology is proposed to control the wing rock motion. The concept based on the properties of the Presiach hysteresis model is used in the design of dynamic neural networks. The structure and memory mechanism in the Preisach model is analogous to the parallel connectivity and memory formation in the RBF neural networks. The proposed dynamic recurrent neural network has a feature for adding or pruning the neurons in the hidden layer according to the growth criteria based on the properties of ensemble average memory formation of the Preisach model. The recurrent feature of the RBF network deals with the dynamic nonlinearities and endowed temporal memories of the hysteresis model. The control of wing rock is a tracking problem, the trajectory starts from non-zero initial conditions and it tends to zero as time goes to infinity. In the proposed neural control structure, the recurrent dynamic RBF network performs identification process in order to approximate the unknown non-linearities of the physical system based on the input-output data obtained from the wing rock phenomenon. The design of the RBF networks together with the network controllers are carried out in discrete time domain. The recurrent RBF networks employ two separate adaptation schemes where the RBF's centre and width are adjusted by the Extended Kalman Filter in order to give a minimum networks size, while the outer networks layer weights are updated using the algorithm derived from Lyapunov stability analysis for the stable closed loop control. The issue of the robustness of the recurrent RBF networks is also addressed. The effectiveness of the proposed dynamic recurrent neural control methodology is demonstrated through simulations to
Experimental Studies of Neural Network Control for One-Wheel Mobile Robot
Directory of Open Access Journals (Sweden)
P. K. Kim
2012-01-01
Full Text Available This paper presents development and control of a disc-typed one-wheel mobile robot, called GYROBO. Several models of the one-wheel mobile robot are designed, developed, and controlled. The current version of GYROBO is successfully balanced and controlled to follow the straight line. GYROBO has three actuators to balance and move. Two actuators are used for balancing control by virtue of gyro effect and one actuator for driving movements. Since the space is limited and weight balance is an important factor for the successful balancing control, careful mechanical design is considered. To compensate for uncertainties in robot dynamics, a neural network is added to the nonmodel-based PD-controlled system. The reference compensation technique (RCT is used for the neural network controller to help GYROBO to improve balancing and tracking performances. Experimental studies of a self-balancing task and a line tracking task are conducted to demonstrate the control performances of GYROBO.
Luo, Bingyang; Chi, Shangjie; Fang, Man; Li, Mengchao
2017-03-01
Permanent magnet synchronous motor is used widely in industry, the performance requirements wouldn't be met by adopting traditional PID control in some of the occasions with high requirements. In this paper, a hybrid control strategy - nonlinear neural network PID and traditional PID parallel control are adopted. The high stability and reliability of traditional PID was combined with the strong adaptive ability and robustness of neural network. The permanent magnet synchronous motor will get better control performance when switch different working modes according to different controlled object conditions. As the results showed, the speed response adopting the composite control strategy in this paper was faster than the single control strategy. And in the case of sudden disturbance, the recovery time adopting the composite control strategy designed in this paper was shorter, the recovery ability and the robustness were stronger.
Elman neural network for modeling and predictive control of delayed dynamic systems
Directory of Open Access Journals (Sweden)
Wysocki Antoni
2016-03-01
Full Text Available The objective of this paper is to present a modified structure and a training algorithm of the recurrent Elman neural network which makes it possible to explicitly take into account the time-delay of the process and a Model Predictive Control (MPC algorithm for such a network. In MPC the predicted output trajectory is repeatedly linearized on-line along the future input trajectory, which leads to a quadratic optimization problem, nonlinear optimization is not necessary. A strongly nonlinear benchmark process (a simulated neutralization reactor is considered to show advantages of the modified Elman neural network and the discussed MPC algorithm. The modified neural model is more precise and has a lower number of parameters in comparison with the classical Elman structure. The discussed MPC algorithm with on-line linearization gives similar trajectories as MPC with nonlinear optimization repeated at each sampling instant.
Directory of Open Access Journals (Sweden)
Xiaohu Li
2013-01-01
Full Text Available Being difficult to attain the precise mathematical models, traditional control methods such as proportional integral (PI and proportional integral differentiation (PID cannot meet the demands for real time and robustness when applied in some nonlinear systems. The neural network controller is a good replacement to overcome these shortcomings. However, the performance of neural network controller is directly determined by neural network model. In this paper, a new neural network model is constructed with a structure topology between the regular and random connection modes based on complex network, which simulates the brain neural network as far as possible, to design a better neural network controller. Then, a new controller is designed under small-world neural network model and is investigated in both linear and nonlinear systems control. The simulation results show that the new controller basing on small-world network model can improve the control precision by 30% in the case of system with random disturbance. Besides the good performance of the new controller in tracking square wave signals, which is demonstrated by the experiment results of direct drive electro-hydraulic actuation position control system, it works well on anti-interference performance.
2016-09-15
neural network using applications across varied industries . Alam et al. [2] showed the factorial design did not perform as well as other designs (mentioned...composite design with a neural network using applications across varied industries . Alam et al. [2] showed the central composite design did not perform as...ON IMPROVED LEAST SQUARES REGRESSION & ARTIFICIAL NEURAL NETWORK META-MODELS FOR SIMULATION VIA CONTROL VARIATES DISSERTATION Michael P. Gibb
DEFF Research Database (Denmark)
Bhowmik, Subrata
2011-01-01
This paper presents a neural network based semi-active control method for a rotary type magnetorheological (MR) damper. The characteristics of the MR damper are described by the classic Bouc-Wen model, and the performance of the proposed control method is evaluated in terms of a base exited shear...... frame structure. As demonstrated in the literature effective damping of flexible structures is obtained by a suitable combination of pure friction and negative damper stiffness. This damper model is rate-independent and fully described by the desired shape of the hysteresis loops or force...... mode of the structure. The neural network control is then developed to reproduce the desired force based on damper displacement and velocity as network input, and it is therefore referred to as an amplitude dependent model reference control method. An inverse model of the MR damper is needed...
Neural network L1 adaptive control of MIMO systems with nonlinear uncertainty.
Zhen, Hong-tao; Qi, Xiao-hui; Li, Jie; Tian, Qing-min
2014-01-01
An indirect adaptive controller is developed for a class of multiple-input multiple-output (MIMO) nonlinear systems with unknown uncertainties. This control system is comprised of an L 1 adaptive controller and an auxiliary neural network (NN) compensation controller. The L 1 adaptive controller has guaranteed transient response in addition to stable tracking. In this architecture, a low-pass filter is adopted to guarantee fast adaptive rate without generating high-frequency oscillations in control signals. The auxiliary compensation controller is designed to approximate the unknown nonlinear functions by MIMO RBF neural networks to suppress the influence of uncertainties. NN weights are tuned on-line with no prior training and the project operator ensures the weights bounded. The global stability of the closed-system is derived based on the Lyapunov function. Numerical simulations of an MIMO system coupled with nonlinear uncertainties are used to illustrate the practical potential of our theoretical results.
Directory of Open Access Journals (Sweden)
Wang Chao
2016-03-01
Full Text Available Due to the complexities existing in the electric load simulator, this article develops a high-performance nonlinear adaptive controller to improve the torque tracking performance of the electric load simulator, which mainly consists of an adaptive fuzzy self-recurrent wavelet neural network controller with variable structure (VSFSWC and a complementary controller. The VSFSWC is clearly and easily used for real-time systems and greatly improves the convergence rate and control precision. The complementary controller is designed to eliminate the effect of the approximation error between the proposed neural network controller and the ideal feedback controller without chattering phenomena. Moreover, adaptive learning laws are derived to guarantee the system stability in the sense of the Lyapunov theory. Finally, the hardware-in-the-loop simulations are carried out to verify the feasibility and effectiveness of the proposed algorithms in different working styles.
Adaptive Neural Network Algorithm for Power Control in Nuclear Power Plants
Masri Husam Fayiz, Al
2017-01-01
The aim of this paper is to design, test and evaluate a prototype of an adaptive neural network algorithm for the power controlling system of a nuclear power plant. The task of power control in nuclear reactors is one of the fundamental tasks in this field. Therefore, researches are constantly conducted to ameliorate the power reactor control process. Currently, in the Department of Automation in the National Research Nuclear University (NRNU) MEPhI, numerous studies are utilizing various methodologies of artificial intelligence (expert systems, neural networks, fuzzy systems and genetic algorithms) to enhance the performance, safety, efficiency and reliability of nuclear power plants. In particular, a study of an adaptive artificial intelligent power regulator in the control systems of nuclear power reactors is being undertaken to enhance performance and to minimize the output error of the Automatic Power Controller (APC) on the grounds of a multifunctional computer analyzer (simulator) of the Water-Water Energetic Reactor known as Vodo-Vodyanoi Energetichesky Reaktor (VVER) in Russian. In this paper, a block diagram of an adaptive reactor power controller was built on the basis of an intelligent control algorithm. When implementing intelligent neural network principles, it is possible to improve the quality and dynamic of any control system in accordance with the principles of adaptive control. It is common knowledge that an adaptive control system permits adjusting the controller’s parameters according to the transitions in the characteristics of the control object or external disturbances. In this project, it is demonstrated that the propitious options for an automatic power controller in nuclear power plants is a control system constructed on intelligent neural network algorithms.
Gas Turbine Engine Control Design Using Fuzzy Logic and Neural Networks
Directory of Open Access Journals (Sweden)
M. Bazazzadeh
2011-01-01
Full Text Available This paper presents a successful approach in designing a Fuzzy Logic Controller (FLC for a specific Jet Engine. At first, a suitable mathematical model for the jet engine is presented by the aid of SIMULINK. Then by applying different reasonable fuel flow functions via the engine model, some important engine-transient operation parameters (such as thrust, compressor surge margin, turbine inlet temperature, etc. are obtained. These parameters provide a precious database, which train a neural network. At the second step, by designing and training a feedforward multilayer perceptron neural network according to this available database; a number of different reasonable fuel flow functions for various engine acceleration operations are determined. These functions are used to define the desired fuzzy fuel functions. Indeed, the neural networks are used as an effective method to define the optimum fuzzy fuel functions. At the next step, we propose a FLC by using the engine simulation model and the neural network results. The proposed control scheme is proved by computer simulation using the designed engine model. The simulation results of engine model with FLC illustrate that the proposed controller achieves the desired performance and stability.
Neural Network Course Changing and Track Keeping Controller for a Submarine
Directory of Open Access Journals (Sweden)
Dur Muhammad Pathan
2012-10-01
Full Text Available This paper presents the performance of ANN (Artificial Neural Networks technique for the development of controller for heading motions of submarine. A MLP (Multi-Layer Preceptron FFNN (Feed-Forward Neural Network is used for development of controller. Supervised type of learning is used for training of network by using back-propagation Algorithm. The training is performed by providing a nonlinear sliding mode controller as a supervisor. The development of controller is based on nonlinear decoupled heading model of a submarine without consideration of external environmental disturbances. To demonstrate the robustness of controller the performance of controller is tested in different operating conditions: course changing, track keeping and under the influence of sea currents. Simulations results show that in all cases, the heading error comes to zero, which indicates that the actual heading converges to the desired heading in finite time. The maximum error is observed 0.5o for 45o command angle, in presence of sea currents. The result demonstrates that the performance neural network controller has been robust.
A Review of Neural Network Based Machine Learning Approaches for Rotor Angle Stability Control
Yousefian, Reza; Kamalasadan, Sukumar
2017-01-01
This paper reviews the current status and challenges of Neural Networks (NNs) based machine learning approaches for modern power grid stability control including their design and implementation methodologies. NNs are widely accepted as Artificial Intelligence (AI) approaches offering an alternative way to control complex and ill-defined problems. In this paper various application of NNs for power system rotor angle stabilization and control problem is discussed. The main focus of this paper i...
A Physiological Neural Network for Saccadic Eye Movement Control
1994-04-01
posterior eye field (striate, prestriate, and inferior parietal cortices). Both the neural circuit and the ocu- lomotor plant will be described in... motoneuron . There are two types of burst neurons in the PPRF called the long-lead burst neuron (LLBN) and a medium-lead burst neuron (MLBN); during...neurons (EBN) and the inhibitory burst neurons (IBN). The EBN and IBN label describes the synaptic ac- tivity upon the motoneurons ; the EBN excite
Design of Optimal Hybrid Position/Force Controller for a Robot Manipulator Using Neural Networks
Directory of Open Access Journals (Sweden)
Vikas Panwar
2007-01-01
Full Text Available The application of quadratic optimization and sliding-mode approach is considered for hybrid position and force control of a robot manipulator. The dynamic model of the manipulator is transformed into a state-space model to contain two sets of state variables, where one describes the constrained motion and the other describes the unconstrained motion. The optimal feedback control law is derived solving matrix differential Riccati equation, which is obtained using Hamilton Jacobi Bellman optimization. The optimal feedback control law is shown to be globally exponentially stable using Lyapunov function approach. The dynamic model uncertainties are compensated with a feedforward neural network. The neural network requires no preliminary offline training and is trained with online weight tuning algorithms that guarantee small errors and bounded control signals. The application of the derived control law is demonstrated through simulation with a 4-DOF robot manipulator to track an elliptical planar constrained surface while applying the desired force on the surface.
Directory of Open Access Journals (Sweden)
Ming-Shyan Wang
2015-01-01
Full Text Available An automatic guided vehicle (AGV is extensively used for productions in a flexible manufacture system with high efficiency and high flexibility. A servomotor-based AGV is designed and implemented in this paper. In order to steer the AGV to go along a predefined path with corner or arc, the conventional proportional-integral-derivative (PID control is used in the system. However, it is difficult to tune PID gains at various conditions. As a result, the neural network (NN control is considered to assist the PID control for gain tuning. The experimental results are first provided to verify the correctness of the neural network plus PID control for 400 W-motor control system. Secondly, the AGV includes two sets of the designed motor systems and CAN BUS transmission so that it can move along the straight line and curve paths shown in the taped videos.
Backstepping fuzzy-neural-network control design for hybrid maglev transportation system.
Wai, Rong-Jong; Yao, Jing-Xiang; Lee, Jeng-Dao
2015-02-01
This paper focuses on the design of a backstepping fuzzy-neural-network control (BFNNC) for the online levitated balancing and propulsive positioning of a hybrid magnetic levitation (maglev) transportation system. The dynamic model of the hybrid maglev transportation system including levitated hybrid electromagnets to reduce the suspension power loss and the friction force during linear movement and a propulsive linear induction motor based on the concepts of mechanical geometry and motion dynamics is first constructed. The ultimate goal is to design an online fuzzy neural network (FNN) control methodology to cope with the problem of the complicated control transformation and the chattering control effort in backstepping control (BSC) design, and to directly ensure the stability of the controlled system without the requirement of strict constraints, detailed system information, and auxiliary compensated controllers despite the existence of uncertainties. In the proposed BFNNC scheme, an FNN control is utilized to be the major control role by imitating the BSC strategy, and adaptation laws for network parameters are derived in the sense of projection algorithm and Lyapunov stability theorem to ensure the network convergence as well as stable control performance. The effectiveness of the proposed control strategy for the hybrid maglev transportation system is verified by experimental results, and the superiority of the BFNNC scheme is indicated in comparison with the BSC strategy and the backstepping particle-swarm-optimization control system in previous research.
Peng, Zhouhua; Wang, Dan; Wang, Wei; Liu, Lu
2015-11-01
This paper investigates the containment control problem of networked autonomous underwater vehicles in the presence of model uncertainty and unknown ocean disturbances. A predictor-based neural dynamic surface control design method is presented to develop the distributed adaptive containment controllers, under which the trajectories of follower vehicles nearly converge to the dynamic convex hull spanned by multiple reference trajectories over a directed network. Prediction errors, rather than tracking errors, are used to update the neural adaptation laws, which are independent of the tracking error dynamics, resulting in two time-scales to govern the entire system. The stability property of the closed-loop network is established via Lyapunov analysis, and transient property is quantified in terms of L2 norms of the derivatives of neural weights, which are shown to be smaller than the classical neural dynamic surface control approach. Comparative studies are given to show the substantial improvements of the proposed new method. Copyright © 2015 ISA. Published by Elsevier Ltd. All rights reserved.
Towards building hybrid biological/in silico neural networks for motor neuroprosthetic control
Directory of Open Access Journals (Sweden)
Mehmet eKocaturk
2015-08-01
Full Text Available In this article, we introduce the Bioinspired Neuroprosthetic Design Environment (BNDE as a practical platform for the development of novel brain machine interface (BMI controllers which are based on spiking model neurons. We built the BNDE around a hard real-time system so that it is capable of creating simulated synapses from extracellularly recorded neurons to model neurons. In order to evaluate the practicality of the BNDE for neuroprosthetic control experiments, a novel, adaptive BMI controller was developed and tested using real-time closed-loop simulations. The present controller consists of two in silico medium spiny neurons which receive simulated synaptic inputs from recorded motor cortical neurons. In the closed-loop simulations, the recordings from the cortical neurons were imitated using an external, hardware-based neural signal synthesizer. By implementing a reward-modulated spike timing-dependent plasticity rule, the controller achieved perfect target reach accuracy for a two target reaching task in one dimensional space. The BNDE combines the flexibility of software-based spiking neural network (SNN simulations with powerful online data visualization tools and is a low-cost, PC-based and all-in-one solution for developing neurally-inspired BMI controllers. We believe the BNDE is the first implementation which is capable of creating hybrid biological/in silico neural networks for motor neuroprosthetic control and utilizes multiple CPU cores for computationally intensive real-time SNN simulations.
Error mapping controller: a closed loop neuroprosthesis controlled by artificial neural networks
Directory of Open Access Journals (Sweden)
De Momi Elena
2006-10-01
Full Text Available Abstract Background The design of an optimal neuroprostheses controller and its clinical use presents several challenges. First, the physiological system is characterized by highly inter-subjects varying properties and also by non stationary behaviour with time, due to conditioning level and fatigue. Secondly, the easiness to use in routine clinical practice requires experienced operators. Therefore, feedback controllers, avoiding long setting procedures, are required. Methods The error mapping controller (EMC here proposed uses artificial neural networks (ANNs both for the design of an inverse model and of a feedback controller. A neuromuscular model is used to validate the performance of the controllers in simulations. The EMC performance is compared to a Proportional Integral Derivative (PID included in an anti wind-up scheme (called PIDAW and to a controller with an ANN as inverse model and a PID in the feedback loop (NEUROPID. In addition tests on the EMC robustness in response to variations of the Plant parameters and to mechanical disturbances are carried out. Results The EMC shows improvements with respect to the other controllers in tracking accuracy, capability to prolong exercise managing fatigue, robustness to parameter variations and resistance to mechanical disturbances. Conclusion Different from the other controllers, the EMC is capable of balancing between tracking accuracy and mapping of fatigue during the exercise. In this way, it avoids overstressing muscles and allows a considerable prolongation of the movement. The collection of the training sets does not require any particular experimental setting and can be introduced in routine clinical practice.
voltage compensation using artificial neural network
African Journals Online (AJOL)
Offor Theophilos
VOLTAGE COMPENSATION USING ARTIFICIAL NEURAL NETWORK: A CASE STUDY OF. RUMUOLA ... using artificial neural network (ANN) controller based dynamic voltage restorer (DVR). ... substation by simulating with sample of average voltage for Omerelu, Waterlines, Rumuola, Shell Industrial and Barracks.
Command Filtered Adaptive Fuzzy Neural Network Backstepping Control for Marine Power System
Directory of Open Access Journals (Sweden)
Xin Zhang
2014-01-01
Full Text Available In order to retrain chaotic oscillation of marine power system which is excited by periodic electromagnetism perturbation, a novel command-filtered adaptive fuzzy neural network backstepping control method is designed. First, the mathematical model of marine power system is established based on the two parallel nonlinear model. Then, main results of command-filtered adaptive fuzzy neural network backstepping control law are given. And the Lyapunov stability theory is applied to prove that the system can remain closed-loop asymptotically stable with this controller. Finally, simulation results indicate that the designed controller can suppress chaotic oscillation with fast convergence speed that makes the system return to the equilibrium point quickly; meanwhile, the parameter which induces chaotic oscillation can also be discriminated.
Two neural network algorithms for designing optimal terminal controllers with open final time
Plumer, Edward S.
1992-01-01
Multilayer neural networks, trained by the backpropagation through time algorithm (BPTT), have been used successfully as state-feedback controllers for nonlinear terminal control problems. Current BPTT techniques, however, are not able to deal systematically with open final-time situations such as minimum-time problems. Two approaches which extend BPTT to open final-time problems are presented. In the first, a neural network learns a mapping from initial-state to time-to-go. In the second, the optimal number of steps for each trial run is found using a line-search. Both methods are derived using Lagrange multiplier techniques. This theoretical framework is used to demonstrate that the derived algorithms are direct extensions of forward/backward sweep methods used in N-stage optimal control. The two algorithms are tested on a Zermelo problem and the resulting trajectories compare favorably to optimal control results.
Bing Zhu; Qi Piao; Jian Zhao; Litong Guo
2016-01-01
The rollover of road vehicles is one of the most serious problems related to transportation safety. In this article, a novel rollover prevention control system composed of rollover warning and integrated chassis control algorithm is proposed. First, a conventional time-to-rollover warning algorithm was presented based on the 3-degree of freedom vehicle model. In order to improve the precision of vehicle rollover prediction, a back-propagation neural network was adopted to regulate time to rol...
Kumar, Rajesh; Srivastava, Smriti; Gupta, J R P
2017-03-01
In this paper adaptive control of nonlinear dynamical systems using diagonal recurrent neural network (DRNN) is proposed. The structure of DRNN is a modification of fully connected recurrent neural network (FCRNN). Presence of self-recurrent neurons in the hidden layer of DRNN gives it an ability to capture the dynamic behaviour of the nonlinear plant under consideration (to be controlled). To ensure stability, update rules are developed using lyapunov stability criterion. These rules are then used for adjusting the various parameters of DRNN. The responses of plants obtained with DRNN are compared with those obtained when multi-layer feed forward neural network (MLFFNN) is used as a controller. Also, in example 4, FCRNN is also investigated and compared with DRNN and MLFFNN. Robustness of the proposed control scheme is also tested against parameter variations and disturbance signals. Four simulation examples including one-link robotic manipulator and inverted pendulum are considered on which the proposed controller is applied. The results so obtained show the superiority of DRNN over MLFFNN as a controller. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
On-Line Tracking Controller for Brushless DC Motor Drives Using Artificial Neural Networks
Rubaai, Ahmed
1996-01-01
A real-time control architecture is developed for time-varying nonlinear brushless dc motors operating in a high performance drives environment. The developed control architecture possesses the capabilities of simultaneous on-line identification and control. The dynamics of the motor are modeled on-line and controlled using an artificial neural network, as the system runs. The control architecture combines the experience and dependability of adaptive tracking systems with potential and promise of the neural computing technology. The sensitivity of real-time controller to parametric changes that occur during training is investigated. Such changes are usually manifested by rapid changes in the load of the brushless motor drives. This sudden change in the external load is simulated for the sigmoidal and sinusoidal reference tracks. The ability of the neuro-controller to maintain reasonable tracking accuracy in the presence of external noise is also verified for a number of desired reference trajectories.
Singh, H P; Sukavanam, N
2012-01-01
This paper proposes a new adaptive neural network based control scheme for switched linear systems with parametric uncertainty and external disturbance. A key feature of this scheme is that the prior information of the possible upper bound of the uncertainty is not required. A feedforward neural network is employed to learn this upper bound. The adaptive learning algorithm is derived from Lyapunov stability analysis so that the system response under arbitrary switching laws is guaranteed uniformly ultimately bounded. A comparative simulation study with robust controller given in [Zhang L, Lu Y, Chen Y, Mastorakis NE. Robust uniformly ultimate boundedness control for uncertain switched linear systems. Computers and Mathematics with Applications 2008; 56: 1709-14] is presented. Copyright © 2011 ISA. Published by Elsevier Ltd. All rights reserved.
Control Strategy Based on Wavelet Transform and Neural Network for Hybrid Power System
Directory of Open Access Journals (Sweden)
Y. D. Song
2013-01-01
Full Text Available This paper deals with an energy management of a hybrid power generation system. The proposed control strategy for the energy management is based on the combination of wavelet transform and neural network arithmetic. The hybrid system in this paper consists of an emulated wind turbine generator, PV panels, DC and AC loads, lithium ion battery, and super capacitor, which are all connected on a DC bus with unified DC voltage. The control strategy is responsible for compensating the difference between the generated power from the wind and solar generators and the demanded power by the loads. Wavelet transform decomposes the power difference into smoothed component and fast fluctuated component. In consideration of battery protection, the neural network is introduced to calculate the reference power of battery. Super capacitor (SC is controlled to regulate the DC bus voltage. The model of the hybrid system is developed in detail under Matlab/Simulink software environment.
Nonlinear identification and control a neural network approach
Liu, G P
2001-01-01
The series Advances in Industrial Control aims to report and encourage technology transfer in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. New theory, new controllers, actuators, sensors, new industrial processes, computer methods, new applications, new philosophies . . . , new challenges. Much of this development work resides in industrial reports, feasibility study papers and the reports of advanced collaborative projects. The series otTers an opportunity for researchers to present an extended exposition of such new work in all aspects of industrial control for wider and rapid dissemination. The time for nonlinear control to enter routine application seems to be approaching. Nonlinear control has had a long gestation period but much ofthe past has been concerned with methods that involve formal nonlinear functional model representations. It seems more likely that the breakthough will come through the use of other more flexible and ame...
A hyperstable neural network for the modelling and control of ...
Indian Academy of Sciences (India)
Liu 1994, Gupta & Sinha 1996, Zhu et al 1999). 2. Controller design. It is assumed that the plant in ..... 15: 193±199. Gupta M M, Sinha N K (eds) 1996 Intelligent control systems (New York: IEEE Press). Harris C J, Billings S A 1985 Self-tuning control: Theory and applications rev. 2nd edn (London: Peter Peregrinus).
Neural network-based adaptive dynamic surface control for permanent magnet synchronous motors.
Yu, Jinpeng; Shi, Peng; Dong, Wenjie; Chen, Bing; Lin, Chong
2015-03-01
This brief considers the problem of neural networks (NNs)-based adaptive dynamic surface control (DSC) for permanent magnet synchronous motors (PMSMs) with parameter uncertainties and load torque disturbance. First, NNs are used to approximate the unknown and nonlinear functions of PMSM drive system and a novel adaptive DSC is constructed to avoid the explosion of complexity in the backstepping design. Next, under the proposed adaptive neural DSC, the number of adaptive parameters required is reduced to only one, and the designed neural controllers structure is much simpler than some existing results in literature, which can guarantee that the tracking error converges to a small neighborhood of the origin. Then, simulations are given to illustrate the effectiveness and potential of the new design technique.
Neural Networks: Implementations and Applications
Vonk, E.; Veelenturf, L.P.J.; Jain, L.C.
1996-01-01
Artificial neural networks, also called neural networks, have been used successfully in many fields including engineering, science and business. This paper presents the implementation of several neural network simulators and their applications in character recognition and other engineering areas
DEFF Research Database (Denmark)
Yao, Wei; Fang, Jiakun; Zhao, Ping
2013-01-01
In this paper, a nonlinear adaptive damping controller based on radial basis function neural network (RBFNN), which can infinitely approximate to nonlinear system, is proposed for thyristor controlled series capacitor (TCSC). The proposed TCSC adaptive damping controller can not only have...... system and a four-machine two-area power system under different operating conditions in comparison with the lead-lag damping controller tuned by evolutionary algorithm (EA). Simulation results show that the proposed damping controller achieves good robust performance for damping the low frequency...
SPEED CONTROL FOR THREE PHASE INDUCTION MOTOR USING ADALINE NEURAL NETWORKS
Directory of Open Access Journals (Sweden)
Bogdan Codreş
2015-12-01
Full Text Available The speed control of the three phase induction motor is still a challenging problem. Although the results obtained by means of the conventional control are very good, many researches in this area are ongoing. The authors propose a different control approach based on artificial intelligence. The control signals for speed, torque and flux regulation are computed using three ADALINE (Adaptive Linear Neuron neural networks. The numerical simulations are made in Simulink and the obtained results are compared with the conventional drive approach (cascaded PI controller
neural network based load frequency control for restructuring power
African Journals Online (AJOL)
2012-03-01
Mar 1, 2012 ... power system is chosen and load frequency con- trol of this system is made by a ANN controller and a conventional PI controller. Basically, power system consists of a governor, a turbine, and a generator with feedback of reg- ulation constant. System also includes step load change input to the generator.
Constrained adaptive neural network control of an MIMO aeroelastic system with input nonlinearities
Directory of Open Access Journals (Sweden)
Yiyong Gou
2017-04-01
Full Text Available A constrained adaptive neural network control scheme is proposed for a multi-input and multi-output (MIMO aeroelastic system in the presence of wind gust, system uncertainties, and input nonlinearities consisting of input saturation and dead-zone. In regard to the input nonlinearities, the right inverse function block of the dead-zone is added before the input nonlinearities, which simplifies the input nonlinearities into an equivalent input saturation. To deal with the equivalent input saturation, an auxiliary error system is designed to compensate for the impact of the input saturation. Meanwhile, uncertainties in pitch stiffness, plunge stiffness, and pitch damping are all considered, and radial basis function neural networks (RBFNNs are applied to approximate the system uncertainties. In combination with the designed auxiliary error system and the backstepping control technique, a constrained adaptive neural network controller is designed, and it is proven that all the signals in the closed-loop system are semi-globally uniformly bounded via the Lyapunov stability analysis method. Finally, extensive digital simulation results demonstrate the effectiveness of the proposed control scheme towards flutter suppression in spite of the integrated effects of wind gust, system uncertainties, and input nonlinearities.
Rotor Resistance Online Identification of Vector Controlled Induction Motor Based on Neural Network
Directory of Open Access Journals (Sweden)
Bo Fan
2014-01-01
Full Text Available Rotor resistance identification has been well recognized as one of the most critical factors affecting the theoretical study and applications of AC motor’s control for high performance variable frequency speed adjustment. This paper proposes a novel model for rotor resistance parameters identification based on Elman neural networks. Elman recurrent neural network is capable of performing nonlinear function approximation and possesses the ability of time-variable characteristic adaptation. Those influencing factors of specified parameter are analyzed, respectively, and various work states are covered to ensure the completeness of the training samples. Through signal preprocessing on samples and training dataset, different input parameters identifications with one network are compared and analyzed. The trained Elman neural network, applied in the identification model, is able to efficiently predict the rotor resistance in high accuracy. The simulation and experimental results show that the proposed method owns extensive adaptability and performs very well in its application to vector controlled induction motor. This identification method is able to enhance the performance of induction motor’s variable-frequency speed regulation.
Directory of Open Access Journals (Sweden)
Yuan Li
2017-03-01
Full Text Available In this study, an adaptive neural network synchronization (NNS approach, capable of guaranteeing prescribed performance (PP, is designed for non-identical fractional-order chaotic systems (FOCSs. For PP synchronization, we mean that the synchronization error converges to an arbitrary small region of the origin with convergence rate greater than some function given in advance. Neural networks are utilized to estimate unknown nonlinear functions in the closed-loop system. Based on the integer-order Lyapunov stability theorem, a fractional-order adaptive NNS controller is designed, and the PP can be guaranteed. Finally, simulation results are presented to confirm our results.
Li, Yuan; Lv, Hui; Jiao, Dongxiu
2017-03-01
In this study, an adaptive neural network synchronization (NNS) approach, capable of guaranteeing prescribed performance (PP), is designed for non-identical fractional-order chaotic systems (FOCSs). For PP synchronization, we mean that the synchronization error converges to an arbitrary small region of the origin with convergence rate greater than some function given in advance. Neural networks are utilized to estimate unknown nonlinear functions in the closed-loop system. Based on the integer-order Lyapunov stability theorem, a fractional-order adaptive NNS controller is designed, and the PP can be guaranteed. Finally, simulation results are presented to confirm our results.
Directory of Open Access Journals (Sweden)
Ali T. Hasan
2012-01-01
Full Text Available This paper is devoted to solve the positioning control problem of underactuated robot manipulator. Artificial Neural Networks Inversion technique was used where a network represents the forward dynamics of the system trained to learn the position of the passive joint over the working space of a 2R underactuated robot. The obtained weights from the learning process were fixed, and the network was inverted to represent the inverse dynamics of the system and then used in the estimation phase to estimate the position of the passive joint for a new set of data the network was not previously trained for. Data used in this research are recorded experimentally from sensors fixed on the robot joints in order to overcome whichever uncertainties presence in the real world such as ill-defined linkage parameters, links flexibility, and backlashes in gear trains. Results were verified experimentally to show the success of the proposed control strategy.
Neural Network Control of CSTR for Reversible Reaction Using Reverence Model Approach
Directory of Open Access Journals (Sweden)
Duncan ALOKO
2007-01-01
Full Text Available In this work, non-linear control of CSTR for reversible reaction is carried out using Neural Network as design tool. The Model Reverence approach in used to design ANN controller. The idea is to have a control system that will be able to achieve improvement in the level of conversion and to be able to track set point change and reject load disturbance. We use PID control scheme as benchmark to study the performance of the controller. The comparison shows that ANN controller out perform PID in the extreme range of non-linearity.This paper represents a preliminary effort to design a simplified neutral network control scheme for a class of non-linear process. Future works will involve further investigation of the effectiveness of thin approach for the real industrial chemical process
Adaptive neural networks control for camera stabilization with active suspension system
Directory of Open Access Journals (Sweden)
Feng Zhao
2015-08-01
Full Text Available The camera always suffers from image instability on the moving vehicle due to unintentional vibrations caused by road roughness. This article presents an adaptive neural network approach mixed with linear quadratic regulator control for a quarter-car active suspension system to stabilize the image captured area of the camera. An active suspension system provides extra force through the actuator which allows it to suppress vertical vibration of sprung mass. First, to deal with the road disturbance and the system uncertainties, radial basis function neural network is proposed to construct the map between the state error and the compensation component, which can correct the optimal state-feedback control law. The weights matrix of radial basis function neural network is adaptively tuned online. Then, the closed-loop stability and asymptotic convergence performance is guaranteed by Lyapunov analysis. Finally, the simulation results demonstrate that the proposed controller effectively suppresses the vibration of the camera and enhances the stabilization of the entire camera, where different excitations are considered to validate the system performance.
Zhou, Wanmeng; Wang, Hua; Tang, Guojin; Guo, Shuai
2016-09-01
The time-consuming experimental method for handling qualities assessment cannot meet the increasing fast design requirements for the manned space flight. As a tool for the aircraft handling qualities research, the model-predictive-control structured inverse simulation (MPC-IS) has potential applications in the aerospace field to guide the astronauts' operations and evaluate the handling qualities more effectively. Therefore, this paper establishes MPC-IS for the manual-controlled rendezvous and docking (RVD) and proposes a novel artificial neural network inverse simulation system (ANN-IS) to further decrease the computational cost. The novel system was obtained by replacing the inverse model of MPC-IS with the artificial neural network. The optimal neural network was trained by the genetic Levenberg-Marquardt algorithm, and finally determined by the Levenberg-Marquardt algorithm. In order to validate MPC-IS and ANN-IS, the manual-controlled RVD experiments on the simulator were carried out. The comparisons between simulation results and experimental data demonstrated the validity of two systems and the high computational efficiency of ANN-IS.
A Pressure Control Method for Emulsion Pump Station Based on Elman Neural Network
Directory of Open Access Journals (Sweden)
Chao Tan
2015-01-01
Full Text Available In order to realize pressure control of emulsion pump station which is key equipment of coal mine in the safety production, the control requirements were analyzed and a pressure control method based on Elman neural network was proposed. The key techniques such as system framework, pressure prediction model, pressure control model, and the flowchart of proposed approach were presented. Finally, a simulation example was carried out and comparison results indicated that the proposed approach was feasible and efficient and outperformed others.
Intelligent control a hybrid approach based on fuzzy logic, neural networks and genetic algorithms
Siddique, Nazmul
2014-01-01
Intelligent Control considers non-traditional modelling and control approaches to nonlinear systems. Fuzzy logic, neural networks and evolutionary computing techniques are the main tools used. The book presents a modular switching fuzzy logic controller where a PD-type fuzzy controller is executed first followed by a PI-type fuzzy controller thus improving the performance of the controller compared with a PID-type fuzzy controller. The advantage of the switching-type fuzzy controller is that it uses one rule-base thus minimises the rule-base during execution. A single rule-base is developed by merging the membership functions for change of error of the PD-type controller and sum of error of the PI-type controller. Membership functions are then optimized using evolutionary algorithms. Since the two fuzzy controllers were executed in series, necessary further tuning of the differential and integral scaling factors of the controller is then performed. Neural-network-based tuning for the scaling parameters of t...
Zou, An-Min; Dev Kumar, Krishna; Hou, Zeng-Guang
2010-09-01
This paper investigates the problem of output feedback attitude control of an uncertain spacecraft. Two robust adaptive output feedback controllers based on Chebyshev neural networks (CNN) termed adaptive neural networks (NN) controller-I and adaptive NN controller-II are proposed for the attitude tracking control of spacecraft. The four-parameter representations (quaternion) are employed to describe the spacecraft attitude for global representation without singularities. The nonlinear reduced-order observer is used to estimate the derivative of the spacecraft output, and the CNN is introduced to further improve the control performance through approximating the spacecraft attitude motion. The implementation of the basis functions of the CNN used in the proposed controllers depends only on the desired signals, and the smooth robust compensator using the hyperbolic tangent function is employed to counteract the CNN approximation errors and external disturbances. The adaptive NN controller-II can efficiently avoid the over-estimation problem (i.e., the bound of the CNNs output is much larger than that of the approximated unknown function, and hence, the control input may be very large) existing in the adaptive NN controller-I. Both adaptive output feedback controllers using CNN can guarantee that all signals in the resulting closed-loop system are uniformly ultimately bounded. For performance comparisons, the standard adaptive controller using the linear parameterization of spacecraft attitude motion is also developed. Simulation studies are presented to show the advantages of the proposed CNN-based output feedback approach over the standard adaptive output feedback approach.
An Inverse Neural Controller Based on the Applicability Domain of RBF Network Models
Directory of Open Access Journals (Sweden)
Alex Alexandridis
2018-01-01
Full Text Available This paper presents a novel methodology of generic nature for controlling nonlinear systems, using inverse radial basis function neural network models, which may combine diverse data originating from various sources. The algorithm starts by applying the particle swarm optimization-based non-symmetric variant of the fuzzy means (PSO-NSFM algorithm so that an approximation of the inverse system dynamics is obtained. PSO-NSFM offers models of high accuracy combined with small network structures. Next, the applicability domain concept is suitably tailored and embedded into the proposed control structure in order to ensure that extrapolation is avoided in the controller predictions. Finally, an error correction term, estimating the error produced by the unmodeled dynamics and/or unmeasured external disturbances, is included to the control scheme to increase robustness. The resulting controller guarantees bounded input-bounded state (BIBS stability for the closed loop system when the open loop system is BIBS stable. The proposed methodology is evaluated on two different control problems, namely, the control of an experimental armature-controlled direct current (DC motor and the stabilization of a highly nonlinear simulated inverted pendulum. For each one of these problems, appropriate case studies are tested, in which a conventional neural controller employing inverse models and a PID controller are also applied. The results reveal the ability of the proposed control scheme to handle and manipulate diverse data through a data fusion approach and illustrate the superiority of the method in terms of faster and less oscillatory responses.
Neurale Netværk anvendt indenfor Proceskontrol. Neural Network for Process Control
DEFF Research Database (Denmark)
Madsen, Per Printz
Dette projekt omhandler anvendelsen af neurale netværksmodeller til proceskontrol. Neurale netværksmodeller er simple modeller af de processer, der forløber i det biologiske neurale netværk. Det biologiske neurale netværk er det netværk af nerveceller, der tilsammen danner centralnervesystemet hos...... beskrivelige inputsignaler. Det biologiske neurale netværk dvs. hjernen er således gennem indlæring i stand til at læse, hvorledes der skal stryes og reguleres på baggrund af disse inputsignaler, så det ønskede resultat opnås. Det er derfor nærliggende at undersøge, hvorvidt neurale netværk er anvendelige...... indenfor proceskontrol i almindelighed. Med anvendelser til proceskontrol menes der her anvendeler til prediction, simulering og regulering af dynamiske systemer. For at teste, hvorvidt neurale netværk er anvendelig til prediction og simulering, er der anvendt en tre-trinsoverheder simulator til...
Design a PID Controller for Suspension System by Back Propagation Neural Network
Directory of Open Access Journals (Sweden)
M. Heidari
2013-01-01
Full Text Available This paper presents a neural network for designing of a PID controller for suspension system. The suspension system, designed as a quarter model, is used to simplify the problem to one-dimensional spring-damper system. In this paper, back propagation neural network (BPN has been used for determining the gain parameters of a PID controller for suspension system of automotive. The BPN method is found to be the most accurate and quick. The best results were obtained by the BPN by Levenberg-Marquardt algorithm training with 10 neurons in the one hidden layer. Training was continued until the mean squared error is less than . Desired error value was achieved in the BPN, and the BPN was tested with both data used and not used for training. By training of this network, it is possible to estimate the gain parameters of PID controller at any condition. The inputs of network are automotive velocity, overshoot percentage, settling time, and steady state error of suspension system response. Also outputs of the net are the gain parameters of PID controller. Resultant low relative error value of the ANN model indicates the usability of the BPN in this area.
FPGA Implementation of Self-Organized Spiking Neural Network Controller for Mobile Robots
Directory of Open Access Journals (Sweden)
Fangzheng Xue
2014-06-01
Full Text Available Spiking neural network, a computational model which uses spikes to process the information, is good candidate for mobile robot controller. In this paper, we present a novel mechanism for controlling mobile robots based on self-organized spiking neural network (SOSNN and introduce a method for FPGA implementation of this SOSNN. The spiking neuron we used is Izhikevich model. A key feature of this controller is that it can simulate the process of unconditioned reflex (avoid obstacles using infrared sensor signals and conditioned reflex (make right choices in multiple T-maze by spike timing-dependent plasticity (STDP learning and dopamine-receptor modulation. Experimental results show that the proposed controller is effective and is easy to implement. The FPGA implementation method aims to build up a specific network using generic blocks designed in the MATLAB Simulink environment. The main characteristics of this original solution are: on-chip learning algorithm implementation, high reconfiguration capability, and operation under real time constraints. An extended analysis has been carried out on the hardware resources used to implement the whole SOSNN network, as well as each individual component block.
Statistical control chart and neural network classification for improving human fall detection
Harrou, Fouzi
2017-01-05
This paper proposes a statistical approach to detect and classify human falls based on both visual data from camera and accelerometric data captured by accelerometer. Specifically, we first use a Shewhart control chart to detect the presence of potential falls by using accelerometric data. Unfortunately, this chart cannot distinguish real falls from fall-like actions, such as lying down. To bypass this difficulty, a neural network classifier is then applied only on the detected cases through visual data. To assess the performance of the proposed method, experiments are conducted on the publicly available fall detection databases: the University of Rzeszow\\'s fall detection (URFD) dataset. Results demonstrate that the detection phase play a key role in reducing the number of sequences used as input into the neural network classifier for classification, significantly reducing computational burden and achieving better accuracy.
Robust fuzzy neural network sliding mode control scheme for IPMSM drives
Leu, V. Q.; Mwasilu, F.; Choi, H. H.; Lee, J.; Jung, J. W.
2014-07-01
This article proposes a robust fuzzy neural network sliding mode control (FNNSMC) law for interior permanent magnet synchronous motor (IPMSM) drives. The proposed control strategy not only guarantees accurate and fast command speed tracking but also it ensures the robustness to system uncertainties and sudden speed and load changes. The proposed speed controller encompasses three control terms: a decoupling control term which compensates for nonlinear coupling factors using nominal parameters, a fuzzy neural network (FNN) control term which approximates the ideal control components and a sliding mode control (SMC) term which is proposed to compensate for the errors of that approximation. Next, an online FNN training methodology, which is developed using the Lyapunov stability theorem and the gradient descent method, is proposed to enhance the learning capability of the FNN. Moreover, the maximum torque per ampere (MTPA) control is incorporated to maximise the torque generation in the constant torque region and increase the efficiency of the IPMSM drives. To verify the effectiveness of the proposed robust FNNSMC, simulations and experiments are performed by using MATLAB/Simulink platform and a TI TMS320F28335 DSP on a prototype IPMSM drive setup, respectively. Finally, the simulated and experimental results indicate that the proposed design scheme can achieve much better control performances (e.g. more rapid transient response and smaller steady-state error) when compared to the conventional SMC method, especially in the case that there exist system uncertainties.
DEFF Research Database (Denmark)
Krogh, Anders Stærmose; Riis, Søren Kamaric
1999-01-01
A general framework for hybrids of hidden Markov models (HMMs) and neural networks (NNs) called hidden neural networks (HNNs) is described. The article begins by reviewing standard HMMs and estimation by conditional maximum likelihood, which is used by the HNN. In the HNN, the usual HMM probability...... parameters are replaced by the outputs of state-specific neural networks. As opposed to many other hybrids, the HNN is normalized globally and therefore has a valid probabilistic interpretation. All parameters in the HNN are estimated simultaneously according to the discriminative conditional maximum...... likelihood criterion. The HNN can be viewed as an undirected probabilistic independence network (a graphical model), where the neural networks provide a compact representation of the clique functions. An evaluation of the HNN on the task of recognizing broad phoneme classes in the TIMIT database shows clear...
Yan, Liang; Zhang, Lu; Zhu, Bo; Zhang, Jingying; Jiao, Zongxia
2017-10-01
Permanent magnet spherical actuator (PMSA) is a multi-variable featured and inter-axis coupled nonlinear system, which unavoidably compromises its motion control implementation. Uncertainties such as external load and friction torque of ball bearing and manufacturing errors also influence motion performance significantly. Therefore, the objective of this paper is to propose a controller based on a single neural adaptive (SNA) algorithm and a neural network (NN) identifier optimized with a particle swarm optimization (PSO) algorithm to improve the motion stability of PMSA with three-dimensional magnet arrays. The dynamic model and computed torque model are formulated for the spherical actuator, and a dynamic decoupling control algorithm is developed. By utilizing the global-optimization property of the PSO algorithm, the NN identifier is trained to avoid locally optimal solution and achieve high-precision compensations to uncertainties. The employment of the SNA controller helps to reduce the effect of compensation errors and convert the system to a stable one, even if there is difference between the compensations and uncertainties due to external disturbances. A simulation model is established, and experiments are conducted on the research prototype to validate the proposed control algorithm. The amplitude of the parameter perturbation is set to 5%, 10%, and 15%, respectively. The strong robustness of the proposed hybrid algorithm is validated by the abundant simulation data. It shows that the proposed algorithm can effectively compensate the influence of uncertainties and eliminate the effect of inter-axis couplings of the spherical actuator.
Intelligent control of robotic arm/hand systems for the NASA EVA retriever using neural networks
Mclauchlan, Robert A.
1989-01-01
Adaptive/general learning algorithms using varying neural network models are considered for the intelligent control of robotic arm plus dextrous hand/manipulator systems. Results are summarized and discussed for the use of the Barto/Sutton/Anderson neuronlike, unsupervised learning controller as applied to the stabilization of an inverted pendulum on a cart system. Recommendations are made for the application of the controller and a kinematic analysis for trajectory planning to simple object retrieval (chase/approach and capture/grasp) scenarios in two dimensions.
ARACHNE: A neural-neuroglial network builder with remotely controlled parallel computing
Rusakov, Dmitri A.; Savtchenko, Leonid P.
2017-01-01
Creating and running realistic models of neural networks has hitherto been a task for computing professionals rather than experimental neuroscientists. This is mainly because such networks usually engage substantial computational resources, the handling of which requires specific programing skills. Here we put forward a newly developed simulation environment ARACHNE: it enables an investigator to build and explore cellular networks of arbitrary biophysical and architectural complexity using the logic of NEURON and a simple interface on a local computer or a mobile device. The interface can control, through the internet, an optimized computational kernel installed on a remote computer cluster. ARACHNE can combine neuronal (wired) and astroglial (extracellular volume-transmission driven) network types and adopt realistic cell models from the NEURON library. The program and documentation (current version) are available at GitHub repository https://github.com/LeonidSavtchenko/Arachne under the MIT License (MIT). PMID:28362877
Crew exploration vehicle (CEV) attitude control using a neural-immunology/memory network
Weng, Liguo; Xia, Min; Wang, Wei; Liu, Qingshan
2015-01-01
This paper addresses the problem of the crew exploration vehicle (CEV) attitude control. CEVs are NASA's next-generation human spaceflight vehicles, and they use reaction control system (RCS) jet engines for attitude adjustment, which calls for control algorithms for firing the small propulsion engines mounted on vehicles. In this work, the resultant CEV dynamics combines both actuation and attitude dynamics. Therefore, it is highly nonlinear and even coupled with significant uncertainties. To cope with this situation, a neural-immunology/memory network is proposed. It is inspired by the human memory and immune systems. The control network does not rely on precise system dynamics information. Furthermore, the overall control scheme has a simple structure and demands much less computation as compared with most existing methods, making it attractive for real-time implementation. The effectiveness of this approach is also verified via simulation.
DEFF Research Database (Denmark)
Hansen, Lars Kai; Salamon, Peter
1990-01-01
We propose several means for improving the performance an training of neural networks for classification. We use crossvalidation as a tool for optimizing network parameters and architecture. We show further that the remaining generalization error can be reduced by invoking ensembles of similar...... networks....
Complex-Valued Neural Networks
Hirose, Akira
2012-01-01
This book is the second enlarged and revised edition of the first successful monograph on complex-valued neural networks (CVNNs) published in 2006, which lends itself to graduate and undergraduate courses in electrical engineering, informatics, control engineering, mechanics, robotics, bioengineering, and other relevant fields. In the second edition the recent trends in CVNNs research are included, resulting in e.g. almost a doubled number of references. The parametron invented in 1954 is also referred to with discussion on analogy and disparity. Also various additional arguments on the advantages of the complex-valued neural networks enhancing the difference to real-valued neural networks are given in various sections. The book is useful for those beginning their studies, for instance, in adaptive signal processing for highly functional sensing and imaging, control in unknown and changing environment, robotics inspired by human neural systems, and brain-like information processing, as well as interdisciplina...
Design of Course-Keeping Controller for a Ship Based on Backstepping and Neural Networks
Directory of Open Access Journals (Sweden)
Qiang Zhang
2017-06-01
Full Text Available Due to the existence of uncertainties and the unknown time variant environmental disturbances for ship course nonlinear control system, the ship course adaptive neural network robust course-keeping controller is designed by combining the backstepping technique. The neural networks (NNs are employed for the compensating of the nonlinear term of the nonlinear ship course-keeping control system. The designed adaptive laws are designed to estimate the weights of NNs and the bounds of unknown environmental disturbances. The first order commander are introduced to solve the problem of repeating differential operations in the traditional backstepping design method, which let the designed controller easier to implement in navigation practice and structure simplicity. Theoretically, it indicates that the proposed controller can track the setting course in arbitrary expected accuracy, while keeping all control signals in the ship course control closed-loop system are uniformly ultimately bounded. Finally, the training ship of Dalian Maritime University is taken for example; simulation results illustrated the effectiveness and the robustness of the proposed controller.
Directory of Open Access Journals (Sweden)
Mifeng Ren
2014-01-01
Full Text Available This paper considers the neural network controller design problem for variable pitch wind energy conversion systems (WECS with non-Gaussian wind speed disturbances in the stochastic distribution control framework. The approach here is used to directly model the unknown control law based on a fixed neural network (the number of layers and nodes in a neural network is fixed without the need to construct a separate model for the WECS. In order to characterize the randomness of the WECS, a generalized minimum entropy criterion is established to train connection weights of the neural network. For the train purpose, both kernel density estimation method and sliding window technique are adopted to estimate the PDF of tracking error and entropies. Due to the unknown process dynamics, the gradient of the objective function in a gradient-descent-type algorithm is estimated using an incremental perturbation method. The proposed approach is illustrated on a simulated WECS with non-Gaussian wind speed.
Critical Branching Neural Networks
Kello, Christopher T.
2013-01-01
It is now well-established that intrinsic variations in human neural and behavioral activity tend to exhibit scaling laws in their fluctuations and distributions. The meaning of these scaling laws is an ongoing matter of debate between isolable causes versus pervasive causes. A spiking neural network model is presented that self-tunes to critical…
Neural-Network-Based Fuzzy Logic Navigation Control for Intelligent Vehicles
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Ahcene Farah
2002-06-01
Full Text Available This paper proposes a Neural-Network-Based Fuzzy logic system for navigation control of intelligent vehicles. First, the use of Neural Networks and Fuzzy Logic to provide intelligent vehicles with more autonomy and intelligence is discussed. Second, the system for the obstacle avoidance behavior is developed. Fuzzy Logic improves Neural Networks (NN obstacle avoidance approach by handling imprecision and rule-based approximate reasoning. This system must make the vehicle able, after supervised learning, to achieve two tasks: 1- to make one’s way towards its target by a NN, and 2- to avoid static or dynamic obstacles by a Fuzzy NN capturing the behavior of a human expert. Afterwards, two association phases between each task and the appropriate actions are carried out by Trial and Error learning and their coordination allows to decide the appropriate action. Finally, the simulation results display the generalization and adaptation abilities of the system by testing it in new unexplored environments.
Design of FPGA Based Neural Network Controller for Earth Station Power System
Hassen T. Dorrah; Ninet M. A. El-Rahman; Faten H. Fahmy; Hanaa T. El-Madany
2012-01-01
Automation of generating hardware description language code from neural networks models can highly decrease time of implementation those networks into a digital devices, thus significant money savings. To implement the neural network into hardware designer, it is required to translate generated model into device structure. VHDL language is used to describe those networks into hardware. VHDL code has been proposed to implement ANNs as well as to present simulation results with floating point a...
Liu, Xiaolin; Li, Lanfei; Sun, Hanxu
2017-12-01
Spherical flying robot can perform various tasks in the complex and varied environment to reduce labor costs. However, it is difficult to guarantee the stability of the spherical flying robot in the case of strong coupling and time-varying disturbance. In this paper, an artificial neural network controller (ANNC) based on MPSO-BFGS hybrid optimization algorithm is proposed. The MPSO algorithm is used to optimize the initial weights of the controller to avoid the local optimal solution. The BFGS algorithm is introduced to improve the convergence ability of the network. We use Lyapunov method to analyze the stability of ANNC. The controller is simulated under the condition of nonlinear coupling disturbance. The experimental results show that the proposed controller can obtain the expected value in shoter time compared with the other considered methods.
Adaptive Robust Control for Space Robot with Ucertainty base on Neural Network
Directory of Open Access Journals (Sweden)
Zhang Wenhui
2013-11-01
Full Text Available The trajectory tracking problems of a class of space robot manipulators with parameters and non-parameters uncertainty are considered. An adaptive robust control algorithm based on neural network is proposed by the paper. Neutral network is used to adaptive learn and compensate the unknown system for parameters uncertainties? the weight adaptive laws are designed by the paper? System stability base on Lyapunov theory is analysised to ensure the convergence of the algorithm. Non-parameters uncertainties are estimated and compensated by robust controller. It is proven that the designed controller can guarantee the asymptotic convergence of tracking error. The controller could guarantee good robust and the stability of closed-loop system. The simulation results show that the presented method is effective.
Padgett, Mary L.; Desai, Utpal; Roppel, T.A.; White, Charles R.
1993-01-01
A design procedure is suggested for neural networks which accommodates the inclusion of such knowledge-based systems techniques as fuzzy logic and pairwise comparisons. The use of these procedures in the design of applications combines qualitative and quantitative factors with empirical data to yield a model with justifiable design and parameter selection procedures. The procedure is especially relevant to areas of back-propagation neural network design which are highly responsive to the use of precisely recorded expert knowledge.
Sliding Mode Control for NSVs with Input Constraint Using Neural Network and Disturbance Observer
Directory of Open Access Journals (Sweden)
Yan-long Zhou
2013-01-01
Full Text Available The sliding mode control (SMC scheme is proposed for near space vehicles (NSVs with strong nonlinearity, high coupling, parameter uncertainty, and unknown time-varying disturbance based on radial basis function neural networks (RBFNNs and the nonlinear disturbance observer (NDO. Considering saturation characteristic of rudders, RBFNNs are constructed as a compensator to overcome the saturation nonlinearity. The stability of the closed-loop system is proved, and the tracking error as well as the disturbance observer error can converge to the origin through the Lyapunov analysis. Simulation results are presented to demonstrate the effectiveness of the proposed flight control scheme.
Discrete-time adaptive backstepping nonlinear control via high-order neural networks.
Alanis, Alma Y; Sanchez, Edgar N; Loukianov, Alexander G
2007-07-01
This paper deals with adaptive tracking for discrete-time multiple-input-multiple-output (MIMO) nonlinear systems in presence of bounded disturbances. In this paper, a high-order neural network (HONN) structure is used to approximate a control law designed by the backstepping technique, applied to a block strict feedback form (BSFF). This paper also includes the respective stability analysis, on the basis of the Lyapunov approach, for the whole controlled system, including the extended Kalman filter (EKF)-based NN learning algorithm. Applicability of the scheme is illustrated via simulation for a discrete-time nonlinear model of an electric induction motor.
Parametric motion control of robotic arms: A biologically based approach using neural networks
Bock, O.; D'Eleuterio, G. M. T.; Lipitkas, J.; Grodski, J. J.
1993-01-01
A neural network based system is presented which is able to generate point-to-point movements of robotic manipulators. The foundation of this approach is the use of prototypical control torque signals which are defined by a set of parameters. The parameter set is used for scaling and shaping of these prototypical torque signals to effect a desired outcome of the system. This approach is based on neurophysiological findings that the central nervous system stores generalized cognitive representations of movements called synergies, schemas, or motor programs. It has been proposed that these motor programs may be stored as torque-time functions in central pattern generators which can be scaled with appropriate time and magnitude parameters. The central pattern generators use these parameters to generate stereotypical torque-time profiles, which are then sent to the joint actuators. Hence, only a small number of parameters need to be determined for each point-to-point movement instead of the entire torque-time trajectory. This same principle is implemented for controlling the joint torques of robotic manipulators where a neural network is used to identify the relationship between the task requirements and the torque parameters. Movements are specified by the initial robot position in joint coordinates and the desired final end-effector position in Cartesian coordinates. This information is provided to the neural network which calculates six torque parameters for a two-link system. The prototypical torque profiles (one per joint) are then scaled by those parameters. After appropriate training of the network, our parametric control design allowed the reproduction of a trained set of movements with relatively high accuracy, and the production of previously untrained movements with comparable accuracy. We conclude that our approach was successful in discriminating between trained movements and in generalizing to untrained movements.
Predictive Control of Hydronic Floor Heating Systems using Neural Networks and Genetic Algorithms
DEFF Research Database (Denmark)
Vinther, Kasper; Green, Torben; Østergaard, Søren
2017-01-01
This paper presents the use a neural network and a micro genetic algorithm to optimize future set-points in existing hydronic floor heating systems for improved energy efficiency. The neural network can be trained to predict the impact of changes in set-points on future room temperatures. Additio...... space is not guaranteed. Evaluation of the performance of multiple neural networks is performed, using different levels of information, and optimization results are presented on a detailed house simulation model.......This paper presents the use a neural network and a micro genetic algorithm to optimize future set-points in existing hydronic floor heating systems for improved energy efficiency. The neural network can be trained to predict the impact of changes in set-points on future room temperatures...
Directory of Open Access Journals (Sweden)
Bing Zhu
2016-02-01
Full Text Available The rollover of road vehicles is one of the most serious problems related to transportation safety. In this article, a novel rollover prevention control system composed of rollover warning and integrated chassis control algorithm is proposed. First, a conventional time-to-rollover warning algorithm was presented based on the 3-degree of freedom vehicle model. In order to improve the precision of vehicle rollover prediction, a back-propagation neural network was adopted to regulate time to rollover online by considering multi-state parameters of the vehicle. Second, a rollover prevention algorithm based on integrated chassis control was investigated, where the active front steering and the active yaw moment control were coordinated by model predictive control methodology. Finally, the algorithms were evaluated under several typical maneuvers utilizing MATLAB/Simulink and Carsim co-simulation. The results show that the proposed neural network time-to-rollover metrics can be a good measure of the danger of rollover, and the roll stability of the simulated vehicle is improved significantly with reduced side slip angle and yaw rate by the proposed integrated chassis control rollover prevention system.
Li, Xiaofan; Fang, Jian-An; Li, Huiyuan
2017-09-01
This paper investigates master-slave exponential synchronization for a class of complex-valued memristor-based neural networks with time-varying delays via discontinuous impulsive control. Firstly, the master and slave complex-valued memristor-based neural networks with time-varying delays are translated to two real-valued memristor-based neural networks. Secondly, an impulsive control law is constructed and utilized to guarantee master-slave exponential synchronization of the neural networks. Thirdly, the master-slave synchronization problems are transformed into the stability problems of the master-slave error system. By employing linear matrix inequality (LMI) technique and constructing an appropriate Lyapunov-Krasovskii functional, some sufficient synchronization criteria are derived. Finally, a numerical simulation is provided to illustrate the effectiveness of the obtained theoretical results. Copyright © 2017 Elsevier Ltd. All rights reserved.
Neural network-based optimal adaptive output feedback control of a helicopter UAV.
Nodland, David; Zargarzadeh, Hassan; Jagannathan, Sarangapani
2013-07-01
Helicopter unmanned aerial vehicles (UAVs) are widely used for both military and civilian operations. Because the helicopter UAVs are underactuated nonlinear mechanical systems, high-performance controller design for them presents a challenge. This paper introduces an optimal controller design via an output feedback for trajectory tracking of a helicopter UAV, using a neural network (NN). The output-feedback control system utilizes the backstepping methodology, employing kinematic and dynamic controllers and an NN observer. The online approximator-based dynamic controller learns the infinite-horizon Hamilton-Jacobi-Bellman equation in continuous time and calculates the corresponding optimal control input by minimizing a cost function, forward-in-time, without using the value and policy iterations. Optimal tracking is accomplished by using a single NN utilized for the cost function approximation. The overall closed-loop system stability is demonstrated using Lyapunov analysis. Finally, simulation results are provided to demonstrate the effectiveness of the proposed control design for trajectory tracking.
Directory of Open Access Journals (Sweden)
Ming-Shyan Wang
2017-11-01
Full Text Available This paper deals with the design of sliding mode control and neural network compensation for a sensorless permanent magnet synchronous motor (PMSM controlled system that is able to improve both power consumption and speed response performance. The position sensor of PMSM is unreliable in harsh environments. Therefore, the sensorless control technique is widely proposed in industry. A sliding mode observer can estimate the rotor angle and has the robustness to load disturbance and parameter variations. However, the sliding mode observer is not conducive to standstill and low speed conditions because the amplitude of the back EMF is almost zero. As a result, this paper combines an iterative sliding mode observer (ISMO and neural networks (NNs as an angle compensator to improve the above problems. A dsPIC30F6010A-based PMSM sensorless drive system is implemented to validate the proposed algorithm. The simulation and experimental results prove its effectiveness.
Directory of Open Access Journals (Sweden)
Lei Wang
2014-01-01
Full Text Available Offshore floating wind turbine (OFWT has been a challenging research spot because of the high-quality wind power and complex load environment. This paper focuses on the research of variable torque control of offshore wind turbine on Spar floating platform. The control objective in below-rated wind speed region is to optimize the output power by tracking the optimal tip-speed ratio and ideal power curve. Aiming at the external disturbances and nonlinear uncertain dynamic systems of OFWT because of the proximity to load centers and strong wave coupling, this paper proposes an advanced radial basis function (RBF neural network approach for torque control of OFWT system at speeds lower than rated wind speed. The robust RBF neural network weight adaptive rules are acquired based on the Lyapunov stability analysis. The proposed control approach is tested and compared with the NREL baseline controller using the “NREL offshore 5 MW wind turbine” model mounted on a Spar floating platform run on FAST and Matlab/Simulink, operating in the below-rated wind speed condition. The simulation results show a better performance in tracking the optimal output power curve, therefore, completing the maximum wind energy utilization.
Li, Bo; Rui, Xiaoting
2018-01-01
Poor dispersion characteristics of rockets due to the vibration of Multiple Launch Rocket System (MLRS) have always restricted the MLRS development for several decades. Vibration control is a key technique to improve the dispersion characteristics of rockets. For a mechanical system such as MLRS, the major difficulty in designing an appropriate control strategy that can achieve the desired vibration control performance is to guarantee the robustness and stability of the control system under the occurrence of uncertainties and nonlinearities. To approach this problem, a computed torque controller integrated with a radial basis function neural network is proposed to achieve the high-precision vibration control for MLRS. In this paper, the vibration response of a computed torque controlled MLRS is described. The azimuth and elevation mechanisms of the MLRS are driven by permanent magnet synchronous motors and supposed to be rigid. First, the dynamic model of motor-mechanism coupling system is established using Lagrange method and field-oriented control theory. Then, in order to deal with the nonlinearities, a computed torque controller is designed to control the vibration of the MLRS when it is firing a salvo of rockets. Furthermore, to compensate for the lumped uncertainty due to parametric variations and un-modeled dynamics in the design of the computed torque controller, a radial basis function neural network estimator is developed to adapt the uncertainty based on Lyapunov stability theory. Finally, the simulated results demonstrate the effectiveness of the proposed control system and show that the proposed controller is robust with regard to the uncertainty.
Calculation of PID controller parameters by using a fuzzy neural network.
Lee, Ching-Hung; Teng, Ching-Cheng
2003-07-01
In this paper, we use the fuzzy neural network (FNN) to develop a formula for designing the proportional-integral-derivative (PID) controller. This PID controller satisfies the criteria of minimum integrated absolute error (IAE) and maximum of sensitivity (Ms). The FNN system is used to identify the relationship between plant model and controller parameters based on IAE and Ms. To derive the tuning rule, the dominant pole assignment method is applied to simplify our optimization processes. Therefore, the FNN system is used to automatically tune the PID controller for different system parameters so that neither theoretical methods nor numerical methods need be used. Moreover, the FNN-based formula can modify the controller to meet our specification when the system model changes. A simulation result for applying to the motor position control problem is given to demonstrate the effectiveness of our approach.
Energy Technology Data Exchange (ETDEWEB)
Thyagarajan, T.; Ponnavaikko, M. [Crescent Engineering Coll., Madras (India); Shanmugam, J. [Madras Inst. of Tech. (India); Panda, R.C.; Rao, P.G. [Central Leather Research Inst., Madras (India)
1998-07-01
This paper reviews the developments in the model based control of drying systems using Artificial Neural Networks (ANNs). Survey of current research works reveals the growing interest in the application of ANN in modeling and control of non-linear, dynamic and time-variant systems. Over 115 articles published in this area are reviewed. All landmark papers are systematically classified in chronological order, in three distinct categories; namely, conventional feedback controllers, model based controllers using conventional methods and model based controllers using ANN for drying process. The principles of ANN are presented in detail. The problems and issues of the drying system and the features of various ANN models are dealt with up-to-date. ANN based controllers lead to smoother controller outputs, which would increase actuator life. The paper concludes with suggestions for improving the existing modeling techniques as applied to predicting the performance characteristics of dryers. The hybridization techniques, namely, neural with fuzzy logic and genetic algorithms, presented, provide, directions for pursuing further research for the implementation of appropriate control strategies. The authors opine that the information presented here would be highly beneficial for pursuing research in modeling and control of drying process using ANN. 118 refs.
Feasibility of EMG-based neural network controller for an upper extremity neuroprosthesis.
Hincapie, Juan Gabriel; Kirsch, Robert F
2009-02-01
The overarching goal of this project is to provide shoulder and elbow function to individuals with C5/C6 spinal cord injury (SCI) using functional electrical stimulation (FES), increasing the functional outcomes currently provided by a hand neuroprosthesis. The specific goal of this study was to design a controller based on an artificial neural network (ANN) that extracts information from the activity of muscles that remain under voluntary control sufficient to predict appropriate stimulation levels for several paralyzed muscles in the upper extremity. The ANN was trained with activation data obtained from simulations using a musculoskeletal model of the arm that was modified to reflect C5 SCI and FES capabilities. Several arm movements were recorded from able-bodied subjects and these kinematics served as the inputs to inverse dynamic simulations that predicted muscle activation patterns corresponding to the movements recorded. A system identification procedure was used to identify an optimal reduced set of voluntary input muscles from the larger set that are typically under voluntary control in C5 SCI. These voluntary activations were used as the inputs to the ANN and muscles that are typically paralyzed in C5 SCI were the outputs to be predicted. The neural network controller was able to predict the needed FES paralyzed muscle activations from "voluntary" activations with less than a 3.6% RMS prediction error.
Directory of Open Access Journals (Sweden)
Wodziński Marek
2017-06-01
Full Text Available This paper presents an alternative approach to the sequential data classification, based on traditional machine learning algorithms (neural networks, principal component analysis, multivariate Gaussian anomaly detector and finding the shortest path in a directed acyclic graph, using A* algorithm with a regression-based heuristic. Palm gestures were used as an example of the sequential data and a quadrocopter was the controlled object. The study includes creation of a conceptual model and practical construction of a system using the GPU to ensure the realtime operation. The results present the classification accuracy of chosen gestures and comparison of the computation time between the CPU- and GPU-based solutions.
Passivation and control of partially known SISO nonlinear systems via dynamic neural networks
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Reyes-Reyes J.
2000-01-01
Full Text Available In this paper, an adaptive technique is suggested to provide the passivity property for a class of partially known SISO nonlinear systems. A simple Dynamic Neural Network (DNN, containing only two neurons and without any hidden-layers, is used to identify the unknown nonlinear system. By means of a Lyapunov-like analysis the new learning law for this DNN, guarantying both successful identification and passivation effects, is derived. Based on this adaptive DNN model, an adaptive feedback controller, serving for wide class of nonlinear systems with an a priori incomplete model description, is designed. Two typical examples illustrate the effectiveness of the suggested approach.
BP neural network tuned PID controller for position tracking of a pneumatic artificial muscle.
Fan, Jizhuang; Zhong, Jun; Zhao, Jie; Zhu, Yanhe
2015-01-01
Although Pneumatic Artificial Muscle (PAM) has a promising future in rehabilitation robots, it's difficult to realize accurate position control due to its highly nonlinear properties. This paper deals with position control of PAM. To describe the hysteresis inside PAM, a polynomial based phenomenological function is developed. Based on the phenomenological model for PAM and analysis of pressure dynamics within PAM, an adaptive cascade controller is proposed. Both outer loop and inner loop employ BP Neural Network tuned PID algorithm. The outer loop is to handle high nonlinearities and unmodeled dynamics of PAM, while the inner loop is responsible for nonlinearities caused by pressure dynamics. Experimental results show high tracking accuracy as compared with a convention PID controller. The proposed controller is effective in improving performance of PAM and will be implemented in a rehabilitation robot.
Neural Network Control for the Linear Motion of a Spherical Mobile Robot
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Yao Cai
2011-09-01
Full Text Available This paper discussed the stabilization and position tracking control of the linear motion of an underactuated spherical robot. By considering the actuator dynamics, a complete dynamic model of the robot is deduced, which is a complex third order, two variables nonlinear differential system and those two variables have strong coupling due to the mechanical structure of the robot. Different from traditional treatments, no linearization is applied to this system but a single‐input multiple‐output PID (SIMO_PID controller is designed by adopting a six‐input single‐ output CMAC_GBF (Cerebellar Model Articulation Controller with General Basis Function neural network to compensate the actuator nonlinearity and the credit assignment (CA learning method to obtain faster convergence of CMAC_GBF. The proposed controller is generalizable to other single‐input multiple‐output system with good real‐time capability. Simulations in Matlab are used to validate the control effects.
Liu, Derong; Huang, Yuzhu; Wang, Ding; Wei, Qinglai
2013-09-01
In this paper, an observer-based optimal control scheme is developed for unknown nonlinear systems using adaptive dynamic programming (ADP) algorithm. First, a neural-network (NN) observer is designed to estimate system states. Then, based on the observed states, a neuro-controller is constructed via ADP method to obtain the optimal control. In this design, two NN structures are used: a three-layer NN is used to construct the observer which can be applied to systems with higher degrees of nonlinearity and without a priori knowledge of system dynamics, and a critic NN is employed to approximate the value function. The optimal control law is computed using the critic NN and the observer NN. Uniform ultimate boundedness of the closed-loop system is guaranteed. The actor, critic, and observer structures are all implemented in real-time, continuously and simultaneously. Finally, simulation results are presented to demonstrate the effectiveness of the proposed control scheme.
Learning from adaptive neural network output feedback control of a unicycle-type mobile robot.
Zeng, Wei; Wang, Qinghui; Liu, Fenglin; Wang, Ying
2016-03-01
This paper studies learning from adaptive neural network (NN) output feedback control of nonholonomic unicycle-type mobile robots. The major difficulties are caused by the unknown robot system dynamics and the unmeasurable states. To overcome these difficulties, a new adaptive control scheme is proposed including designing a new adaptive NN output feedback controller and two high-gain observers. It is shown that the stability of the closed-loop robot system and the convergence of tracking errors are guaranteed. The unknown robot system dynamics can be approximated by radial basis function NNs. When repeating same or similar control tasks, the learned knowledge can be recalled and reused to achieve guaranteed stability and better control performance, thereby avoiding the tremendous repeated training process of NNs. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.
Sensorless Speed Control of Permanent Magnet Synchronous Motors by Neural Network Algorithm
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Ming-Shyan Wang
2014-01-01
Full Text Available The sliding mode control has the merits with respect to the variation of the disturbance and robustness. In this paper, the sensorless sliding-mode observer with least mean squared error approach for permanent magnet synchronous motor (PMSM to detect the rotor position by counter electromotive force and then compute motor speed is designed and implemented. In addition, the neural network control is also used to compensate the PI gain tuning to increase the speed accuracy without regarding the errors of the current measurement and motor noise. In this paper, a digital signal processor TMS320F2812 utilizes its high-speed ADC module to get current feedback information and thus to estimate the rotor position and takes advantage of the built-in modules to achieve SVPWM current control so that the senseless speed control will be accomplished. The correctness and effectiveness of the proposed control system will be verified from the experimental results.
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Yu-xin Zhao
2014-01-01
Full Text Available This paper presents a novel wavelet kernel neural network (WKNN with wavelet kernel function. It is applicable in online learning with adaptive parameters and is applied on parameters tuning of fractional-order PID (FOPID controller, which could handle time delay problem of the complex control system. Combining the wavelet function and the kernel function, the wavelet kernel function is adopted and validated the availability for neural network. Compared to the conservative wavelet neural network, the most innovative character of the WKNN is its rapid convergence and high precision in parameters updating process. Furthermore, the integrated pressurized water reactor (IPWR system is established by RELAP5, and a novel control strategy combining WKNN and fuzzy logic rule is proposed for shortening controlling time and utilizing the experiential knowledge sufficiently. Finally, experiment results verify that the control strategy and controller proposed have the practicability and reliability in actual complicated system.
Poultangari, Iman; Shahnazi, Reza; Sheikhan, Mansour
2012-09-01
In order to control the pitch angle of blades in wind turbines, commonly the proportional and integral (PI) controller due to its simplicity and industrial usability is employed. The neural networks and evolutionary algorithms are tools that provide a suitable ground to determine the optimal PI gains. In this paper, a radial basis function (RBF) neural network based PI controller is proposed for collective pitch control (CPC) of a 5-MW wind turbine. In order to provide an optimal dataset to train the RBF neural network, particle swarm optimization (PSO) evolutionary algorithm is used. The proposed method does not need the complexities, nonlinearities and uncertainties of the system under control. The simulation results show that the proposed controller has satisfactory performance. Copyright © 2012 ISA. Published by Elsevier Ltd. All rights reserved.
Directory of Open Access Journals (Sweden)
Yongcheng Li
Full Text Available We propose the architecture of a novel robot system merging biological and artificial intelligence based on a neural controller connected to an external agent. We initially built a framework that connected the dissociated neural network to a mobile robot system to implement a realistic vehicle. The mobile robot system characterized by a camera and two-wheeled robot was designed to execute the target-searching task. We modified a software architecture and developed a home-made stimulation generator to build a bi-directional connection between the biological and the artificial components via simple binomial coding/decoding schemes. In this paper, we utilized a specific hierarchical dissociated neural network for the first time as the neural controller. Based on our work, neural cultures were successfully employed to control an artificial agent resulting in high performance. Surprisingly, under the tetanus stimulus training, the robot performed better and better with the increasement of training cycle because of the short-term plasticity of neural network (a kind of reinforced learning. Comparing to the work previously reported, we adopted an effective experimental proposal (i.e. increasing the training cycle to make sure of the occurrence of the short-term plasticity, and preliminarily demonstrated that the improvement of the robot's performance could be caused independently by the plasticity development of dissociated neural network. This new framework may provide some possible solutions for the learning abilities of intelligent robots by the engineering application of the plasticity processing of neural networks, also for the development of theoretical inspiration for the next generation neuro-prostheses on the basis of the bi-directional exchange of information within the hierarchical neural networks.
Wang, Yuechao; Li, Hongyi; Zheng, Xiongfei
2016-01-01
We propose the architecture of a novel robot system merging biological and artificial intelligence based on a neural controller connected to an external agent. We initially built a framework that connected the dissociated neural network to a mobile robot system to implement a realistic vehicle. The mobile robot system characterized by a camera and two-wheeled robot was designed to execute the target-searching task. We modified a software architecture and developed a home-made stimulation generator to build a bi-directional connection between the biological and the artificial components via simple binomial coding/decoding schemes. In this paper, we utilized a specific hierarchical dissociated neural network for the first time as the neural controller. Based on our work, neural cultures were successfully employed to control an artificial agent resulting in high performance. Surprisingly, under the tetanus stimulus training, the robot performed better and better with the increasement of training cycle because of the short-term plasticity of neural network (a kind of reinforced learning). Comparing to the work previously reported, we adopted an effective experimental proposal (i.e. increasing the training cycle) to make sure of the occurrence of the short-term plasticity, and preliminarily demonstrated that the improvement of the robot’s performance could be caused independently by the plasticity development of dissociated neural network. This new framework may provide some possible solutions for the learning abilities of intelligent robots by the engineering application of the plasticity processing of neural networks, also for the development of theoretical inspiration for the next generation neuro-prostheses on the basis of the bi-directional exchange of information within the hierarchical neural networks. PMID:27806074
An Optoelectronic Neural Network
Neil, Mark A. A.; White, Ian H.; Carroll, John E.
1990-02-01
We describe and present results of an optoelectronic neural network processing system. The system uses an algorithm based on the Hebbian learning rule to memorise a set of associated vector pairs. Recall occurs by the processing of the input vector with these stored associations in an incoherent optical vector multiplier using optical polarisation rotating liquid crystal spatial light modulators to store the vectors and an optical polarisation shadow casting technique to perform multiplications. Results are detected on a photodiode array and thresholded electronically by a controlling microcomputer. The processor is shown to work in autoassociative and heteroassociative modes with up to 10 stored memory vectors of length 64 (equivalent to 64 neurons) and a cycle time of 50ms. We discuss the limiting factors at work in this system, how they affect its scalability and the general applicability of its principles to other systems.
Directory of Open Access Journals (Sweden)
V.M.L. Santos
2000-12-01
Full Text Available Artificial Neural Networks (ANNs constitute a technology that has recently become the focus of great attention. The reason for this is due mainly to its capacity to treat complex and nonlinear problems. This work consists of the identification and control of a fluid cracking catalytic unit (FCCU using techniques based on multilayered ANNs. The FCC unit is a typical example of a complex and nonlinear process, possessing great interaction among the operation variables and many operational constraints to be attended. Model Predictive Control is indicated in these occasions. The FCC model adopted was validated with plant data by Moro (1992; and was used in this work to replace the real process in the generation of data for the identification of the ANNs and to test the predictive control strategy. The results of the identification and control of the process through ANNs indicate the viability of the technique.
Adaptive Neural Network Control for the Trajectory Tracking of the Furuta Pendulum.
Moreno-Valenzuela, Javier; Aguilar-Avelar, Carlos; Puga-Guzman, Sergio A; Santibanez, Victor
2016-12-01
The purpose of this paper is to introduce a novel adaptive neural network-based control scheme for the Furuta pendulum, which is a two degree-of-freedom underactuated system. Adaptation laws for the input and output weights are also provided. The proposed controller is able to guarantee tracking of a reference signal for the arm while the pendulum remains in the upright position. The key aspect of the derivation of the controller is the definition of an output function that depends on the position and velocity errors. The internal and external dynamics are rigorously analyzed, thereby proving the uniform ultimate boundedness of the error trajectories. By using real-time experiments, the new scheme is compared with other control methodologies, therein demonstrating the improved performance of the proposed adaptive algorithm.
Modeling and adaptive control of a camless engine using neural networks and estimation techniques
Energy Technology Data Exchange (ETDEWEB)
Ashhab, S. [Hashemite Univ., Zarqa (Jordan). Dept. of Mechanical Engineering
2007-08-09
A system to control the cylinder air charge (CAC) in a camless internal combustion (IC) engine was recently developed. The performance of an IC engine connected to an adaptive artificial neural network (ANN) based feedback controller was then investigated. A control oriented model for the engine intake process was created based on thermodynamics laws and was validated against engine experimental data. Input-output data at a speed of 1500 RPM was generated and used to train an ANN model for the engine. The inputs were the intake valve lift (IVL) and closing timing (IVC). The output was the CAC. The controller consisted of a feedforward controller, CAC estimator, and on-line ANN parameter estimator. The feedforward controller provided IVL and IVC that satisfied the driver's torque demand and was the inverse of the engine ANN model. The on-line ANN used the error between the CAC measurement from the CAC estimator and its predicted value from the ANN to update the network's parameters. The feedforward controller was therefore adapted since its operation depended on the ANN model. The adaptation scheme improved the ANN prediction accuracy when the engine parts degraded, the speed changed or when modeling errors occurred. The engine controller exhibited good CAC tracking performance. Computer simulation demonstrated the capability of the camless engine controller. 17 refs., 5 figs.
Li, Yun-Juan; Fang, Yan-jun; Li, Qi
2012-01-01
The Supercritical Main Steam has a large inertia, delay and nonlinear and dynamic characteristics change with the operating conditions, it is difficult to establish the precise mathematical model, this algorithm based on RBF neural network GGAP posed a direct neural network predictive controller, the combination of online learning and control to a supercritical power plant main stream temperature as the research object, MATLAB simulation results show that the superheated steam temperature system can achieve effective control, performance than the conventional PID control has greatly improved.
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Xingang Fu
2016-04-01
Full Text Available This paper investigates a novel recurrent neural network (NN-based vector control approach for single-phase grid-connected converters (GCCs with L (inductor, LC (inductor-capacitor and LCL (inductor-capacitor-inductor filters and provides their comparison study with the conventional standard vector control method. A single neural network controller replaces two current-loop PI controllers, and the NN training approximates the optimal control for the single-phase GCC system. The Levenberg–Marquardt (LM algorithm was used to train the NN controller based on the complete system equations without any decoupling policies. The proposed NN approach can solve the decoupling problem associated with the conventional vector control methods for L, LC and LCL-filter-based single-phase GCCs. Both simulation study and hardware experiments demonstrate that the neural network vector controller shows much more improved performance than that of conventional vector controllers, including faster response speed and lower overshoot. Especially, NN vector control could achieve very good performance using low switch frequency. More importantly, the neural network vector controller is a damping free controller, which is generally required by a conventional vector controller for an LCL-filter-based single-phase grid-connected converter and, therefore, can overcome the inefficiency problem caused by damping policies.
Hyperbolic Hopfield neural networks.
Kobayashi, M
2013-02-01
In recent years, several neural networks using Clifford algebra have been studied. Clifford algebra is also called geometric algebra. Complex-valued Hopfield neural networks (CHNNs) are the most popular neural networks using Clifford algebra. The aim of this brief is to construct hyperbolic HNNs (HHNNs) as an analog of CHNNs. Hyperbolic algebra is a Clifford algebra based on Lorentzian geometry. In this brief, a hyperbolic neuron is defined in a manner analogous to a phasor neuron, which is a typical complex-valued neuron model. HHNNs share common concepts with CHNNs, such as the angle and energy. However, HHNNs and CHNNs are different in several aspects. The states of hyperbolic neurons do not form a circle, and, therefore, the start and end states are not identical. In the quantized version, unlike complex-valued neurons, hyperbolic neurons have an infinite number of states.
SOME QUESTIONS OF THE GRID AND NEURAL NETWORK MODELING OF AIRPORT AVIATION SECURITY CONTROL TASKS
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N. Elisov Lev
2017-01-01
Full Text Available The authors’ original problem-solution-approach concerning aviation security management in civil aviation apply- ing parallel calculation processes method and the usage of neural computers is considered in this work. The statement of secure environment modeling problems for grid models and with the use of neural networks is presented. The research sub- ject area of this article is airport activity in the field of civil aviation, considered in the context of aviation security, defined as the state of aviation security against unlawful interference with the aviation field. The key issue in this subject area is aviation safety provision at an acceptable level. In this case, airport security level management becomes one of the main objectives of aviation security. Aviation security management is organizational-regulation in modern systems that can no longer correspond to changing requirements, increasingly getting complex and determined by external and internal envi- ronment factors, associated with a set of potential threats to airport activity. Optimal control requires the most accurate identification of management parameters and their quantitative assessment. The authors examine the possibility of applica- tion of mathematical methods for the modeling of security management processes and procedures in their latest works. Par- allel computing methods and network neurocomputing for modeling of airport security control processes are examined in this work. It is shown that the methods’ practical application of the methods is possible along with the decision support system, where the decision maker plays the leading role.
Xiong, Wenjun; Patel, Ragini; Cao, Jinde; Zheng, Wei Xing
In this brief, our purpose is to apply asynchronous and intermittent sampled-data control methods to achieve the synchronization of hierarchical time-varying neural networks. The asynchronous and intermittent sampled-data controllers are proposed for two reasons: 1) the controllers may not transmit the control information simultaneously and 2) the controllers cannot always exist at any time . The synchronization is then discussed for a kind of hierarchical time-varying neural networks based on the asynchronous and intermittent sampled-data controllers. Finally, the simulation results are given to illustrate the usefulness of the developed criteria.In this brief, our purpose is to apply asynchronous and intermittent sampled-data control methods to achieve the synchronization of hierarchical time-varying neural networks. The asynchronous and intermittent sampled-data controllers are proposed for two reasons: 1) the controllers may not transmit the control information simultaneously and 2) the controllers cannot always exist at any time . The synchronization is then discussed for a kind of hierarchical time-varying neural networks based on the asynchronous and intermittent sampled-data controllers. Finally, the simulation results are given to illustrate the usefulness of the developed criteria.
Artificial neural network implementation of a near-ideal error prediction controller
Mcvey, Eugene S.; Taylor, Lynore Denise
1992-01-01
A theory has been developed at the University of Virginia which explains the effects of including an ideal predictor in the forward loop of a linear error-sampled system. It has been shown that the presence of this ideal predictor tends to stabilize the class of systems considered. A prediction controller is merely a system which anticipates a signal or part of a signal before it actually occurs. It is understood that an exact prediction controller is physically unrealizable. However, in systems where the input tends to be repetitive or limited, (i.e., not random) near ideal prediction is possible. In order for the controller to act as a stability compensator, the predictor must be designed in a way that allows it to learn the expected error response of the system. In this way, an unstable system will become stable by including the predicted error in the system transfer function. Previous and current prediction controller include pattern recognition developments and fast-time simulation which are applicable to the analysis of linear sampled data type systems. The use of pattern recognition techniques, along with a template matching scheme, has been proposed as one realizable type of near-ideal prediction. Since many, if not most, systems are repeatedly subjected to similar inputs, it was proposed that an adaptive mechanism be used to 'learn' the correct predicted error response. Once the system has learned the response of all the expected inputs, it is necessary only to recognize the type of input with a template matching mechanism and then to use the correct predicted error to drive the system. Suggested here is an alternate approach to the realization of a near-ideal error prediction controller, one designed using Neural Networks. Neural Networks are good at recognizing patterns such as system responses, and the back-propagation architecture makes use of a template matching scheme. In using this type of error prediction, it is assumed that the system error
Directory of Open Access Journals (Sweden)
Chao Tan
2015-01-01
Full Text Available In a fully mechanized mining face, the coordinated control of coal mining machines has a significant promoting effect to perfect the mining environment and improve the efficiency of coal production and has become a research focus all over the world. In this paper, a cooperative control method based on the integration of fuzzy logic theory and neural networks was proposed. The improved Elman neural network (ENN through a threshold strategy was presented to predict the running parameters of coal mining machines. On the basis of coupling analysis of coal mining machines, the expert knowledge base of scraper conveyor was established based on fuzzy logic theory. Furthermore, the probabilistic neural network (PNN was applied to evaluate the running status of scraper conveyor, and the cooperative control flow was designed and analyzed. Finally, a simulation example was provided and the comparison results illustrated that the proposed method was feasible and superior to the manual control.
Energy Technology Data Exchange (ETDEWEB)
Rong Bao, E-mail: rongbao_nust@sina.com; Rui Xiaoting [Nanjing University of Science and Technology, Institute of Launch Dynamics (China); Tao Ling [Chinese Academy of Sciences (ASIPP), Institute of Plasma Physics (China)
2012-11-15
In this paper, a dynamic modeling method and an active vibration control scheme for a smart flexible four-bar linkage mechanism featuring piezoelectric actuators and strain gauge sensors are presented. The dynamics of this smart mechanism is described by the Discrete Time Transfer Matrix Method of Multibody System (MS-DTTMM). Then a nonlinear fuzzy neural network control is employed to suppress the vibration of this smart mechanism. For improving the dynamic performance of the fuzzy neural network, a genetic algorithm based on the MS-DTTMM is designed offline to tune the initial parameters of the fuzzy neural network. The MS-DTTMM avoids the global dynamics equations of the system, which results in the matrices involved are always very small, so the computational efficiency of the dynamic analysis and control system optimization can be greatly improved. Formulations of the method as well as a numerical simulation are given to demonstrate the proposed dynamic method and control scheme.
Ding, Zhixia; Shen, Yi
2016-04-01
This paper investigates global projective synchronization of nonidentical fractional-order neural networks (FNNs) based on sliding mode control technique. We firstly construct a fractional-order integral sliding surface. Then, according to the sliding mode control theory, we design a sliding mode controller to guarantee the occurrence of the sliding motion. Based on fractional Lyapunov direct methods, system trajectories are driven to the proposed sliding surface and remain on it evermore, and some novel criteria are obtained to realize global projective synchronization of nonidentical FNNs. As the special cases, some sufficient conditions are given to ensure projective synchronization of identical FNNs, complete synchronization of nonidentical FNNs and anti-synchronization of nonidentical FNNs. Finally, one numerical example is given to demonstrate the effectiveness of the obtained results. Copyright © 2016 Elsevier Ltd. All rights reserved.
Visual Control of Autonomous Vehicle by Neural Networks Using Fuzzy-Supervised Learning
Energy Technology Data Exchange (ETDEWEB)
Ryoo, Young Jae [Kumho Information and Telecommunications Laboratory, Kwangju (Korea, Republic of); Lim, Young Cheol [Cheonnam National University, Kwangju (Korea, Republic of)
1997-04-01
This paper describes a control scheme for an autonomous vehicle with visual sensors, which uses visual information to guide itself along roadways. The control system integrates visual data into the steering servo process directly, instead of subdividing the process by geometric reasoning for a vehicle-centered representation of the road from two-dimensional visual image data. A neural network using fuzzy-supervised learning is used for determining the steering angle required to move the vanishing point and vanishing line of the road to the desired position in the camera image. The validity and the effectiveness of the proposed control scheme are confirmed by a computer simulation of the autonomous vehicle`s driving performance. (author). 12 refs., 8 figs., 4 tabs.
Directory of Open Access Journals (Sweden)
Adrian TOADER
2010-09-01
Full Text Available The paper was conceived in two parts. Part I, previously published in this journal, highlighted the main steps of adaptive output feedback control for non-affine uncertain systems, having a known relative degree. The main paradigm of this approach was the feedback linearization (dynamic inversion with neural network augmentation. Meanwhile, based on new contributions of the authors, a new paradigm, that of robust servomechanism problem solution, has been added to the controller architecture. The current Part II of the paper presents the validation of the controller hereby obtained by using the longitudinal channel of a hovering VTOL-type aircraft as mathematical model.
Fuzzy Counter Propagation Neural Network Control for a Class of Nonlinear Dynamical Systems
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Vandana Sakhre
2015-01-01
Full Text Available Fuzzy Counter Propagation Neural Network (FCPN controller design is developed, for a class of nonlinear dynamical systems. In this process, the weight connecting between the instar and outstar, that is, input-hidden and hidden-output layer, respectively, is adjusted by using Fuzzy Competitive Learning (FCL. FCL paradigm adopts the principle of learning, which is used to calculate Best Matched Node (BMN which is proposed. This strategy offers a robust control of nonlinear dynamical systems. FCPN is compared with the existing network like Dynamic Network (DN and Back Propagation Network (BPN on the basis of Mean Absolute Error (MAE, Mean Square Error (MSE, Best Fit Rate (BFR, and so forth. It envisages that the proposed FCPN gives better results than DN and BPN. The effectiveness of the proposed FCPN algorithms is demonstrated through simulations of four nonlinear dynamical systems and multiple input and single output (MISO and a single input and single output (SISO gas furnace Box-Jenkins time series data.
A Programmer-Interpreter Neural Network Architecture for Prefrontal Cognitive Control.
Donnarumma, Francesco; Prevete, Roberto; Chersi, Fabian; Pezzulo, Giovanni
2015-09-01
There is wide consensus that the prefrontal cortex (PFC) is able to exert cognitive control on behavior by biasing processing toward task-relevant information and by modulating response selection. This idea is typically framed in terms of top-down influences within a cortical control hierarchy, where prefrontal-basal ganglia loops gate multiple input-output channels, which in turn can activate or sequence motor primitives expressed in (pre-)motor cortices. Here we advance a new hypothesis, based on the notion of programmability and an interpreter-programmer computational scheme, on how the PFC can flexibly bias the selection of sensorimotor patterns depending on internal goal and task contexts. In this approach, multiple elementary behaviors representing motor primitives are expressed by a single multi-purpose neural network, which is seen as a reusable area of "recycled" neurons (interpreter). The PFC thus acts as a "programmer" that, without modifying the network connectivity, feeds the interpreter networks with specific input parameters encoding the programs (corresponding to network structures) to be interpreted by the (pre-)motor areas. Our architecture is validated in a standard test for executive function: the 1-2-AX task. Our results show that this computational framework provides a robust, scalable and flexible scheme that can be iterated at different hierarchical layers, supporting the realization of multiple goals. We discuss the plausibility of the "programmer-interpreter" scheme to explain the functioning of prefrontal-(pre)motor cortical hierarchies.
Introduction to Artificial Neural Networks
DEFF Research Database (Denmark)
Larsen, Jan
1999-01-01
The note addresses introduction to signal analysis and classification based on artificial feed-forward neural networks.......The note addresses introduction to signal analysis and classification based on artificial feed-forward neural networks....
Deconvolution using a neural network
Energy Technology Data Exchange (ETDEWEB)
Lehman, S.K.
1990-11-15
Viewing one dimensional deconvolution as a matrix inversion problem, we compare a neural network backpropagation matrix inverse with LMS, and pseudo-inverse. This is a largely an exercise in understanding how our neural network code works. 1 ref.
The Lateral Tracking Control for the Intelligent Vehicle Based on Adaptive PID Neural Network
Han, Gaining; Fu, Weiping; Wang, Wen; Wu, Zongsheng
2017-01-01
The intelligent vehicle is a complicated nonlinear system, and the design of a path tracking controller is one of the key technologies in intelligent vehicle research. This paper mainly designs a lateral control dynamic model of the intelligent vehicle, which is used for lateral tracking control. Firstly, the vehicle dynamics model (i.e., transfer function) is established according to the vehicle parameters. Secondly, according to the vehicle steering control system and the CARMA (Controlled Auto-Regression and Moving-Average) model, a second-order control system model is built. Using forgetting factor recursive least square estimation (FFRLS), the system parameters are identified. Finally, a neural network PID (Proportion Integral Derivative) controller is established for lateral path tracking control based on the vehicle model and the steering system model. Experimental simulation results show that the proposed model and algorithm have the high real-time and robustness in path tracing control. This provides a certain theoretical basis for intelligent vehicle autonomous navigation tracking control, and lays the foundation for the vertical and lateral coupling control. PMID:28556817
The Lateral Tracking Control for the Intelligent Vehicle Based on Adaptive PID Neural Network.
Han, Gaining; Fu, Weiping; Wang, Wen; Wu, Zongsheng
2017-05-30
The intelligent vehicle is a complicated nonlinear system, and the design of a path tracking controller is one of the key technologies in intelligent vehicle research. This paper mainly designs a lateral control dynamic model of the intelligent vehicle, which is used for lateral tracking control. Firstly, the vehicle dynamics model (i.e., transfer function) is established according to the vehicle parameters. Secondly, according to the vehicle steering control system and the CARMA (Controlled Auto-Regression and Moving-Average) model, a second-order control system model is built. Using forgetting factor recursive least square estimation (FFRLS), the system parameters are identified. Finally, a neural network PID (Proportion Integral Derivative) controller is established for lateral path tracking control based on the vehicle model and the steering system model. Experimental simulation results show that the proposed model and algorithm have the high real-time and robustness in path tracing control. This provides a certain theoretical basis for intelligent vehicle autonomous navigation tracking control, and lays the foundation for the vertical and lateral coupling control.
An Effective and Novel Neural Network Ensemble for Shift Pattern Detection in Control Charts
Directory of Open Access Journals (Sweden)
Mahmoud Barghash
2015-01-01
Full Text Available Pattern recognition in control charts is critical to make a balance between discovering faults as early as possible and reducing the number of false alarms. This work is devoted to designing a multistage neural network ensemble that achieves this balance which reduces rework and scrape without reducing productivity. The ensemble under focus is composed of a series of neural network stages and a series of decision points. Initially, this work compared using multidecision points and single-decision point on the performance of the ANN which showed that multidecision points are highly preferable to single-decision points. This work also tested the effect of population percentages on the ANN and used this to optimize the ANN’s performance. Also this work used optimized and nonoptimized ANNs in an ensemble and proved that using nonoptimized ANN may reduce the performance of the ensemble. The ensemble that used only optimized ANNs has improved performance over individual ANNs and three-sigma level rule. In that respect using the designed ensemble can help in reducing the number of false stops and increasing productivity. It also can be used to discover even small shifts in the mean as early as possible.
Artificial neural network modelling
Samarasinghe, Sandhya
2016-01-01
This book covers theoretical aspects as well as recent innovative applications of Artificial Neural networks (ANNs) in natural, environmental, biological, social, industrial and automated systems. It presents recent results of ANNs in modelling small, large and complex systems under three categories, namely, 1) Networks, Structure Optimisation, Robustness and Stochasticity 2) Advances in Modelling Biological and Environmental Systems and 3) Advances in Modelling Social and Economic Systems. The book aims at serving undergraduates, postgraduates and researchers in ANN computational modelling. .
Li, Ting; Hong, Jun; Zhang, Jinhua; Guo, Feng
2014-03-15
The improvement of the resolution of brain signal and the ability to control external device has been the most important goal in BMI research field. This paper describes a non-invasive brain-actuated manipulator experiment, which defined a paradigm for the motion control of a serial manipulator based on motor imagery and shared control. The techniques of component selection, spatial filtering and classification of motor imagery were involved. Small-world neural network (SWNN) was used to classify five brain states. To verify the effectiveness of the proposed classifier, we replace the SWNN classifier by a radial basis function (RBF) networks neural network, a standard multi-layered feed-forward backpropagation network (SMN) and a multi-SVM classifier, with the same features for the classification. The results also indicate that the proposed classifier achieves a 3.83% improvement over the best results of other classifiers. We proposed a shared control method consisting of two control patterns to expand the control of BMI from the software angle. The job of path building for reaching the 'end' point was designated as an assessment task. We recorded all paths contributed by subjects and picked up relevant parameters as evaluation coefficients. With the assistance of two control patterns and series of machine learning algorithms, the proposed BMI originally achieved the motion control of a manipulator in the whole workspace. According to experimental results, we confirmed the feasibility of the proposed BMI method for 3D motion control of a manipulator using EEG during motor imagery. Copyright © 2013 Elsevier B.V. All rights reserved.
Dong, Zhekang; Duan, Shukai; Hu, Xiaofang; Wang, Lidan
2014-01-01
In this paper, we present an implementation scheme of memristor-based multilayer feedforward small-world neural network (MFSNN) inspirited by the lack of the hardware realization of the MFSNN on account of the need of a large number of electronic neurons and synapses. More specially, a mathematical closed-form charge-governed memristor model is presented with derivation procedures and the corresponding Simulink model is presented, which is an essential block for realizing the memristive synapse and the activation function in electronic neurons. Furthermore, we investigate a more intelligent memristive PID controller by incorporating the proposed MFSNN into intelligent PID control based on the advantages of the memristive MFSNN on computation speed and accuracy. Finally, numerical simulations have demonstrated the effectiveness of the proposed scheme. PMID:25202723
Neural Network Observer-Based Finite-Time Formation Control of Mobile Robots
Directory of Open Access Journals (Sweden)
Caihong Zhang
2014-01-01
Full Text Available This paper addresses the leader-following formation problem of nonholonomic mobile robots. In the formation, only the pose (i.e., the position and direction angle of the leader robot can be obtained by the follower. First, the leader-following formation is transformed into special trajectory tracking. And then, a neural network (NN finite-time observer of the follower robot is designed to estimate the dynamics of the leader robot. Finally, finite-time formation control laws are developed for the follower robot to track the leader robot in the desired separation and bearing in finite time. The effectiveness of the proposed NN finite-time observer and the formation control laws are illustrated by both qualitative analysis and simulation results.
Using Weightless Neural Networks for Vergence Control in an Artificial Vision System
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Karin S. Komati
2003-01-01
Full Text Available This paper presents a methodology we have developed and used to implement an artificial binocular vision system capable of emulating the vergence of eye movements. This methodology involves using weightless neural networks (WNNs as building blocks of artificial vision systems. Using the proposed methodology, we have designed several architectures of WNN-based artificial vision systems, in which images captured by virtual cameras are used for controlling the position of the ‘foveae’ of these cameras (high-resolution region of the images captured. Our best architecture is able to control the foveae vergence movements with average error of only 3.58 image pixels, which is equivalent to an angular error of approximately 0.629°.
Directory of Open Access Journals (Sweden)
Zhekang Dong
2014-01-01
Full Text Available In this paper, we present an implementation scheme of memristor-based multilayer feedforward small-world neural network (MFSNN inspirited by the lack of the hardware realization of the MFSNN on account of the need of a large number of electronic neurons and synapses. More specially, a mathematical closed-form charge-governed memristor model is presented with derivation procedures and the corresponding Simulink model is presented, which is an essential block for realizing the memristive synapse and the activation function in electronic neurons. Furthermore, we investigate a more intelligent memristive PID controller by incorporating the proposed MFSNN into intelligent PID control based on the advantages of the memristive MFSNN on computation speed and accuracy. Finally, numerical simulations have demonstrated the effectiveness of the proposed scheme.
Amani, Amir; York, Peter; Chrystyn, Henry; Clark, Brian J; Do, Duong Q
2008-09-02
The purpose of this study was to use Artificial Neural Networks (ANNs) in identifying factors, in addition to surfactant and internal phase content, that influence the particle size of nanoemulsions. The phase diagram and rheometric characteristics of a nanoemulsion system containing polysorbate 80, ethanol, medium chain triglycerides and normal saline loaded with budesonide were investigated. The particle size of samples of various compositions prepared using different rates and amounts of applied energy was measured. Data, divided into training, test and validation sets, were modelled by ANNs. The developed model was assessed and found to be of high quality. The model was then used to explore the effect of composition and processing factors on particle size of the nanoemulsion preparation. The study demonstrates the potential of ANNs in identifying critical parameters controlling preparation for this system, with the total amount of applied energy during preparation found to be the dominant factor in controlling the final particle size.
Energy Technology Data Exchange (ETDEWEB)
Edelen, A. L.; Biedron, S. G.; Milton, S. V.; Edelen, J. P.
2016-12-16
At present, a variety of image-based diagnostics are used in particle accelerator systems. Often times, these are viewed by a human operator who then makes appropriate adjustments to the machine. Given recent advances in using convolutional neural networks (CNNs) for image processing, it should be possible to use image diagnostics directly in control routines (NN-based or otherwise). This is especially appealing for non-intercepting diagnostics that could run continuously during beam operation. Here, we show results of a first step toward implementing such a controller: our trained CNN can predict multiple simulated downstream beam parameters at the Fermilab Accelerator Science and Technology (FAST) facility's low energy beamline using simulated virtual cathode laser images, gun phases, and solenoid strengths.
Synergistic control of forearm based on accelerometer data and artificial neural networks
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B. Mijovic
2008-05-01
Full Text Available In the present study, we modeled a reaching task as a two-link mechanism. The upper arm and forearm motion trajectories during vertical arm movements were estimated from the measured angular accelerations with dual-axis accelerometers. A data set of reaching synergies from able-bodied individuals was used to train a radial basis function artificial neural network with upper arm/forearm tangential angular accelerations. The trained radial basis function artificial neural network for the specific movements predicted forearm motion from new upper arm trajectories with high correlation (mean, 0.9149-0.941. For all other movements, prediction was low (range, 0.0316-0.8302. Results suggest that the proposed algorithm is successful in generalization over similar motions and subjects. Such networks may be used as a high-level controller that could predict forearm kinematics from voluntary movements of the upper arm. This methodology is suitable for restoring the upper limb functions of individuals with motor disabilities of the forearm, but not of the upper arm. The developed control paradigm is applicable to upper-limb orthotic systems employing functional electrical stimulation. The proposed approach is of great significance particularly for humans with spinal cord injuries in a free-living environment. The implication of a measurement system with dual-axis accelerometers, developed for this study, is further seen in the evaluation of movement during the course of rehabilitation. For this purpose, training-related changes in synergies apparent from movement kinematics during rehabilitation would characterize the extent and the course of recovery. As such, a simple system using this methodology is of particular importance for stroke patients. The results underlie the important issue of upper-limb coordination.
Robust/optimal temperature profile control of a high-speed aerospace vehicle using neural networks.
Yadav, Vivek; Padhi, Radhakant; Balakrishnan, S N
2007-07-01
An approximate dynamic programming (ADP)-based suboptimal neurocontroller to obtain desired temperature for a high-speed aerospace vehicle is synthesized in this paper. A 1-D distributed parameter model of a fin is developed from basic thermal physics principles. "Snapshot" solutions of the dynamics are generated with a simple dynamic inversion-based feedback controller. Empirical basis functions are designed using the "proper orthogonal decomposition" (POD) technique and the snapshot solutions. A low-order nonlinear lumped parameter system to characterize the infinite dimensional system is obtained by carrying out a Galerkin projection. An ADP-based neurocontroller with a dual heuristic programming (DHP) formulation is obtained with a single-network-adaptive-critic (SNAC) controller for this approximate nonlinear model. Actual control in the original domain is calculated with the same POD basis functions through a reverse mapping. Further contribution of this paper includes development of an online robust neurocontroller to account for unmodeled dynamics and parametric uncertainties inherent in such a complex dynamic system. A neural network (NN) weight update rule that guarantees boundedness of the weights and relaxes the need for persistence of excitation (PE) condition is presented. Simulation studies show that in a fairly extensive but compact domain, any desired temperature profile can be achieved starting from any initial temperature profile. Therefore, the ADP and NN-based controllers appear to have the potential to become controller synthesis tools for nonlinear distributed parameter systems.
Artificial neural networks based controller for glucose monitoring during clamp test.
Directory of Open Access Journals (Sweden)
Merav Catalogna
Full Text Available Insulin resistance (IR is one of the most widespread health problems in modern times. The gold standard for quantification of IR is the hyperinsulinemic-euglycemic glucose clamp technique. During the test, a regulated glucose infusion is delivered intravenously to maintain a constant blood glucose concentration. Current control algorithms for regulating this glucose infusion are based on feedback control. These models require frequent sampling of blood, and can only partly capture the complexity associated with regulation of glucose. Here we present an improved clamp control algorithm which is motivated by the stochastic nature of glucose kinetics, while using the minimal need in blood samples required for evaluation of IR. A glucose pump control algorithm, based on artificial neural networks model was developed. The system was trained with a data base collected from 62 rat model experiments, using a back-propagation Levenberg-Marquardt optimization. Genetic algorithm was used to optimize network topology and learning features. The predictive value of the proposed algorithm during the temporal period of interest was significantly improved relative to a feedback control applied at an equivalent low sampling interval. Robustness to noise analysis demonstrates the applicability of the algorithm in realistic situations.
Neural networks for prediction and control of chaotic fluidized bed hydrodynamics : A first step
Bakker, R; De Korte, RJ; Schouten, JC; Van den Bleek, CM; Takens, F
A neural-network-based model that has learnt the chaotic hydrodynamics of a fluidized bed reactor is presented. The network is trained on measured electrical capacitance tomography data. A training algorithm is used that does not only minimize the short-term prediction error but also the information
Villarreal, James A.
1991-01-01
A whole new arena of computer technologies is now beginning to form. Still in its infancy, neural network technology is a biologically inspired methodology which draws on nature's own cognitive processes. The Software Technology Branch has provided a software tool, Neural Execution and Training System (NETS), to industry, government, and academia to facilitate and expedite the use of this technology. NETS is written in the C programming language and can be executed on a variety of machines. Once a network has been debugged, NETS can produce a C source code which implements the network. This code can then be incorporated into other software systems. Described here are various software projects currently under development with NETS and the anticipated future enhancements to NETS and the technology.
Zargarzadeh, H.; Nodland, David; Thotla, V.; Jagannathan, S.; Agarwal, S.
2012-06-01
Unmanned Aerial Vehicles (UAVs) are versatile aircraft with many applications, including the potential for use to detect unintended electromagnetic emissions from electronic devices. A particular area of recent interest has been helicopter unmanned aerial vehicles. Because of the nature of these helicopters' dynamics, high-performance controller design for them presents a challenge. This paper introduces an optimal controller design via output feedback control for trajectory tracking of a helicopter UAV using a neural network (NN). The output-feedback control system utilizes the backstepping methodology, employing kinematic, virtual, and dynamic controllers and an observer. Optimal tracking is accomplished with a single NN utilized for cost function approximation. The controller positions the helicopter, which is equipped with an antenna, such that the antenna can detect unintended emissions. The overall closed-loop system stability with the proposed controller is demonstrated by using Lyapunov analysis. Finally, results are provided to demonstrate the effectiveness of the proposed control design for positioning the helicopter for unintended emissions detection.
Brain-Computer Interface for Control of Wheelchair Using Fuzzy Neural Networks
Directory of Open Access Journals (Sweden)
Rahib H. Abiyev
2016-01-01
Full Text Available The design of brain-computer interface for the wheelchair for physically disabled people is presented. The design of the proposed system is based on receiving, processing, and classification of the electroencephalographic (EEG signals and then performing the control of the wheelchair. The number of experimental measurements of brain activity has been done using human control commands of the wheelchair. Based on the mental activity of the user and the control commands of the wheelchair, the design of classification system based on fuzzy neural networks (FNN is considered. The design of FNN based algorithm is used for brain-actuated control. The training data is used to design the system and then test data is applied to measure the performance of the control system. The control of the wheelchair is performed under real conditions using direction and speed control commands of the wheelchair. The approach used in the paper allows reducing the probability of misclassification and improving the control accuracy of the wheelchair.
Learning Control of Fixed-Wing Unmanned Aerial Vehicles Using Fuzzy Neural Networks
Directory of Open Access Journals (Sweden)
Erdal Kayacan
2017-01-01
Full Text Available A learning control strategy is preferred for the control and guidance of a fixed-wing unmanned aerial vehicle to deal with lack of modeling and flight uncertainties. For learning the plant model as well as changing working conditions online, a fuzzy neural network (FNN is used in parallel with a conventional P (proportional controller. Among the learning algorithms in the literature, a derivative-free one, sliding mode control (SMC theory-based learning algorithm, is preferred as it has been proved to be computationally efficient in real-time applications. Its proven robustness and finite time converging nature make the learning algorithm appropriate for controlling an unmanned aerial vehicle as the computational power is always limited in unmanned aerial vehicles (UAVs. The parameter update rules and stability conditions of the learning are derived, and the proof of the stability of the learning algorithm is shown by using a candidate Lyapunov function. Intensive simulations are performed to illustrate the applicability of the proposed controller which includes the tracking of a three-dimensional trajectory by the UAV subject to time-varying wind conditions. The simulation results show the efficiency of the proposed control algorithm, especially in real-time control systems because of its computational efficiency.
Zapateiro, M.; Luo, N.; Karimi, H. R.; Vehí, J.
2009-08-01
In this paper, we address the problem of designing the semiactive controller for a class of vehicle suspension system that employs a magnetorheological (MR) damper as the actuator. As the first step, an adequate model of the MR damper must be developed. Most of the models found in literature are based on the mechanical behavior of the device, with the Bingham and Bouc-Wen models being the most popular ones. These models can estimate the damping force of the device taking the control voltage and velocity inputs as variables. However, the inverse model, i.e., the model that computes the control variable (generally the voltage) is even more difficult to find due to the numerical complexity that implies the inverse of the nonlinear forward model. In our case, we develop a neural network being able to estimate the control voltage input to the MR damper, which is necessary for producing the optimal force predicted by the controller so as to reduce the vibrations. The controller is designed following the standard backstepping technique. The performance of the control system is evaluated by means of simulations in MATLAB/Simulink.
An adaptive recurrent-neural-network motion controller for X-Y table in CNC machine.
Lin, Faa-Jeng; Shieh, Hsin-Jang; Shieh, Po-Huang; Shen, Po-Hung
2006-04-01
In this paper, an adaptive recurrent-neural-network (ARNN) motion control system for a biaxial motion mechanism driven by two field-oriented control permanent magnet synchronous motors (PMSMs) in the computer numerical control (CNC) machine is proposed. In the proposed ARNN control system, a RNN with accurate approximation capability is employed to approximate an unknown dynamic function, and the adaptive learning algorithms that can learn the parameters of the RNN on line are derived using Lyapunov stability theorem. Moreover, a robust controller is proposed to confront the uncertainties including approximation error, optimal parameter vectors, higher-order terms in Taylor series, external disturbances, cross-coupled interference and friction torque of the system. To relax the requirement for the value of lumped uncertainty in the robust controller, an adaptive lumped uncertainty estimation law is investigated. Using the proposed control, the position tracking performance is substantially improved and the robustness to uncertainties including cross-coupled interference and friction torque can be obtained as well. Finally, some experimental results of the tracking of various reference contours demonstrate the validity of the proposed design for practical applications.
Learning by stimulation avoidance: A principle to control spiking neural networks dynamics.
Sinapayen, Lana; Masumori, Atsushi; Ikegami, Takashi
2017-01-01
Learning based on networks of real neurons, and learning based on biologically inspired models of neural networks, have yet to find general learning rules leading to widespread applications. In this paper, we argue for the existence of a principle allowing to steer the dynamics of a biologically inspired neural network. Using carefully timed external stimulation, the network can be driven towards a desired dynamical state. We term this principle "Learning by Stimulation Avoidance" (LSA). We demonstrate through simulation that the minimal sufficient conditions leading to LSA in artificial networks are also sufficient to reproduce learning results similar to those obtained in biological neurons by Shahaf and Marom, and in addition explains synaptic pruning. We examined the underlying mechanism by simulating a small network of 3 neurons, then scaled it up to a hundred neurons. We show that LSA has a higher explanatory power than existing hypotheses about the response of biological neural networks to external simulation, and can be used as a learning rule for an embodied application: learning of wall avoidance by a simulated robot. In other works, reinforcement learning with spiking networks can be obtained through global reward signals akin simulating the dopamine system; we believe that this is the first project demonstrating sensory-motor learning with random spiking networks through Hebbian learning relying on environmental conditions without a separate reward system.
Simply Coded Evolutionary Artificial Neural Networks on a Mobile Robot Control Problem
Katada, Yoshiaki; Hidaka, Takuya
One of the advantages of evolutionary robotics over other approaches in embodied cognitive science would be its parallel population search. Due to the population search, it takes a long time to evaluate all robot in a real environment. Thus, such techniques as to shorten the time are required for real robots to evolve in a real environment. This paper proposes to use simply coded evolutionary artificial neural networks for mobile robot control to make genetic search space as small as possible and investigates the performance of them using simulated and real robots. Two types of genetic algorithm (GA) are employed, one is the standard GA and the other is an extended GA, to achieve higher final fitnesses. The results suggest the benefits of the proposed method.
Neural networks and applications tutorial
Guyon, I.
1991-09-01
The importance of neural networks has grown dramatically during this decade. While only a few years ago they were primarily of academic interest, now dozens of companies and many universities are investigating the potential use of these systems and products are beginning to appear. The idea of building a machine whose architecture is inspired by that of the brain has roots which go far back in history. Nowadays, technological advances of computers and the availability of custom integrated circuits, permit simulations of hundreds or even thousands of neurons. In conjunction, the growing interest in learning machines, non-linear dynamics and parallel computation spurred renewed attention in artificial neural networks. Many tentative applications have been proposed, including decision systems (associative memories, classifiers, data compressors and optimizers), or parametric models for signal processing purposes (system identification, automatic control, noise canceling, etc.). While they do not always outperform standard methods, neural network approaches are already used in some real world applications for pattern recognition and signal processing tasks. The tutorial is divided into six lectures, that where presented at the Third Graduate Summer Course on Computational Physics (September 3-7, 1990) on Parallel Architectures and Applications, organized by the European Physical Society: (1) Introduction: machine learning and biological computation. (2) Adaptive artificial neurons (perceptron, ADALINE, sigmoid units, etc.): learning rules and implementations. (3) Neural network systems: architectures, learning algorithms. (4) Applications: pattern recognition, signal processing, etc. (5) Elements of learning theory: how to build networks which generalize. (6) A case study: a neural network for on-line recognition of handwritten alphanumeric characters.
Predictive Control of Hydronic Floor Heating Systems using Neural Networks and Genetic Algorithms
DEFF Research Database (Denmark)
Vinther, Kasper; Green, Torben; Østergaard, Søren
2017-01-01
. Additionally, weather disturbances such as solar heat gain can be anticipated and compensated for, while taking into account the slow dynamics of the floor. Together with a genetic algorithm, they provide a way to search for optimal future set-point sequences, when convexity and continuity in the solution......This paper presents the use a neural network and a micro genetic algorithm to optimize future set-points in existing hydronic floor heating systems for improved energy efficiency. The neural network can be trained to predict the impact of changes in set-points on future room temperatures...
Neural networks for triggering
Energy Technology Data Exchange (ETDEWEB)
Denby, B. (Fermi National Accelerator Lab., Batavia, IL (USA)); Campbell, M. (Michigan Univ., Ann Arbor, MI (USA)); Bedeschi, F. (Istituto Nazionale di Fisica Nucleare, Pisa (Italy)); Chriss, N.; Bowers, C. (Chicago Univ., IL (USA)); Nesti, F. (Scuola Normale Superiore, Pisa (Italy))
1990-01-01
Two types of neural network beauty trigger architectures, based on identification of electrons in jets and recognition of secondary vertices, have been simulated in the environment of the Fermilab CDF experiment. The efficiencies for B's and rejection of background obtained are encouraging. If hardware tests are successful, the electron identification architecture will be tested in the 1991 run of CDF. 10 refs., 5 figs., 1 tab.
Directory of Open Access Journals (Sweden)
Ya-li Zhou
2009-01-01
Full Text Available In practical active noise control (ANC systems, the primary path and the secondary path may be nonlinear and time-varying. It has been reported that the linear techniques used to control such ANC systems exhibit degradation in performance. In addition, the actuators of an ANC system very often have nonminimum-phase response. A linear controller under such situations yields poor performance. A novel functional link artificial neural network (FLANN-based simultaneous perturbation stochastic approximation (SPSA algorithm, which functions as a nonlinear mode-free (MF controller, is proposed in this paper. Computer simulations have been carried out to demonstrate that the proposed algorithm outperforms the standard filtered-x least mean square (FXLMS algorithm, and performs better than the recently proposed filtered-s least mean square (FSLMS algorithm when the secondary path is time-varying. This observation implies that the SPSA-based MF controller can eliminate the need of the modeling of the secondary path for the ANC system.
Mobile robot nonlinear feedback control based on Elman neural network observer
Directory of Open Access Journals (Sweden)
Khaled Al-Mutib
2015-12-01
Full Text Available This article presents a new approach to control a wheeled mobile robot without velocity measurement. The controller developed is based on kinematic model as well as dynamics model to take into account parameters of dynamics. These parameters related to dynamic equations are identified using a proposed methodology. Input–output feedback linearization is considered with a slight modification in the mathematical expressions to implement the dynamic controller and analyze the nonlinear internal behavior. The developed controllers require sensors to obtain the states needed for the closed-loop system. However, some states may not be available due to the absence of the sensors because of the cost, the weight limitation, reliability, induction of errors, failure, and so on. Particularly, for the velocity measurements, the required accuracy may not be achieved in practical applications due to the existence of significant errors induced by stochastic or cyclical noise. In this article, Elman neural network is proposed to work as an observer to estimate the velocity needed to complete the full state required for the closed-loop control and account for all the disturbances and model parameter uncertainties. Different simulations are carried out to demonstrate the feasibility of the approach in tracking different reference trajectories in comparison with other paradigms.
Vance, Jonathan Blake; Singh, Atmika; Kaul, Brian C; Jagannathan, Sarangapani; Drallmeier, James A
2007-07-01
Past research has shown substantial reductions in the oxides of nitrogen (NOx) concentrations by using 10%-25% exhaust gas recirculation (EGR) in spark ignition (SI) engines (see Dudek and Sain, 1989). However, under high EGR levels, the engine exhibits strong cyclic dispersion in heat release which may lead to instability and unsatisfactory performance preventing commercial engines to operate with high EGR levels. A neural network (NN)-based output feedback controller is developed to reduce cyclic variation in the heat release under high levels of EGR even when the engine dynamics are unknown by using fuel as the control input. A separate control loop was designed for controlling EGR levels. The stability analysis of the closed-loop system is given and the boundedness of the control input is demonstrated by relaxing separation principle, persistency of excitation condition, certainty equivalence principle, and linear in the unknown parameter assumptions. Online training is used for the adaptive NN and no offline training phase is needed. This online learning feature and model-free approach is used to demonstrate the applicability of the controller on a different engine with minimal effort. Simulation results demonstrate that the cyclic dispersion is reduced significantly using the proposed controller when implemented on an engine model that has been validated experimentally. For a single cylinder research engine fitted with a modern four-valve head (Ricardo engine), experimental results at 15% EGR indicate that cyclic dispersion was reduced 33% by the controller, an improvement of fuel efficiency by 2%, and a 90% drop in NOx from stoichiometric operation without EGR was observed. Moreover, unburned hydrocarbons (uHC) drop by 6% due to NN control as compared to the uncontrolled scenario due to the drop in cyclic dispersion. Similar performance was observed with the controller on a different engine.
Hu, Dawei; Liu, Hong; Yang, Chenliang; Hu, Enzhu
As a subsystem of the bioregenerative life support system (BLSS), light-algae bioreactor (LABR) has properties of high reaction rate, efficiently synthesizing microalgal biomass, absorbing CO2 and releasing O2, so it is significant for BLSS to provide food and maintain gas balance. In order to manipulate the LABR properly, it has been designed as a closed-loop control system, and technology of Artificial Neural Network-Model Predictive Control (ANN-MPC) is applied to design the controller for LABR in which green microalgae, Spirulina platensis is cultivated continuously. The conclusion is drawn by computer simulation that ANN-MPC controller can intelligently learn the complicated dynamic performances of LABR, and automatically, robustly and self-adaptively regulate the light intensity illuminating on the LABR, hence make the growth of microalgae in the LABR be changed in line with the references, meanwhile provide appropriate damping to improve markedly the transient response performance of LABR.
Directory of Open Access Journals (Sweden)
T. Botmart
2013-01-01
Full Text Available The problem of guaranteed cost control for exponential synchronization of cellular neural networks with interval nondifferentiable and distributed time-varying delays via hybrid feedback control is considered. The interval time-varying delay function is not necessary to be differentiable. Based on the construction of improved Lyapunov-Krasovskii functionals is combined with Leibniz-Newton's formula and the technique of dealing with some integral terms. New delay-dependent sufficient conditions for the exponential synchronization of the error systems with memoryless hybrid feedback control are first established in terms of LMIs without introducing any free-weighting matrices. The optimal guaranteed cost control with linear error hybrid feedback is turned into the solvable problem of a set of LMIs. A numerical example is also given to illustrate the effectiveness of the proposed method.
Liu, Xiaosong; Shan, Zebiao; Li, Yuanchun
2017-04-01
Pinpoint landing is a critical step in some asteroid exploring missions. This paper is concerned with the descent trajectory control for soft touching down on a small irregularly-shaped asteroid. A dynamic boundary layer based neural network quasi-sliding mode control law is proposed to track a desired descending path. The asteroid's gravitational acceleration acting on the spacecraft is described by the polyhedron method. Considering the presence of input constraint and unmodeled acceleration, the dynamic equation of relative motion is presented first. The desired descending path is planned using cubic polynomial method, and a collision detection algorithm is designed. To perform trajectory tracking, a neural network sliding mode control law is given first, where the sliding mode control is used to ensure the convergence of system states. Two radial basis function neural networks (RBFNNs) are respectively used as an approximator for the unmodeled term and a compensator for the difference between the actual control input with magnitude constraint and nominal control. To improve the chattering induced by the traditional sliding mode control and guarantee the reachability of the system, a specific saturation function with dynamic boundary layer is proposed to replace the sign function in the preceding control law. Through the Lyapunov approach, the reachability condition of the control system is given. The improved control law can guarantee the system state move within a gradually shrinking quasi-sliding mode band. Numerical simulation results demonstrate the effectiveness of the proposed control strategy.
DEFF Research Database (Denmark)
Schiøler, Henrik
til Del 1, idet de to rapporter kan opfattes som en enhed. Herefter introduceres de grundlæggende begreber inden for prediktion, samt for mål og integralteorien. Det beskrives, hvorledes neurale net kan fungere som ulinære prediktionsmodeller og den nødvendige teori for Multi Lags Perceptronen (MLP......) samt alternative strukturer baseret på Parzen Window estimationsmetoden, præsenteres med detaljerne af analysen henlagt til appendices. Herefter demonstreres ved en simpel test, hvorledes de forskellige nettyper fungerer i prediktionsanvendelser. Herefter er neurale net anvendt til simulering behandlet...... på tilsvarende måde, dog i en lidt forkortet udgave. Til sidst behandles, hvorledes de behandlede nettyper anvendes i en regulatorstruktur baseret på såkaldte Sliding mode control. Teorien for de neurale net er her den samme som for simulering. Det konkluderes at de alternative strukturer, baseret på...
Alexander Trunov
2015-01-01
The problem of analytical learning of artificial neural network (ANN) is consider. Solutions in the analytic form for synaptic weight coefficients (SWC) as recurrent sequence are obtained. Convergence of recurrent approximation for two scheme of approach by a linear and quadratic curve are proved and discussed
Control system of hexacopter using color histogram footprint and convolutional neural network
Ruliputra, R. N.; Darma, S.
2017-07-01
The development of unmanned aerial vehicles (UAV) has been growing rapidly in recent years. The use of logic thinking which is implemented into the program algorithms is needed to make a smart system. By using visual input from a camera, UAV is able to fly autonomously by detecting a target. However, some weaknesses arose as usage in the outdoor environment might change the target's color intensity. Color histogram footprint overcomes the problem because it divides color intensity into separate bins that make the detection tolerant to the slight change of color intensity. Template matching compare its detection result with a template of the reference image to determine the target position and use it to position the vehicle in the middle of the target with visual feedback control based on Proportional-Integral-Derivative (PID) controller. Color histogram footprint method localizes the target by calculating the back projection of its histogram. It has an average success rate of 77 % from a distance of 1 meter. It can position itself in the middle of the target by using visual feedback control with an average positioning time of 73 seconds. After the hexacopter is in the middle of the target, Convolutional Neural Networks (CNN) classifies a number contained in the target image to determine a task depending on the classified number, either landing, yawing, or return to launch. The recognition result shows an optimum success rate of 99.2 %.
Neural network-based motion control of an underactuated wheeled inverted pendulum model.
Yang, Chenguang; Li, Zhijun; Cui, Rongxin; Xu, Bugong
2014-11-01
In this paper, automatic motion control is investigated for one of wheeled inverted pendulum (WIP) models, which have been widely applied for modeling of a large range of two wheeled modern vehicles. First, the underactuated WIP model is decomposed into a fully actuated second order subsystem Σa consisting of planar movement of vehicle forward and yaw angular motions, and a nonactuated first order subsystem Σb of pendulum motion. Due to the unknown dynamics of subsystem Σa and the universal approximation ability of neural network (NN), an adaptive NN scheme has been employed for motion control of subsystem Σa . The model reference approach has been used whereas the reference model is optimized by the finite time linear quadratic regulation technique. The pendulum motion in the passive subsystem Σb is indirectly controlled using the dynamic coupling with planar forward motion of subsystem Σa , such that satisfactory tracking of a set pendulum tilt angle can be guaranteed. Rigours theoretic analysis has been established, and simulation studies have been performed to demonstrate the developed method.
RBFNDOB-based neural network inverse control for non-minimum phase MIMO system with disturbances.
Li, Juan; Li, Shihua; Chen, Xisong; Yang, Jun
2014-07-01
An adaptive control strategy combining neural network inverse controller (NNIC) with RBFN disturbance observer (RBFNDOB) is developed for a multi-input-multi-output (MIMO) system with non-minimum phase, internal and external disturbances in this paper. Since the inverse model of system is unstable due to the non-minimum phase, a pseudo-plant is constructed, then the RBFN is used to identify the inverse model of pseudo-plant, which can track the parameter variations of system. By copying the structure and parameters of the identifier, the NNIC is obtained. Cascading the NNIC with the original plant, the MIMO system can be decoupled and linearized into independent SISO systems. For the independent decoupled system, the RBFNDOB employs a RBFN to observe the external disturbances and this estimate value is used as a feed-forward compensation term in controller. The case study on ball mill grinding circuit is presented. The effectiveness of the proposed method is demonstrated by simulation results and comparisons. Copyright © 2014 ISA. Published by Elsevier Ltd. All rights reserved.
Sensorless Speed/Torque Control of DC Machine Using Artificial Neural Network Technique
Directory of Open Access Journals (Sweden)
Rakan Kh. Antar
2017-12-01
Full Text Available In this paper, Artificial Neural Network (ANN technique is implemented to improve speed and torque control of a separately excited DC machine drive. The speed and torque sensorless scheme based on ANN is estimated adaptively. The proposed controller is designed to estimate rotor speed and mechanical load torque as a Model Reference Adaptive System (MRAS method for DC machine. The DC drive system consists of four quadrant DC/DC chopper with MOSFET transistors, ANN, logic gates and routing circuits. The DC drive circuit is designed, evaluated and modeled by Matlab/Simulink in the forward and reverse operation modes as a motor and generator, respectively. The DC drive system is simulated at different speed values (±1200 rpm and mechanical torque (±7 N.m in steady state and dynamic conditions. The simulation results illustratethe effectiveness of the proposed controller without speed or torque sensors.
Energy Technology Data Exchange (ETDEWEB)
Mejia S, D.M. [IPN, ESFM, Depto. de Ingenieria Nuclear, 07738 Mexico D.F. (Mexico); Ortiz S, J.J. [ININ, 52045 Ocoyoacac, Estado de Mexico (Mexico)]. e-mail: dulcema6715@hotmail.com
2005-07-01
In this work the RENOPBC system that is based on a recurrent multi state neural network, for the optimization of patterns of control bars in a cycle of balance of a boiling water reactor (BWR for their initials in English) is presented. The design of patterns of bars is based on the execution of operation thermal limits, to maintain criticizes the reactor and that the axial profile of power is adjusted to one predetermined along several steps of burnt. The patterns of control bars proposed by the system are comparable to those proposed by human experts with many hour-man of experience. These results are compared with those proposed by other techniques as genetic algorithms, colonies of ants and tabu search for the same operation cycle. As consequence it is appreciated that the proposed patterns of control bars, have bigger operation easiness that those proposed by the other techniques. (Author)
Directory of Open Access Journals (Sweden)
Mario Collotta
2014-07-01
Full Text Available Heating, ventilating and air-conditioning (HVAC systems are typical non-linear time-variable multivariate systems with disturbances and uncertainties. In this paper, an approach based on a combined neuro-fuzzy model for dynamic and automatic regulation of indoor temperature is proposed. The proposed artificial neural network performs indoor temperatures forecasts that are used to feed a fuzzy logic control unit in order to manage the on/off switching of the HVAC system and the regulation of the inlet air speed. Moreover, the used neural network is optimized by the analytical calculation of the embedding parameters, and the goodness of this approach is tested through MATLAB. The fuzzy controller is driven by the indoor temperature forecasted by the neural network module and is able to adjust the membership functions dynamically, since thermal comfort is a very subjective factor and may vary even in the same subject. The paper shows some experimental results, through a real implementation in an embedded prototyping board, of the proposed approach in terms of the evolution of the inlet air speed injected by the fan coils, the indoor air temperature forecasted by the neural network model and the adjusting of the membership functions after receiving user feedback.
Luo, Shaohua; Wu, Songli; Gao, Ruizhen
2015-07-01
This paper investigates chaos control for the brushless DC motor (BLDCM) system by adaptive dynamic surface approach based on neural network with the minimum weights. The BLDCM system contains parameter perturbation, chaotic behavior, and uncertainty. With the help of radial basis function (RBF) neural network to approximate the unknown nonlinear functions, the adaptive law is established to overcome uncertainty of the control gain. By introducing the RBF neural network and adaptive technology into the dynamic surface control design, a robust chaos control scheme is developed. It is proved that the proposed control approach can guarantee that all signals in the closed-loop system are globally uniformly bounded, and the tracking error converges to a small neighborhood of the origin. Simulation results are provided to show that the proposed approach works well in suppressing chaos and parameter perturbation.
Energy Technology Data Exchange (ETDEWEB)
Luo, Shaohua [School of Automation, Chongqing University, Chongqing 400044 (China); Department of Mechanical Engineering, Chongqing Aerospace Polytechnic, Chongqing, 400021 (China); Wu, Songli [Department of Mechanical Engineering, Chongqing Aerospace Polytechnic, Chongqing, 400021 (China); Gao, Ruizhen [School of Automation, Chongqing University, Chongqing 400044 (China)
2015-07-15
This paper investigates chaos control for the brushless DC motor (BLDCM) system by adaptive dynamic surface approach based on neural network with the minimum weights. The BLDCM system contains parameter perturbation, chaotic behavior, and uncertainty. With the help of radial basis function (RBF) neural network to approximate the unknown nonlinear functions, the adaptive law is established to overcome uncertainty of the control gain. By introducing the RBF neural network and adaptive technology into the dynamic surface control design, a robust chaos control scheme is developed. It is proved that the proposed control approach can guarantee that all signals in the closed-loop system are globally uniformly bounded, and the tracking error converges to a small neighborhood of the origin. Simulation results are provided to show that the proposed approach works well in suppressing chaos and parameter perturbation.
İstif, İlyas
2005-11-01
This paper studies a servo-valve controlled hydraulic cylinder system which is mostly used in industrial applications such as robotics, computer numerical control (CNC) machines and transportations. The system model consists of combination of two models: The first model involves nonlinear flow equations of the servo-valve, which are widely available in the literature. The second model employed in the system is a tailored asymmetric cylinder model. A fourth order nonlinear system model is then obtained by combining these two models. Two different neural network control algorithms are applied to the system. The first algorithm is "Neural Network Predictive Control (NNPC)," which employs identified neural network model to predict the future output of the system. The second algorithm is "Nonlinear Autoregressive Moving Average (NARMA-L2)" control, which transforms nonlinear system dynamics into linear system dynamics by eliminating the nonlinearities. On the simulation, NNPC and NARMA-L2 control are applied to the system model by using Matlab's Simulik simulation package and position control of the system is realized. A discussion regarding the advantages and disadvantages of the two control algorithms are also provided in the paper.
International Conference on Artificial Neural Networks (ICANN)
Mladenov, Valeri; Kasabov, Nikola; Artificial Neural Networks : Methods and Applications in Bio-/Neuroinformatics
2015-01-01
The book reports on the latest theories on artificial neural networks, with a special emphasis on bio-neuroinformatics methods. It includes twenty-three papers selected from among the best contributions on bio-neuroinformatics-related issues, which were presented at the International Conference on Artificial Neural Networks, held in Sofia, Bulgaria, on September 10-13, 2013 (ICANN 2013). The book covers a broad range of topics concerning the theory and applications of artificial neural networks, including recurrent neural networks, super-Turing computation and reservoir computing, double-layer vector perceptrons, nonnegative matrix factorization, bio-inspired models of cell communities, Gestalt laws, embodied theory of language understanding, saccadic gaze shifts and memory formation, and new training algorithms for Deep Boltzmann Machines, as well as dynamic neural networks and kernel machines. It also reports on new approaches to reinforcement learning, optimal control of discrete time-delay systems, new al...
Zhou, Miaolei; Wang, Yifan; Xu, Rui; Zhang, Qi; Zhu, Dong
2017-06-16
Hysteresis exists in magnetic shape memory alloy (MSMA) actuators, which restricts MSMA actuators' application. To describe hysteresis of the MSMA actuators, a hysteresis model based on the radial basis function neural network (RBFNN) is put forward. Then, an inverse RBFNN model is set up, and it is compared with the inverse model based on the traditional cut-and-try method. Finally, to solve hysteresis of the actuators, an inverse model for MSMA actuators is used to build feed-forward controller. Simulation results show the maximum modeling error for inverse hysteresis model designed by neural network is 0.79% and compared with traditional cut-and-try method, the maximum modeling error decreases by 1.85%. The maximum tracking error rate of feed-forward control is 0.38%. The hysteresis of MSMA actuators is reduced. By using the feed-forward controller, high precision control is achieved.
Directory of Open Access Journals (Sweden)
Shaohua Luo
2014-01-01
Full Text Available This paper is concerned with the problem of the nonlinear dynamic surface control (DSC of chaos based on the minimum weights of RBF neural network for the permanent magnet synchronous motor system (PMSM wherein the unknown parameters, disturbances, and chaos are presented. RBF neural network is used to approximate the nonlinearities and an adaptive law is employed to estimate unknown parameters. Then, a simple and effective controller is designed by introducing dynamic surface control technique on the basis of first-order filters. Asymptotically tracking stability in the sense of uniformly ultimate boundedness is achieved in a short time. Finally, the performance of the proposed controller is testified through simulation results.
Directory of Open Access Journals (Sweden)
Hui Li
2014-04-01
Full Text Available Three-motor synchronous coordination system is a MI-MO nonlinear and complex control system. And it often works in poor working condition. Advanced control strategies are required to improve the control performance of the system and to achieve the decoupling between main motor speed and tension. Cerebellar Model Articulation Controller coupled with Active Disturbance Rejection Control (CMAC-ADRC control strategy is proposed. The speed of the main motor and tensions between two motors is decoupled by extended state observer (ESO in ADRC. ESO in ADRC is used to compensate internal and external disturbances of the system online. And the anti interference of the system is improved by ESO. And the same time the control model is optimized. Feedforward control is implemented by the adoption of CMAC neural network controller. And control precision of the system is improved in reason of CMAC. The overshoot of the system can be reduced without affecting the dynamic response of the system by the use of CMAC-ADRC. The simulation results show that: the CMAC- ADRC control strategy is better than the traditional PID control strategy. And CMAC-ADRC control strategy can achieve the decoupling between speed and tension. The control system using CMAC-ADRC have strong anti-interference ability and small regulate time and small overshoot. The magnitude of the system response incited by the interference using CMAC-ADRC is smaller than the system using conventional PID control 6.43 %. And the recovery time of the system with CMAC-ADRC is shorter than the system with traditional PID control 0.18 seconds. And the triangular wave tracking error of the system with CMAC-ADRC is smaller than the system with conventional PID control 0.24 rad/min. Thus the CMAC-ADRC control strategy is a good control strategy and is able to fit three-motor synchronous coordinated control.
[Artificial neural networks in Neurosciences].
Porras Chavarino, Carmen; Salinas Martínez de Lecea, José María
2011-11-01
This article shows that artificial neural networks are used for confirming the relationships between physiological and cognitive changes. Specifically, we explore the influence of a decrease of neurotransmitters on the behaviour of old people in recognition tasks. This artificial neural network recognizes learned patterns. When we change the threshold of activation in some units, the artificial neural network simulates the experimental results of old people in recognition tasks. However, the main contributions of this paper are the design of an artificial neural network and its operation inspired by the nervous system and the way the inputs are coded and the process of orthogonalization of patterns.
Program Aids Simulation Of Neural Networks
Baffes, Paul T.
1990-01-01
Computer program NETS - Tool for Development and Evaluation of Neural Networks - provides simulation of neural-network algorithms plus software environment for development of such algorithms. Enables user to customize patterns of connections between layers of network, and provides features for saving weight values of network, providing for more precise control over learning process. Consists of translating problem into format using input/output pairs, designing network configuration for problem, and finally training network with input/output pairs until acceptable error reached. Written in C.
Directory of Open Access Journals (Sweden)
C.H. Lin
2013-04-01
Full Text Available In this paper the two novel recurrent wavelet neural network (RWNN controllers are proposed for controlling output direct current (DC voltage of the rectifier and output alternate current (AC voltage of the inverter. The output power of the rectifier and the inverter is provided by three-phase permanent magnet synchronous generator (PMSG system directly-driven by permanent magnet synchronous motor (PMSM. Firstly, the field-oriented mechanism is implemented for controlling output of the PMSG system. Then, one RWNN controller is developed for controlling rectifier to convert AC voltage into DC link voltage and the other RWNN controller is implemented for controlling inverter to convert DC link voltage into AC line voltage. Moreover, two online trained RWNNs using backpropagation learning algorithms are developed for regulating both the DC link voltage of the rectifier and the AC line voltage of the inverter. Finally, the effectiveness and advantages of the proposed two RWNN controllers are demonstrated in comparison with the two PI controllers from some experimental results.
Wang, Dandan; Zong, Qun; Tian, Bailing; Shao, Shikai; Zhang, Xiuyun; Zhao, Xinyi
2018-01-05
The distributed finite-time formation tracking control problem for multiple unmanned helicopters is investigated in this paper. The control object is to maintain the positions of follower helicopters in formation with external interferences. The helicopter model is divided into a second order outer-loop subsystem and a second order inner-loop subsystem based on multiple-time scale features. Using radial basis function neural network (RBFNN) technique, we first propose a novel finite-time multivariable neural network disturbance observer (FMNNDO) to estimate the external disturbance and model uncertainty, where the neural network (NN) approximation errors can be dynamically compensated by adaptive law. Next, based on FMNNDO, a distributed finite-time formation tracking controller and a finite-time attitude tracking controller are designed using the nonsingular fast terminal sliding mode (NFTSM) method. In order to estimate the second derivative of the virtual desired attitude signal, a novel finite-time sliding mode integral filter is designed. Finally, Lyapunov analysis and multiple-time scale principle ensure the realization of control goal in finite-time. The effectiveness of the proposed FMNNDO and controllers are then verified by numerical simulations. Copyright © 2017 ISA. Published by Elsevier Ltd. All rights reserved.
Neural network based control of an absorption column in the process of bioethanol production
Directory of Open Access Journals (Sweden)
Eduardo Eyng
2009-08-01
Full Text Available Gaseous ethanol may be recovered from the effluent gas mixture of the sugar cane fermentation process using a staged absorption column. In the present work, the development of a nonlinear controller, based on a neural network inverse model (ANN controller, was proposed and tested to manipulate the absorbent flow rate in order to control the residual ethanol concentration in the effluent gas phase. Simulation studies were carried out, in which a noise was applied to the ethanol concentration signals from the rigorous model. The ANN controller outperformed the dynamic matrix control (DMC when step disturbances were imposed to the gas mixture composition. A security device, based on a conventional feedback algorithm, and a digital filter were added to the proposed strategy to improve the system robustness when unforeseen operating and environmental conditions occured. The results demonstrated that ANN controller was a robust and reliable tool to control the absorption column.Deseja-se recuperar o etanol perdido por evaporação durante o processo de fermentação da cana-de-açúcar. Para tanto, faz-se uso de uma coluna de absorção. O controle da concentração de etanol no efluente gasoso da coluna é realizado pela manipulação da vazão de solvente, sendo esta determinada pelo controlador não linear proposto, baseado em um modelo inverso de redes neurais (controlador ANN. Foram feitas simulações adicionando-se um sinal de ruído a medida de concentração de etanol na fase gasosa. Quando perturbações degrau foram inseridas na mistura gasosa afluente, o controlador ANN demonstrou desempenho superior ao controle por matriz dinâmica (DMC. Um dispositivo de segurança, baseado em um controlador feedback convencional, e um filtro digital foram implementados à estratégia de controle proposta para agregar robustez no tratamento de distúrbios ocorridos no ambiente operacional. Os resultados demonstraram que o controlador ANN é uma
Qiao, Wei
Worldwide concern about the environmental problems and a possible energy crisis has led to increasing interest in clean and renewable energy generation. Among various renewable energy sources, wind power is the most rapidly growing one. Therefore, how to provide efficient, reliable, and high-performance wind power generation and distribution has become an important and practical issue in the power industry. In addition, because of the new constraints placed by the environmental and economical factors, the trend of power system planning and operation is toward maximum utilization of the existing infrastructure with tight system operating and stability margins. This trend, together with the increased penetration of renewable energy sources, will bring new challenges to power system operation, control, stability and reliability which require innovative solutions. Flexible ac transmission system (FACTS) devices, through their fast, flexible, and effective control capability, provide one possible solution to these challenges. To fully utilize the capability of individual power system components, e.g., wind turbine generators (WTGs) and FACTS devices, their control systems must be suitably designed with high reliability. Moreover, in order to optimize local as well as system-wide performance and stability of the power system, real-time local and wide-area coordinated control is becoming an important issue. Power systems containing conventional synchronous generators, WTGs, and FACTS devices are large-scale, nonlinear, nonstationary, stochastic and complex systems distributed over large geographic areas. Traditional mathematical tools and system control techniques have limitations to control such complex systems to achieve an optimal performance. Intelligent and bio-inspired techniques, such as swarm intelligence, neural networks, and adaptive critic designs, are emerging as promising alternative technologies for power system control and performance optimization. This
Neural Network-Based Self-Tuning PID Control for Underwater Vehicles.
Hernández-Alvarado, Rodrigo; García-Valdovinos, Luis Govinda; Salgado-Jiménez, Tomás; Gómez-Espinosa, Alfonso; Fonseca-Navarro, Fernando
2016-09-05
For decades, PID (Proportional + Integral + Derivative)-like controllers have been successfully used in academia and industry for many kinds of plants. This is thanks to its simplicity and suitable performance in linear or linearized plants, and under certain conditions, in nonlinear ones. A number of PID controller gains tuning approaches have been proposed in the literature in the last decades; most of them off-line techniques. However, in those cases wherein plants are subject to continuous parametric changes or external disturbances, online gains tuning is a desirable choice. This is the case of modular underwater ROVs (Remotely Operated Vehicles) where parameters (weight, buoyancy, added mass, among others) change according to the tool it is fitted with. In practice, some amount of time is dedicated to tune the PID gains of a ROV. Once the best set of gains has been achieved the ROV is ready to work. However, when the vehicle changes its tool or it is subject to ocean currents, its performance deteriorates since the fixed set of gains is no longer valid for the new conditions. Thus, an online PID gains tuning algorithm should be implemented to overcome this problem. In this paper, an auto-tune PID-like controller based on Neural Networks (NN) is proposed. The NN plays the role of automatically estimating the suitable set of PID gains that achieves stability of the system. The NN adjusts online the controller gains that attain the smaller position tracking error. Simulation results are given considering an underactuated 6 DOF (degrees of freedom) underwater ROV. Real time experiments on an underactuated mini ROV are conducted to show the effectiveness of the proposed scheme.
Neural Network-Based Self-Tuning PID Control for Underwater Vehicles
Hernández-Alvarado, Rodrigo; García-Valdovinos, Luis Govinda; Salgado-Jiménez, Tomás; Gómez-Espinosa, Alfonso; Fonseca-Navarro, Fernando
2016-01-01
For decades, PID (Proportional + Integral + Derivative)-like controllers have been successfully used in academia and industry for many kinds of plants. This is thanks to its simplicity and suitable performance in linear or linearized plants, and under certain conditions, in nonlinear ones. A number of PID controller gains tuning approaches have been proposed in the literature in the last decades; most of them off-line techniques. However, in those cases wherein plants are subject to continuous parametric changes or external disturbances, online gains tuning is a desirable choice. This is the case of modular underwater ROVs (Remotely Operated Vehicles) where parameters (weight, buoyancy, added mass, among others) change according to the tool it is fitted with. In practice, some amount of time is dedicated to tune the PID gains of a ROV. Once the best set of gains has been achieved the ROV is ready to work. However, when the vehicle changes its tool or it is subject to ocean currents, its performance deteriorates since the fixed set of gains is no longer valid for the new conditions. Thus, an online PID gains tuning algorithm should be implemented to overcome this problem. In this paper, an auto-tune PID-like controller based on Neural Networks (NN) is proposed. The NN plays the role of automatically estimating the suitable set of PID gains that achieves stability of the system. The NN adjusts online the controller gains that attain the smaller position tracking error. Simulation results are given considering an underactuated 6 DOF (degrees of freedom) underwater ROV. Real time experiments on an underactuated mini ROV are conducted to show the effectiveness of the proposed scheme. PMID:27608018
Neural Network-Based Self-Tuning PID Control for Underwater Vehicles
Directory of Open Access Journals (Sweden)
Rodrigo Hernández-Alvarado
2016-09-01
Full Text Available For decades, PID (Proportional + Integral + Derivative-like controllers have been successfully used in academia and industry for many kinds of plants. This is thanks to its simplicity and suitable performance in linear or linearized plants, and under certain conditions, in nonlinear ones. A number of PID controller gains tuning approaches have been proposed in the literature in the last decades; most of them off-line techniques. However, in those cases wherein plants are subject to continuous parametric changes or external disturbances, online gains tuning is a desirable choice. This is the case of modular underwater ROVs (Remotely Operated Vehicles where parameters (weight, buoyancy, added mass, among others change according to the tool it is fitted with. In practice, some amount of time is dedicated to tune the PID gains of a ROV. Once the best set of gains has been achieved the ROV is ready to work. However, when the vehicle changes its tool or it is subject to ocean currents, its performance deteriorates since the fixed set of gains is no longer valid for the new conditions. Thus, an online PID gains tuning algorithm should be implemented to overcome this problem. In this paper, an auto-tune PID-like controller based on Neural Networks (NN is proposed. The NN plays the role of automatically estimating the suitable set of PID gains that achieves stability of the system. The NN adjusts online the controller gains that attain the smaller position tracking error. Simulation results are given considering an underactuated 6 DOF (degrees of freedom underwater ROV. Real time experiments on an underactuated mini ROV are conducted to show the effectiveness of the proposed scheme.
Heiden, Uwe
1980-01-01
The purpose of this work is a unified and general treatment of activity in neural networks from a mathematical pOint of view. Possible applications of the theory presented are indica ted throughout the text. However, they are not explored in de tail for two reasons : first, the universal character of n- ral activity in nearly all animals requires some type of a general approach~ secondly, the mathematical perspicuity would suffer if too many experimental details and empirical peculiarities were interspersed among the mathematical investigation. A guide to many applications is supplied by the references concerning a variety of specific issues. Of course the theory does not aim at covering all individual problems. Moreover there are other approaches to neural network theory (see e.g. Poggio-Torre, 1978) based on the different lev els at which the nervous system may be viewed. The theory is a deterministic one reflecting the average be havior of neurons or neuron pools. In this respect the essay is writt...
Tavakoli, M. M.; Assadian, N.
2018-03-01
The problem of controlling an all-thruster spacecraft in the coupled translational-rotational motion in presence of actuators fault and/or failure is investigated in this paper. The nonlinear model predictive control approach is used because of its ability to predict the future behavior of the system. The fault/failure of the thrusters changes the mapping between the commanded forces to the thrusters and actual force/torque generated by the thruster system. Thus, the basic six degree-of-freedom kinetic equations are separated from this mapping and a set of neural networks are trained off-line to learn the kinetic equations. Then, two neural networks are attached to these trained networks in order to learn the thruster commands to force/torque mappings on-line. Different off-nominal conditions are modeled so that neural networks can detect any failure and fault, including scale factor and misalignment of thrusters. A simple model of the spacecraft relative motion is used in MPC to decrease the computational burden. However, a precise model by the means of orbit propagation including different types of perturbation is utilized to evaluate the usefulness of the proposed approach in actual conditions. The numerical simulation shows that this method can successfully control the all-thruster spacecraft with ON-OFF thrusters in different combinations of thruster fault and/or failure.
Zhai, Xiaolong; Jelfs, Beth; Chan, Rosa H M; Tin, Chung
2017-01-01
Hand movement classification based on surface electromyography (sEMG) pattern recognition is a promising approach for upper limb neuroprosthetic control. However, maintaining day-to-day performance is challenged by the non-stationary nature of sEMG in real-life operation. In this study, we propose a self-recalibrating classifier that can be automatically updated to maintain a stable performance over time without the need for user retraining. Our classifier is based on convolutional neural network (CNN) using short latency dimension-reduced sEMG spectrograms as inputs. The pretrained classifier is recalibrated routinely using a corrected version of the prediction results from recent testing sessions. Our proposed system was evaluated with the NinaPro database comprising of hand movement data of 40 intact and 11 amputee subjects. Our system was able to achieve ~10.18% (intact, 50 movement types) and ~2.99% (amputee, 10 movement types) increase in classification accuracy averaged over five testing sessions with respect to the unrecalibrated classifier. When compared with a support vector machine (SVM) classifier, our CNN-based system consistently showed higher absolute performance and larger improvement as well as more efficient training. These results suggest that the proposed system can be a useful tool to facilitate long-term adoption of prosthetics for amputees in real-life applications.
Directory of Open Access Journals (Sweden)
Xiaolong Zhai
2017-07-01
Full Text Available Hand movement classification based on surface electromyography (sEMG pattern recognition is a promising approach for upper limb neuroprosthetic control. However, maintaining day-to-day performance is challenged by the non-stationary nature of sEMG in real-life operation. In this study, we propose a self-recalibrating classifier that can be automatically updated to maintain a stable performance over time without the need for user retraining. Our classifier is based on convolutional neural network (CNN using short latency dimension-reduced sEMG spectrograms as inputs. The pretrained classifier is recalibrated routinely using a corrected version of the prediction results from recent testing sessions. Our proposed system was evaluated with the NinaPro database comprising of hand movement data of 40 intact and 11 amputee subjects. Our system was able to achieve ~10.18% (intact, 50 movement types and ~2.99% (amputee, 10 movement types increase in classification accuracy averaged over five testing sessions with respect to the unrecalibrated classifier. When compared with a support vector machine (SVM classifier, our CNN-based system consistently showed higher absolute performance and larger improvement as well as more efficient training. These results suggest that the proposed system can be a useful tool to facilitate long-term adoption of prosthetics for amputees in real-life applications.
Intelligent Control for USV Based on Improved Elman Neural Network with TSK Fuzzy
Directory of Open Access Journals (Sweden)
Shang-Jen Chuang
2014-01-01
Full Text Available In recent years, based on the rising of global personal safety demand and human resource cost considerations, development of unmanned vehicles to replace manpower requirement to perform high-risk operations is increasing. In order to acquire useful resources under the marine environment, a large boat as an unmanned surface vehicle (USV was implemented. The USV is equipped with automatic navigation features and a complete substitute artificial manipulation. This USV system for exploring the marine environment has more carrying capacity and that measurement system can also be self-designed through a modular approach in accordance with the needs for various types of environmental conditions. The investigation work becomes more flexible. A catamaran hull is adopted as automatic navigation test with CompactRIO embedded system. Through GPS and direction sensor we not only can know the current location of the boat, but also can calculate the distance with a predetermined position and the angle difference immediately. In this paper, the design of automatic navigation is calculated in accordance with improved Elman neural network (ENN algorithms. Takagi-Sugeno-Kang (TSK fuzzy and improved ENN control are applied to adjust required power and steering, which allows the hull to move straight forward to a predetermined target position. The route will be free from outside influence and realize automatic navigation purpose.
A study on neural network representation of reactor power control procedures 2
Energy Technology Data Exchange (ETDEWEB)
Moon, Byung Soo; Park, Jea Chang; Kim, Young Taek; Lee, Hee Cho; Yang, Sung Uoon; Hwang, Hee Sun; Hwang, In Ah
1998-12-01
The major results of this study are as follows; the first is the algorithm developed through this study for computing the spline interpolation coefficients without solving the matrix equation involved. This is expected to be used in various numerical analysis problems. If this algorithm can be extended to functions of two independent variables in the future, then it could be a big help for the finite element method used in solving various boundary value problems. The second is the method developed to reduce systematically the number of output fuzzy sets for fuzzy systems representing functions of two variables. this may be considered as an indication that the neural network representation of functions has advantages over other conventional methods. The third result is an artificial neural network system developed for automating the manual procedures being used to change the reactor power level by adding boric acid or water to the reactor coolant. This along with the neural networks developed earlier can be used in nuclear power plants as an operator aid after a verification process. (author). 8 refs., 13 tabs., 5 figs.
Sharma, Richa; Kumar, Vikas; Gaur, Prerna; Mittal, A P
2016-05-01
Being complex, non-linear and coupled system, the robotic manipulator cannot be effectively controlled using classical proportional-integral-derivative (PID) controller. To enhance the effectiveness of the conventional PID controller for the nonlinear and uncertain systems, gains of the PID controller should be conservatively tuned and should adapt to the process parameter variations. In this work, a mix locally recurrent neural network (MLRNN) architecture is investigated to mimic a conventional PID controller which consists of at most three hidden nodes which act as proportional, integral and derivative node. The gains of the mix locally recurrent neural network based PID (MLRNNPID) controller scheme are initialized with a newly developed cuckoo search algorithm (CSA) based optimization method rather than assuming randomly. A sequential learning based least square algorithm is then investigated for the on-line adaptation of the gains of MLRNNPID controller. The performance of the proposed controller scheme is tested against the plant parameters uncertainties and external disturbances for both links of the two link robotic manipulator with variable payload (TL-RMWVP). The stability of the proposed controller is analyzed using Lyapunov stability criteria. A performance comparison is carried out among MLRNNPID controller, CSA optimized NNPID (OPTNNPID) controller and CSA optimized conventional PID (OPTPID) controller in order to establish the effectiveness of the MLRNNPID controller. Copyright © 2016 ISA. Published by Elsevier Ltd. All rights reserved.
Design of FPGA Based Neural Network Controller for Earth Station Power System
Directory of Open Access Journals (Sweden)
Hassen T. Dorrah
2012-06-01
Full Text Available Automation of generating hardware description language code from neural networks models can highly decrease time of implementation those networks into a digital devices, thus significant money savings. To implement the neural network into hardware designer, it is required to translate generated model into device structure. VHDL language is used to describe those networks into hardware. VHDL code has been proposed to implement ANNs as well as to present simulation results with floating point arithmetic of the earth station and the satellite power systems using ModelSim PE 6.6 simulator tool. Integration between MATLAB and VHDL is used to save execution time of computation. The results shows that a good agreement between MATLAB and VHDL and a fast/flexible feed forward NN which is capable of dealing with floating point arithmetic operations; minimum number of CLB slices; and good speed of performance. FPGA synthesis results are obtained with view RTL schematic and technology schematic from Xilinix tool. Minimum number of utilized resources is obtained by using Xilinix VERTIX5.
Directory of Open Access Journals (Sweden)
Manfredo Atzori
2016-09-01
Full Text Available Motivation: Natural control methods based on surface electromyography and pattern recognition are promising for hand prosthetics. However, the control robustness offered by scientific research is still not sufficient for many real life applications and commercial prostheses are in the best case capable to offer natural control for only a few movements. Objective: In recent years deep learning revolutionized several fields of machine learning, including computer vision and speech recognition. Our objective is to test its capabilities for the natural control of robotic hands via surface electromyography by providing a baseline on a large number of intact and amputated subjects. Methods: We tested convolutional networks for the classification of an average of 50 hand movements in 67 intact subjects and 11 hand amputated subjects. The simple architecture of the neural network allowed to make several tests in order to evaluate the effect of pre-processing, layer architecture, data augmentation and optimization. The classification results are compared with a set of classical classification methods applied on the same datasets.Results: The classification accuracy obtained with convolutional neural networks using the proposed architecture is higher than the average results obtained with the classical classification methods but lower than the results obtained with the best reference methods in our tests. Significance: The results show that convolutional neural networks with a very simple architecture can produce accuracy comparable to the average classical classification methods. They show that several factors (including pre-processing, the architecture of the net and the optimization parameters can be fundamental for the analysis of surface electromyography data. Finally, the results suggest that deeper and more complex networks may increase dexterous control robustness, thus contributing to bridge the gap between the market and scientific research
Neural Networks in Mobile Robot Motion
Directory of Open Access Journals (Sweden)
Danica Janglová
2004-03-01
Full Text Available This paper deals with a path planning and intelligent control of an autonomous robot which should move safely in partially structured environment. This environment may involve any number of obstacles of arbitrary shape and size; some of them are allowed to move. We describe our approach to solving the motion-planning problem in mobile robot control using neural networks-based technique. Our method of the construction of a collision-free path for moving robot among obstacles is based on two neural networks. The first neural network is used to determine the “free” space using ultrasound range finder data. The second neural network “finds” a safe direction for the next robot section of the path in the workspace while avoiding the nearest obstacles. Simulation examples of generated path with proposed techniques will be presented.
Neural Networks in Mobile Robot Motion
Directory of Open Access Journals (Sweden)
Danica Janglova
2008-11-01
Full Text Available This paper deals with a path planning and intelligent control of an autonomous robot which should move safely in partially structured environment. This environment may involve any number of obstacles of arbitrary shape and size; some of them are allowed to move. We describe our approach to solving the motion-planning problem in mobile robot control using neural networks-based technique. Our method of the construction of a collision-free path for moving robot among obstacles is based on two neural networks. The first neural network is used to determine the "free" space using ultrasound range finder data. The second neural network "finds" a safe direction for the next robot section of the path in the workspace while avoiding the nearest obstacles. Simulation examples of generated path with proposed techniques will be presented.
Role of graph architecture in controlling dynamical networks with applications to neural systems
Kim, Jason Z.; Soffer, Jonathan M.; Kahn, Ari E.; Vettel, Jean M.; Pasqualetti, Fabio; Bassett, Danielle S.
2018-01-01
Networked systems display complex patterns of interactions between components. In physical networks, these interactions often occur along structural connections that link components in a hard-wired connection topology, supporting a variety of system-wide dynamical behaviours such as synchronization. Although descriptions of these behaviours are important, they are only a first step towards understanding and harnessing the relationship between network topology and system behaviour. Here, we use linear network control theory to derive accurate closed-form expressions that relate the connectivity of a subset of structural connections (those linking driver nodes to non-driver nodes) to the minimum energy required to control networked systems. To illustrate the utility of the mathematics, we apply this approach to high-resolution connectomes recently reconstructed from Drosophila, mouse, and human brains. We use these principles to suggest an advantage of the human brain in supporting diverse network dynamics with small energetic costs while remaining robust to perturbations, and to perform clinically accessible targeted manipulation of the brain's control performance by removing single edges in the network. Generally, our results ground the expectation of a control system's behaviour in its network architecture, and directly inspire new directions in network analysis and design via distributed control.
DEFF Research Database (Denmark)
Gong, Hui; Olsen, Flemming Ove
acquisition card - DAQCard-700, and a self-learning mechanism - Neural Network. The optimization procedure starts with the welding process being carried out by continuously moving the focal point position from above a welding plate to below the plate, thus the process is ensured to be shifted from initially...... surface welding to deep/full penetration welding and back to surface welding again. A clear change on plasma brightness from the process is monitored by the photo diode on the front side of the plate with a viewing angle of 45o. The photo diode signal is acquired with the A/D converter card and installed......-learning mechanism - neural network as the essence of the control system is trained with the photo diode signals extracted from various welding processes with the changes on the laser power, translation speed, material and thickness of the plate, shielding gas type and flow rate, and welding configuration...
Three dimensional living neural networks
Linnenberger, Anna; McLeod, Robert R.; Basta, Tamara; Stowell, Michael H. B.
2015-08-01
We investigate holographic optical tweezing combined with step-and-repeat maskless projection micro-stereolithography for fine control of 3D positioning of living cells within a 3D microstructured hydrogel grid. Samples were fabricated using three different cell lines; PC12, NT2/D1 and iPSC. PC12 cells are a rat cell line capable of differentiation into neuron-like cells NT2/D1 cells are a human cell line that exhibit biochemical and developmental properties similar to that of an early embryo and when exposed to retinoic acid the cells differentiate into human neurons useful for studies of human neurological disease. Finally induced pluripotent stem cells (iPSC) were utilized with the goal of future studies of neural networks fabricated from human iPSC derived neurons. Cells are positioned in the monomer solution with holographic optical tweezers at 1064 nm and then are encapsulated by photopolymerization of polyethylene glycol (PEG) hydrogels formed by thiol-ene photo-click chemistry via projection of a 512x512 spatial light modulator (SLM) illuminated at 405 nm. Fabricated samples are incubated in differentiation media such that cells cease to divide and begin to form axons or axon-like structures. By controlling the position of the cells within the encapsulating hydrogel structure the formation of the neural circuits is controlled. The samples fabricated with this system are a useful model for future studies of neural circuit formation, neurological disease, cellular communication, plasticity, and repair mechanisms.
Xia, Dunzhu; Kong, Lun; Hu, Yiwei; Ni, Peizhen
2015-02-01
We present a novel silicon microgyroscope (SMG) temperature prediction and control system in a narrow space. As the temperature of SMG is closely related to its drive mode frequency and driving voltage, a temperature prediction model can be established based on the BP neural network. The simulation results demonstrate that the established temperature prediction model can estimate the temperature in the range of -40 to 60 °C with an error of less than ±0.05 °C. Then, a temperature control system based on the combination of fuzzy logic controller and the increment PID control method is proposed. The simulation results prove that the Fuzzy-PID controller has a smaller steady state error, less rise time and better robustness than the PID controller. This is validated by experimental results that show the Fuzzy-PID control method can achieve high precision in keeping the SMG temperature stable at 55 °C with an error of less than 0.2 °C. The scale factor can be stabilized at 8.7 mV/°/s with a temperature coefficient of 33 ppm °C-1. ZRO (zero rate output) instability is decreased from 1.10°/s (9.5 mV) to 0.08°/s (0.7 mV) when the temperature control system is implemented over an ambient temperature range of -40 to 60 °C.
Yashchenko, Vitaliy A.
2000-03-01
On the basis of the analysis of scientific ideas reflecting the law in the structure and functioning the biological structures of a brain, and analysis and synthesis of knowledge, developed by various directions in Computer Science, also there were developed the bases of the theory of a new class neural-like growing networks, not having the analogue in world practice. In a base of neural-like growing networks the synthesis of knowledge developed by classical theories - semantic and neural of networks is. The first of them enable to form sense, as objects and connections between them in accordance with construction of the network. With thus each sense gets a separate a component of a network as top, connected to other tops. In common it quite corresponds to structure reflected in a brain, where each obvious concept is presented by certain structure and has designating symbol. Secondly, this network gets increased semantic clearness at the expense owing to formation not only connections between neural by elements, but also themselves of elements as such, i.e. here has a place not simply construction of a network by accommodation sense structures in environment neural of elements, and purely creation of most this environment, as of an equivalent of environment of memory. Thus neural-like growing networks are represented by the convenient apparatus for modeling of mechanisms of teleological thinking, as a fulfillment of certain psychophysiological of functions.
Real-time neural network-based self-tuning control of a nonlinear electro-hydraulic servomotor
Energy Technology Data Exchange (ETDEWEB)
Canelon, J.I.; Ortega, A.G. [Univ. del Zulia, Maracaibo, Zulia (Venezuela, Bolivarian Republic of). School of Electrical Engineering; Shieh, L.S. [Houston Univ., Houston, TX (United States). Dept. of Electrical and Computer Engineering; Bastidas, J.I. [Univ. del Zulia, Maracaibo, Zulia (Venezuela, Bolivarian Republic of). School of Mechanical Engineering; Zhang, Y.; Akujuobi, C.M. [Prairie View A and M Univ., Prairie View, TX (United States). Center of Excellence for Communication Systems Technology Research and Dept. of Engineering Technology
2010-08-13
For high power applications, hydraulic actuators offer many advantages over electromagnetic actuators, including higher torque/mass ratios; smaller control gains; excellent torque capability; filtered high frequency noise; better heat transfer characteristics; smaller size; higher speed of response of the servomechanism; cheaper hardware; and higher reliability. Therefore, any application that requires a large force applied smoothly by an actuator is a candidate for hydraulic power. Examples of such applications include vehicle steering and braking systems; roll mills; drilling rigs; heavy duty crane and presses; and industrial robots and actuators for aircraft control surfaces such as ailerons and flaps. It is extremely important to create effective control strategies for hydraulic systems. This paper outlined the real-time implementation of a neural network-based approach, for self-tuning control of the angular position of a nonlinear electro-hydraulic servomotor. Using an online training algorithm, a neural network autoregressive moving-average model with exogenous input (ARMAX) model of the system was identified and continuously updated and an optimal linear ARMAX model was determined. The paper briefly depicted the neural network-based self-tuning control approach and a description of the experimental equipment (hardware and software) was presented including the implementation details. The experimental results were discussed and conclusions were summarized. It was found that the approach proved to be very effective in the control of this fast dynamics system, outperforming a fine tuned PI controller. Therefore, although the self-tuning approach was computationally demanding, it was feasible for real-time implementation. 22 refs., 6 figs.
Use of neural networks to improve quality control of interpretations in myocardial perfusion imaging
DEFF Research Database (Denmark)
Tagil, K.; Marving, J.; Lomsky, M.
2008-01-01
Tc-sestamibi myocardial perfusion scintigraphy. After a training process, the networks were used to select the 20 cases in each region that were more likely to have a false clinical interpretation. These cases, together with 20 control cases in which the networks detected no likelihood of false clinical interpretation...
On-the-fly neural network construction for repairing F-16 flight control panel using thermal imaging
Allred, Lloyd G.; Howard, Tom R.; Serpen, Gursel
1996-03-01
When the card-level tester for the F-16 flight control panel (FLCP) had been dysfunctional for over 18 months, infrared thermography was investigated as an alternative for diagnosing and repairing the 7 cards in the FLCP box. Using thermal imaging alone, over 20 FLCP boxes were made serviceable, effectively bringing the FLCP out of awaiting parts (AWP) status. Through the incorporation of a novel on-the-fly neural network paradigm, the neural radiant energy detection system (NREDS) now has the capability to make correct fault classification from a large history of repair data. By surveying the historical data, the network makes assessments about relevant repair actions and probable component malfunctions. On one of the circuit cards, a repair accuracy of 11 out of 12 was achieved during the first repair attempt. By operating on the raw repair data and doing the network calculations on the fly, the network becomes virtual, thus eliminating the need to retain intermediate calculations in trained network files. Erroneous classifications are correctable via a text editor. Erroneous training of neural networks has been a chronic problem with prior implementations. In view of the current environment of downsizing, the likelihood of obtaining functionality at the card-level tester is remote. Success of the imager points to corresponding inadequacies of the automatic test equipment (ATE) to detect certain kinds of failure. In particular, we were informed that one particular relay had never been ordered in the life of the F-16 system, whereas some cards became functional when the relay was the sole component replaced.
Indian Academy of Sciences (India)
differences between biological neural networks (BNNs) of the brain and ANN s. A thorough understanding of ... neurons. Artificial neural models are loosely based on biology since a complete understanding of the .... A learning scheme for updating a neuron's connections (weights) was proposed by Donald Hebb in 1949.
Neural networks and statistical learning
Du, Ke-Lin
2014-01-01
Providing a broad but in-depth introduction to neural network and machine learning in a statistical framework, this book provides a single, comprehensive resource for study and further research. All the major popular neural network models and statistical learning approaches are covered with examples and exercises in every chapter to develop a practical working understanding of the content. Each of the twenty-five chapters includes state-of-the-art descriptions and important research results on the respective topics. The broad coverage includes the multilayer perceptron, the Hopfield network, associative memory models, clustering models and algorithms, the radial basis function network, recurrent neural networks, principal component analysis, nonnegative matrix factorization, independent component analysis, discriminant analysis, support vector machines, kernel methods, reinforcement learning, probabilistic and Bayesian networks, data fusion and ensemble learning, fuzzy sets and logic, neurofuzzy models, hardw...
Memristor-based neural networks
Thomas, Andy
2013-03-01
The synapse is a crucial element in biological neural networks, but a simple electronic equivalent has been absent. This complicates the development of hardware that imitates biological architectures in the nervous system. Now, the recent progress in the experimental realization of memristive devices has renewed interest in artificial neural networks. The resistance of a memristive system depends on its past states and exactly this functionality can be used to mimic the synaptic connections in a (human) brain. After a short introduction to memristors, we present and explain the relevant mechanisms in a biological neural network, such as long-term potentiation and spike time-dependent plasticity, and determine the minimal requirements for an artificial neural network. We review the implementations of these processes using basic electric circuits and more complex mechanisms that either imitate biological systems or could act as a model system for them.
Pansharpening by Convolutional Neural Networks
National Research Council Canada - National Science Library
Masi, Giuseppe; Cozzolino, Davide; Verdoliva, Luisa; Scarpa, Giuseppe
2016-01-01
A new pansharpening method is proposed, based on convolutional neural networks. We adapt a simple and effective three-layer architecture recently proposed for super-resolution to the pansharpening problem...
What are artificial neural networks?
DEFF Research Database (Denmark)
Krogh, Anders
2008-01-01
Artificial neural networks have been applied to problems ranging from speech recognition to prediction of protein secondary structure, classification of cancers and gene prediction. How do they work and what might they be good for? Udgivelsesdato: 2008-Feb......Artificial neural networks have been applied to problems ranging from speech recognition to prediction of protein secondary structure, classification of cancers and gene prediction. How do they work and what might they be good for? Udgivelsesdato: 2008-Feb...
Biologically Inspired Modular Neural Networks
Azam, Farooq
2000-01-01
This dissertation explores the modular learning in artificial neural networks that mainly driven by the inspiration from the neurobiological basis of the human learning. The presented modularization approaches to the neural network design and learning are inspired by the engineering, complexity, psychological and neurobiological aspects. The main theme of this dissertation is to explore the organization and functioning of the brain to discover new structural and learning ...
Tampa Electric Neural Network Sootblowing
Energy Technology Data Exchange (ETDEWEB)
Mark A. Rhode
2003-12-31
Boiler combustion dynamics change continuously due to several factors including coal quality, boiler loading, ambient conditions, changes in slag/soot deposits and the condition of plant equipment. NO{sub x} formation, Particulate Matter (PM) emissions, and boiler thermal performance are directly affected by the sootblowing practices on a unit. As part of its Power Plant Improvement Initiative program, the US DOE is providing cofunding (DE-FC26-02NT41425) and NETL is the managing agency for this project at Tampa Electric's Big Bend Station. This program serves to co-fund projects that have the potential to increase thermal efficiency and reduce emissions from coal-fired utility boilers. A review of the Big Bend units helped identify intelligent sootblowing as a suitable application to achieve the desired objectives. The existing sootblower control philosophy uses sequential schemes, whose frequency is either dictated by the control room operator or is timed based. The intent of this project is to implement a neural network based intelligent soot-blowing system, in conjunction with state-of-the-art controls and instrumentation, to optimize the operation of a utility boiler and systematically control boiler fouling. Utilizing unique, on-line, adaptive technology, operation of the sootblowers can be dynamically controlled based on real-time events and conditions within the boiler. This could be an extremely cost-effective technology, which has the ability to be readily and easily adapted to virtually any pulverized coal fired boiler. Through unique on-line adaptive technology, Neural Network-based systems optimize the boiler operation by accommodating equipment performance changes due to wear and maintenance activities, adjusting to fluctuations in fuel quality, and improving operating flexibility. The system dynamically adjusts combustion setpoints and bias settings in closed-loop supervisory control to simultaneously reduce NO{sub x} emissions and improve heat
Tampa Electric Neural Network Sootblowing
Energy Technology Data Exchange (ETDEWEB)
Mark A. Rhode
2004-09-30
Boiler combustion dynamics change continuously due to several factors including coal quality, boiler loading, ambient conditions, changes in slag/soot deposits and the condition of plant equipment. NOx formation, Particulate Matter (PM) emissions, and boiler thermal performance are directly affected by the sootblowing practices on a unit. As part of its Power Plant Improvement Initiative program, the US DOE is providing cofunding (DE-FC26-02NT41425) and NETL is the managing agency for this project at Tampa Electric's Big Bend Station. This program serves to co-fund projects that have the potential to increase thermal efficiency and reduce emissions from coal-fired utility boilers. A review of the Big Bend units helped identify intelligent sootblowing as a suitable application to achieve the desired objectives. The existing sootblower control philosophy uses sequential schemes, whose frequency is either dictated by the control room operator or is timed based. The intent of this project is to implement a neural network based intelligent sootblowing system, in conjunction with state-of-the-art controls and instrumentation, to optimize the operation of a utility boiler and systematically control boiler fouling. Utilizing unique, on-line, adaptive technology, operation of the sootblowers can be dynamically controlled based on real-time events and conditions within the boiler. This could be an extremely cost-effective technology, which has the ability to be readily and easily adapted to virtually any pulverized coal fired boiler. Through unique on-line adaptive technology, Neural Network-based systems optimize the boiler operation by accommodating equipment performance changes due to wear and maintenance activities, adjusting to fluctuations in fuel quality, and improving operating flexibility. The system dynamically adjusts combustion setpoints and bias settings in closed-loop supervisory control to simultaneously reduce NO{sub x} emissions and improve heat rate
Tampa Electric Neural Network Sootblowing
Energy Technology Data Exchange (ETDEWEB)
Mark A. Rhode
2004-03-31
Boiler combustion dynamics change continuously due to several factors including coal quality, boiler loading, ambient conditions, changes in slag/soot deposits and the condition of plant equipment. NOx formation, Particulate Matter (PM) emissions, and boiler thermal performance are directly affected by the sootblowing practices on a unit. As part of its Power Plant Improvement Initiative program, the US DOE is providing co-funding (DE-FC26-02NT41425) and NETL is the managing agency for this project at Tampa Electric's Big Bend Station. This program serves to co-fund projects that have the potential to increase thermal efficiency and reduce emissions from coal-fired utility boilers. A review of the Big Bend units helped identify intelligent sootblowing as a suitable application to achieve the desired objectives. The existing sootblower control philosophy uses sequential schemes, whose frequency is either dictated by the control room operator or is timed based. The intent of this project is to implement a neural network based intelligent sootblowing system, in conjunction with state-of-the-art controls and instrumentation, to optimize the operation of a utility boiler and systematically control boiler fouling. Utilizing unique, on-line, adaptive technology, operation of the sootblowers can be dynamically controlled based on real-time events and conditions within the boiler. This could be an extremely cost-effective technology, which has the ability to be readily and easily adapted to virtually any pulverized coal fired boiler. Through unique on-line adaptive technology, Neural Network-based systems optimize the boiler operation by accommodating equipment performance changes due to wear and maintenance activities, adjusting to fluctuations in fuel quality, and improving operating flexibility. The system dynamically adjusts combustion setpoints and bias settings in closed-loop supervisory control to simultaneously reduce NO{sub x} emissions and improve heat rate
Welcome, Menizibeya O.; Dane, Şenol; Mastorakis, Nikos E.; Pereverzev, Vladimir A.
2017-12-01
The term "metaplasticity" is a recent one, which means plasticity of synaptic plasticity. Correspondingly, neurometaplasticity simply means plasticity of neuroplasticity, indicating that a previous plastic event determines the current plasticity of neurons. Emerging studies suggest that neurometaplasticity underlie many neural activities and neurobehavioral disorders. In our previous work, we indicated that glucoallostasis is essential for the control of plasticity of the neural network that control error commission, detection and correction. Here we review recent works, which suggest that task precision depends on the modulatory effects of neuroplasticity on the neural networks of error commission, detection, and correction. Furthermore, we discuss neurometaplasticity and its role in error commission, detection, and correction.
Li, Shuhui; Fairbank, Michael; Johnson, Cameron; Wunsch, Donald C; Alonso, Eduardo; Proaño, Julio L
2014-04-01
Three-phase grid-connected converters are widely used in renewable and electric power system applications. Traditionally, grid-connected converters are controlled with standard decoupled d-q vector control mechanisms. However, recent studies indicate that such mechanisms show limitations in their applicability to dynamic systems. This paper investigates how to mitigate such restrictions using a neural network to control a grid-connected rectifier/inverter. The neural network implements a dynamic programming algorithm and is trained by using back-propagation through time. To enhance performance and stability under disturbance, additional strategies are adopted, including the use of integrals of error signals to the network inputs and the introduction of grid disturbance voltage to the outputs of a well-trained network. The performance of the neural-network controller is studied under typical vector control conditions and compared against conventional vector control methods, which demonstrates that the neural vector control strategy proposed in this paper is effective. Even in dynamic and power converter switching environments, the neural vector controller shows strong ability to trace rapidly changing reference commands, tolerate system disturbances, and satisfy control requirements for a faulted power system.
Classification of EMG signals using artificial neural networks for virtual hand prosthesis control.
Mattioli, Fernando E R; Lamounier, Edgard A; Cardoso, Alexandre; Soares, Alcimar B; Andrade, Adriano O
2011-01-01
Computer-based training systems have been widely studied in the field of human rehabilitation. In health applications, Virtual Reality presents itself as an appropriate tool to simulate training environments without exposing the patients to risks. In particular, virtual prosthetic devices have been used to reduce the great mental effort needed by patients fitted with myoelectric prosthesis, during the training stage. In this paper, the application of Virtual Reality in a hand prosthesis training system is presented. To achieve this, the possibility of exploring Neural Networks in a real-time classification system is discussed. The classification technique used in this work resulted in a 95% success rate when discriminating 4 different hand movements.
Control of an Power Series Compensator in Distribution Systems Using Artificial Neural Networks
Directory of Open Access Journals (Sweden)
DEHINI Rachid
2013-05-01
Full Text Available Because of the bad effect exercised on electrical customers, the term “power quality” has gained significant attention. The main purpose ofSeries Active Power Filter (SAPF is to protect the sensitive loads from the voltage harmonics only, while Dynamic Voltage Restored (DVR can protect the consumer from supply voltage sag, voltage swell,voltage unbalance, and even voltage interruption. This paper is concerned with the novel active voltage compensator (AVC which can compensate all voltage disturbances. To identify voltage disturbances, many techniques are used, this work is an attempt to provide a AVC with identification method based on The Multilayer Feed Forward Neural Network (MLFFN. The simulation results during several cases confirmed that the AVC is able to eliminate all voltagedisturbances from utility grid.
Fractional Hopfield Neural Networks: Fractional Dynamic Associative Recurrent Neural Networks.
Pu, Yi-Fei; Yi, Zhang; Zhou, Ji-Liu
2017-10-01
This paper mainly discusses a novel conceptual framework: fractional Hopfield neural networks (FHNN). As is commonly known, fractional calculus has been incorporated into artificial neural networks, mainly because of its long-term memory and nonlocality. Some researchers have made interesting attempts at fractional neural networks and gained competitive advantages over integer-order neural networks. Therefore, it is naturally makes one ponder how to generalize the first-order Hopfield neural networks to the fractional-order ones, and how to implement FHNN by means of fractional calculus. We propose to introduce a novel mathematical method: fractional calculus to implement FHNN. First, we implement fractor in the form of an analog circuit. Second, we implement FHNN by utilizing fractor and the fractional steepest descent approach, construct its Lyapunov function, and further analyze its attractors. Third, we perform experiments to analyze the stability and convergence of FHNN, and further discuss its applications to the defense against chip cloning attacks for anticounterfeiting. The main contribution of our work is to propose FHNN in the form of an analog circuit by utilizing a fractor and the fractional steepest descent approach, construct its Lyapunov function, prove its Lyapunov stability, analyze its attractors, and apply FHNN to the defense against chip cloning attacks for anticounterfeiting. A significant advantage of FHNN is that its attractors essentially relate to the neuron's fractional order. FHNN possesses the fractional-order-stability and fractional-order-sensitivity characteristics.
Spiking modular neural networks: A neural network modeling approach for hydrological processes
National Research Council Canada - National Science Library
Kamban Parasuraman; Amin Elshorbagy; Sean K. Carey
2006-01-01
.... In this study, a novel neural network model called the spiking modular neural networks (SMNNs) is proposed. An SMNN consists of an input layer, a spiking layer, and an associator neural network layer...
Zhu, Wei; Wang, Dandan; Liu, Lu; Feng, Gang
2017-08-18
This paper investigates exponential stabilization of continuous-time dynamic systems (CDSs) via event-based impulsive control (EIC) approaches, where the impulsive instants are determined by certain state-dependent triggering condition. The global exponential stability criteria via EIC are derived for nonlinear and linear CDSs, respectively. It is also shown that there is no Zeno-behavior for the concerned closed loop control system. In addition, the developed event-based impulsive scheme is applied to the synchronization problem of master and slave memristive neural networks. Furthermore, a self-triggered impulsive control scheme is developed to avoid continuous communication between the master system and slave system. Finally, two numerical simulation examples are presented to illustrate the effectiveness of the proposed event-based impulsive controllers.
Collision avoidance using neural networks
Sugathan, Shilpa; Sowmya Shree, B. V.; Warrier, Mithila R.; Vidhyapathi, C. M.
2017-11-01
Now a days, accidents on roads are caused due to the negligence of drivers and pedestrians or due to unexpected obstacles that come into the vehicle’s path. In this paper, a model (robot) is developed to assist drivers for a smooth travel without accidents. It reacts to the real time obstacles on the four critical sides of the vehicle and takes necessary action. The sensor used for detecting the obstacle was an IR proximity sensor. A single layer perceptron neural network is used to train and test all possible combinations of sensors result by using Matlab (offline). A microcontroller (ARM Cortex-M3 LPC1768) is used to control the vehicle through the output data which is received from Matlab via serial communication. Hence, the vehicle becomes capable of reacting to any combination of real time obstacles.
Visual Servoing for an Autonomous Hexarotor Using a Neural Network Based PID Controller.
Lopez-Franco, Carlos; Gomez-Avila, Javier; Alanis, Alma Y; Arana-Daniel, Nancy; Villaseñor, Carlos
2017-08-12
In recent years, unmanned aerial vehicles (UAVs) have gained significant attention. However, we face two major drawbacks when working with UAVs: high nonlinearities and unknown position in 3D space since it is not provided with on-board sensors that can measure its position with respect to a global coordinate system. In this paper, we present a real-time implementation of a servo control, integrating vision sensors, with a neural proportional integral derivative (PID), in order to develop an hexarotor image based visual servo control (IBVS) that knows the position of the robot by using a velocity vector as a reference to control the hexarotor position. This integration requires a tight coordination between control algorithms, models of the system to be controlled, sensors, hardware and software platforms and well-defined interfaces, to allow the real-time implementation, as well as the design of different processing stages with their respective communication architecture. All of these issues and others provoke the idea that real-time implementations can be considered as a difficult task. For the purpose of showing the effectiveness of the sensor integration and control algorithm to address these issues on a high nonlinear system with noisy sensors as cameras, experiments were performed on the Asctec Firefly on-board computer, including both simulation and experimenta results.
Visual Servoing for an Autonomous Hexarotor Using a Neural Network Based PID Controller
Lopez-Franco, Carlos; Alanis, Alma Y.; Arana-Daniel, Nancy; Villaseñor, Carlos
2017-01-01
In recent years, unmanned aerial vehicles (UAVs) have gained significant attention. However, we face two major drawbacks when working with UAVs: high nonlinearities and unknown position in 3D space since it is not provided with on-board sensors that can measure its position with respect to a global coordinate system. In this paper, we present a real-time implementation of a servo control, integrating vision sensors, with a neural proportional integral derivative (PID), in order to develop an hexarotor image based visual servo control (IBVS) that knows the position of the robot by using a velocity vector as a reference to control the hexarotor position. This integration requires a tight coordination between control algorithms, models of the system to be controlled, sensors, hardware and software platforms and well-defined interfaces, to allow the real-time implementation, as well as the design of different processing stages with their respective communication architecture. All of these issues and others provoke the idea that real-time implementations can be considered as a difficult task. For the purpose of showing the effectiveness of the sensor integration and control algorithm to address these issues on a high nonlinear system with noisy sensors as cameras, experiments were performed on the Asctec Firefly on-board computer, including both simulation and experimenta results. PMID:28805689
Tong, Shaocheng; Wang, Tong; Li, Yongming; Zhang, Huaguang
2014-06-01
This paper discusses the problem of adaptive neural network output feedback control for a class of stochastic nonlinear strict-feedback systems. The concerned systems have certain characteristics, such as unknown nonlinear uncertainties, unknown dead-zones, unmodeled dynamics and without the direct measurements of state variables. In this paper, the neural networks (NNs) are employed to approximate the unknown nonlinear uncertainties, and then by representing the dead-zone as a time-varying system with a bounded disturbance. An NN state observer is designed to estimate the unmeasured states. Based on both backstepping design technique and a stochastic small-gain theorem, a robust adaptive NN output feedback control scheme is developed. It is proved that all the variables involved in the closed-loop system are input-state-practically stable in probability, and also have robustness to the unmodeled dynamics. Meanwhile, the observer errors and the output of the system can be regulated to a small neighborhood of the origin by selecting appropriate design parameters. Simulation examples are also provided to illustrate the effectiveness of the proposed approach.
Multigradient for Neural Networks for Equalizers
Directory of Open Access Journals (Sweden)
Chulhee Lee
2003-06-01
Full Text Available Recently, a new training algorithm, multigradient, has been published for neural networks and it is reported that the multigradient outperforms the backpropagation when neural networks are used as a classifier. When neural networks are used as an equalizer in communications, they can be viewed as a classifier. In this paper, we apply the multigradient algorithm to train the neural networks that are used as equalizers. Experiments show that the neural networks trained using the multigradient noticeably outperforms the neural networks trained by the backpropagation.
Rodrigo, María José; Padrón, Iván; de Vega, Manuel; Ferstl, Evelyn C
2014-01-01
This study examines by means of functional magnetic resonance imaging the neural mechanisms underlying adolescents' risk decision-making in social contexts. We hypothesize that the social context could engage brain regions associated with social cognition processes and developmental changes are also expected. Sixty participants (adolescents: 17-18, and young adults: 21-22 years old) read narratives describing typical situations of decision-making in the presence of peers. They were asked to make choices in risky situations (e.g., taking or refusing a drug) or ambiguous situations (e.g., eating a hamburger or a hotdog). Risky as compared to ambiguous scenarios activated bilateral temporoparietal junction (TPJ), bilateral middle temporal gyrus (MTG), right medial prefrontal cortex, and the precuneus bilaterally; i.e., brain regions related to social cognition processes, such as self-reflection and theory of mind (ToM). In addition, brain structures related to cognitive control were active [right anterior cingulate cortex (ACC), bilateral dorsolateral prefrontal cortex (DLPFC), bilateral orbitofrontal cortex], whereas no significant clusters were obtained in the reward system (ventral striatum). Choosing the dangerous option involved a further activation of control areas (ACC) and emotional and social cognition areas (temporal pole). Adolescents employed more neural resources than young adults in the right DLPFC and the right TPJ in risk situations. When choosing the dangerous option, young adults showed a further engagement in ToM related regions (bilateral MTG) and in motor control regions related to the planning of actions (pre-supplementary motor area). Finally, the right insula and the right superior temporal gyrus were more activated in women than in men, suggesting more emotional involvement and more intensive modeling of the others' perspective in the risky conditions. These findings call for more comprehensive developmental accounts of decision-making in
Directory of Open Access Journals (Sweden)
María José eRodrigo
2014-02-01
Full Text Available This study examines by means of fMRI the neural mechanisms underlying adolescents’ risk decision-making in social contexts. We hypothesize that the social context could engage brain regions associated with social cognition processes and developmental changes are also expected. Sixty participants (adolescents: 17-18, and young adults: 21-22 years old read narratives describing typical situations of decision-making in the presence of peers. They were asked to make choices in risky situations (e.g., taking or refusing a drug or ambiguous situations (e.g., eating a hamburger or a hotdog. Risky as compared to ambiguous scenarios activated bilateral temporoparietal junction (TPJ, bilateral middle temporal gyrus (MTG, right medial prefrontal cortex (mPFC, and the precuneus bilaterally; i.e., brain regions related to social cognition processes, such as self-reflection and theory of mind. In addition, brain structures related to cognitive control were active (right ACC, bilateral DLPFC, bilateral OFC, whereas no significant clusters were obtained in the reward system (VS. Choosing the dangerous option involved a further activation of control areas (ACC and emotional and social cognition areas (temporal pole. Adolescents employed more neural resources than young adults in the right DLPFC and the right TPJ in risk situations. When choosing the dangerous option, young adults showed a further engagement in theory of mind related regions (bilateral middle temporal gyrus and in motor control regions related to the planning of actions (pre-supplementary motor area. Finally, the right insula and the right superior temporal gyrus were more activated in women than in men, suggesting more emotional involvement and more intensive modeling of the others’ perspective in the risky conditions. These findings call for more comprehensive developmental accounts of decision-making in social contexts that incorporate the role of emotional and social cognition processes.
Harmon, Frederick G.
2005-11-01
Parallel hybrid-electric propulsion systems would be beneficial for small unmanned aerial vehicles (UAVs) used for military, homeland security, and disaster-monitoring missions. The benefits, due to the hybrid and electric-only modes, include increased time-on-station and greater range as compared to electric-powered UAVs and stealth modes not available with gasoline-powered UAVs. This dissertation contributes to the research fields of small unmanned aerial vehicles, hybrid-electric propulsion system control, and intelligent control. A conceptual design of a small UAV with a parallel hybrid-electric propulsion system is provided. The UAV is intended for intelligence, surveillance, and reconnaissance (ISR) missions. A conceptual design reveals the trade-offs that must be considered to take advantage of the hybrid-electric propulsion system. The resulting hybrid-electric propulsion system is a two-point design that includes an engine primarily sized for cruise speed and an electric motor and battery pack that are primarily sized for a slower endurance speed. The electric motor provides additional power for take-off, climbing, and acceleration and also serves as a generator during charge-sustaining operation or regeneration. The intelligent control of the hybrid-electric propulsion system is based on an instantaneous optimization algorithm that generates a hyper-plane from the nonlinear efficiency maps for the internal combustion engine, electric motor, and lithium-ion battery pack. The hyper-plane incorporates charge-depletion and charge-sustaining strategies. The optimization algorithm is flexible and allows the operator/user to assign relative importance between the use of gasoline, electricity, and recharging depending on the intended mission. A MATLAB/Simulink model was developed to test the control algorithms. The Cerebellar Model Arithmetic Computer (CMAC) associative memory neural network is applied to the control of the UAVs parallel hybrid
Multiprocessor Neural Network in Healthcare.
Godó, Zoltán Attila; Kiss, Gábor; Kocsis, Dénes
2015-01-01
A possible way of creating a multiprocessor artificial neural network is by the use of microcontrollers. The RISC processors' high performance and the large number of I/O ports mean they are greatly suitable for creating such a system. During our research, we wanted to see if it is possible to efficiently create interaction between the artifical neural network and the natural nervous system. To achieve as much analogy to the living nervous system as possible, we created a frequency-modulated analog connection between the units. Our system is connected to the living nervous system through 128 microelectrodes. Two-way communication is provided through A/D transformation, which is even capable of testing psychopharmacons. The microcontroller-based analog artificial neural network can play a great role in medical singal processing, such as ECG, EEG etc.
Directory of Open Access Journals (Sweden)
A. Cancelier
Full Text Available Abstract This study used a predictive controller based on an empirical nonlinear model comprising a three-layer feedforward neural network for temperature control of the suspension polymerization process. In addition to the offline training technique, an algorithm was also analyzed for online adaptation of its parameters. For the offline training, the network was statically trained and the genetic algorithm technique was used in combination with the least squares method. For online training, the network was trained on a recurring basis and only the technique of genetic algorithms was used. In this case, only the weights and bias of the output layer neuron were modified, starting from the parameters obtained from the offline training. From the experimental results obtained in a pilot plant, a good performance was observed for the proposed control system, with superior performance for the control algorithm with online adaptation of the model, particularly with respect to the presence of off-set for the case of the fixed parameters model.
Husseini, Ghaleb A; Mjalli, Farouq S; Pitt, William G; Abdel-Jabbar, Nabil M
2009-12-01
We have been developing a drug delivery system that uses Pluronic P105 micelles to sequester a chemotherapeutic drug--namely, Doxorubicin (Dox)--until it reaches the cancer site. Ultrasound is then applied to release the drug directly to the tumor and in the process minimize the adverse side effects of chemotherapy on non-tumor tissues. Here, we present an artificial neural network (ANN) model that attempts to model the dynamic release of Dox from P105 micelles under different ultrasonic power intensities at two frequencies. The developed ANN model is then utilized to optimize the ultrasound application to achieve a target drug release at the tumor site via an ANN-based model predictive control. The parameters of the controller are then tuned to achieve good reference signal tracking. We were successful in designing and testing a controller capable of adjusting the ultrasound frequency, intensity, and pulse length to sustain constant Dox release.
Wu, Li-Bing; Yang, Guang-Hong
2017-03-01
This paper investigates the problem of adaptive output neural network (NN) control for a class of stochastic nonaffine and nonlinear systems with actuator dead-zone inputs. First, based on the intermediate value theorem, a novel design scheme that converts the nonaffine system into the corresponding affine system is developed. In particular, the priori knowledge of the bound of the derivative of the nonaffine and nonlinear functions is removed; then, by employing NNs to approximate the appropriate nonlinear functions, the corresponding adaptive NN tracking controller with the adjustable parameter updated laws is designed through a backstepping technique. Furthermore, it is shown that all the closed-loop signals are bounded in probability, and the system output tracking error can converge to a small neighborhood in the sense of a mean quartic value. Finally, experimental simulations are provided to demonstrate the efficiency of the proposed adaptive NN tracking control method.
Nayar, Priya; Singh, Bhim; Mishra, Sukumar
2017-08-01
An artificial intelligence based control algorithm is used in solving power quality problems of a diesel engine driven synchronous generator with automatic voltage regulator and governor based standalone system. A voltage source converter integrated with a battery energy storage system is employed to mitigate the power quality problems. An adaptive neural network based signed regressor control algorithm is used for the estimation of the fundamental component of load currents for control of a standalone system with load leveling as an integral feature. The developed model of the system performs accurately under varying load conditions and provides good dynamic response to the step changes in loads. The real time performance is achieved using MATLAB along with simulink/simpower system toolboxes and results adhere to an IEEE-519 standard for power quality enhancement.
Fu, Xingang; Li, Shuhui; Fairbank, Michael; Wunsch, Donald C; Alonso, Eduardo
2015-09-01
This paper investigates how to train a recurrent neural network (RNN) using the Levenberg-Marquardt (LM) algorithm as well as how to implement optimal control of a grid-connected converter (GCC) using an RNN. To successfully and efficiently train an RNN using the LM algorithm, a new forward accumulation through time (FATT) algorithm is proposed to calculate the Jacobian matrix required by the LM algorithm. This paper explores how to incorporate FATT into the LM algorithm. The results show that the combination of the LM and FATT algorithms trains RNNs better than the conventional backpropagation through time algorithm. This paper presents an analytical study on the optimal control of GCCs, including theoretically ideal optimal and suboptimal controllers. To overcome the inapplicability of the optimal GCC controller under practical conditions, a new RNN controller with an improved input structure is proposed to approximate the ideal optimal controller. The performance of an ideal optimal controller and a well-trained RNN controller was compared in close to real-life power converter switching environments, demonstrating that the proposed RNN controller can achieve close to ideal optimal control performance even under low sampling rate conditions. The excellent performance of the proposed RNN controller under challenging and distorted system conditions further indicates the feasibility of using an RNN to approximate optimal control in practical applications.
National Research Council Canada - National Science Library
Omidvar, Omid; Elliott, David L
1997-01-01
... is reprinted with permission from A. Barto, "Reinforcement Learning," Handbook of Brain Theory and Neural Networks, M.A. Arbib, ed.. The MIT Press, Cambridge, MA, pp. 804-809, 1995. Chapter 4, Figures 4-5 and 7-9 and Tables 2-5, are reprinted with permission, from S. Cho, "Map Formation in Proprioceptive Cortex," International Jour...
Power converters and AC electrical drives with linear neural networks
Cirrincione, Maurizio
2012-01-01
The first book of its kind, Power Converters and AC Electrical Drives with Linear Neural Networks systematically explores the application of neural networks in the field of power electronics, with particular emphasis on the sensorless control of AC drives. It presents the classical theory based on space-vectors in identification, discusses control of electrical drives and power converters, and examines improvements that can be attained when using linear neural networks. The book integrates power electronics and electrical drives with artificial neural networks (ANN). Organized into four parts,
Zhang, Su; Yuan, Hongbo; Zhou, Yuhong; Wang, Nan
2009-07-01
In order to create the environment that the suitable crop grows, direct against the characteristic of the system of the greenhouse. The aim of the research was to study the intelligent temperature control system in vegetable greenhouse. Based on computer automatic control ,a kind of intelligent temperature control system in vegetable greenhouse was designed. The design thought of systematic hardwares such as temperature collection system, temperature display, control system, heater control circuit in the heater were expounded in detail The control algorithm of the system was improved and system simulation was made by using MATLAB finally. The control algorithm of the system was improved by a new fuzzy neural network controller. The stimulation curve showed that the system had better controlling and tracking performances ,higher accuracy of controlling the temperature. And this system and host epigyny computer could constitute the secondary computer control system which was favorable for realizing the centralized management of the production.
Generalization performance of regularized neural network models
DEFF Research Database (Denmark)
Larsen, Jan; Hansen, Lars Kai
1994-01-01
Architecture optimization is a fundamental problem of neural network modeling. The optimal architecture is defined as the one which minimizes the generalization error. This paper addresses estimation of the generalization performance of regularized, complete neural network models. Regularization...
Plant Growth Models Using Artificial Neural Networks
Bubenheim, David
1997-01-01
In this paper, we descrive our motivation and approach to devloping models and the neural network architecture. Initial use of the artificial neural network for modeling the single plant process of transpiration is presented.
Moussa, Hesham G; Husseini, Ghaleb A; Abel-Jabbar, Nabil; Ahmad, Salma E
2017-04-01
The use of echogenic liposomes to deliver chemotherapeutic agents for cancer treatment has gained wide recognition in the last 20 years. Cancerous cells can develop multiple drug resistance (MDR), in part, due to the drop in concentration of chemotherapeutic agents below the therapeutic levels inside the tumor. This suggests that MDR can be reduced by controlling the level of drug release in the diseased area. In this paper, a model predictive controller based on neural networks is proposed tomaintain a constant chemotherapeutic release at the cancer site. The proposed systemwas able to follow the set point by varying the U.S. intensity within preset constraints. The system simulated model is viable and it showed a high average fit when stimulated with variable input variations, indicating the robustness of the nonlinear model. By maintaining a constant release of the drug so that the concentration level is above a certain threshold, we hope to reduce cancer resistance towards chemotherapeutic agents.
Decentralized neural control application to robotics
Garcia-Hernandez, Ramon; Sanchez, Edgar N; Alanis, Alma y; Ruz-Hernandez, Jose A
2017-01-01
This book provides a decentralized approach for the identification and control of robotics systems. It also presents recent research in decentralized neural control and includes applications to robotics. Decentralized control is free from difficulties due to complexity in design, debugging, data gathering and storage requirements, making it preferable for interconnected systems. Furthermore, as opposed to the centralized approach, it can be implemented with parallel processors. This approach deals with four decentralized control schemes, which are able to identify the robot dynamics. The training of each neural network is performed on-line using an extended Kalman filter (EKF). The first indirect decentralized control scheme applies the discrete-time block control approach, to formulate a nonlinear sliding manifold. The second direct decentralized neural control scheme is based on the backstepping technique, approximated by a high order neural network. The third control scheme applies a decentralized neural i...
Optoelectronic Implementation of Neural Networks
Indian Academy of Sciences (India)
Home; Journals; Resonance – Journal of Science Education; Volume 3; Issue 9. Optoelectronic Implementation of Neural Networks - Use of Optics in Computing. R Ramachandran. General Article Volume 3 Issue 9 September 1998 pp 45-55. Fulltext. Click here to view fulltext PDF. Permanent link:
Aphasia Classification Using Neural Networks
DEFF Research Database (Denmark)
Axer, H.; Jantzen, Jan; Berks, G.
2000-01-01
A web-based software model (http://fuzzy.iau.dtu.dk/aphasia.nsf) was developed as an example for classification of aphasia using neural networks. Two multilayer perceptrons were used to classify the type of aphasia (Broca, Wernicke, anomic, global) according to the results in some subtests...
Directory of Open Access Journals (Sweden)
Yiming Jiang
2016-01-01
Full Text Available Over the last few decades, the intelligent control methods such as fuzzy logic control (FLC and neural network (NN control have been successfully used in various applications. The rapid development of digital computer based control systems requires control signals to be calculated in a digital or discrete-time form. In this background, the intelligent control methods developed for discrete-time systems have drawn great attentions. This survey aims to present a summary of the state of the art of the design of FLC and NN-based intelligent control for discrete-time systems. For discrete-time FLC systems, numerous remarkable design approaches are introduced and a series of efficient methods to deal with the robustness, stability, and time delay of FLC discrete-time systems are recommended. Techniques for NN-based intelligent control for discrete-time systems, such as adaptive methods and adaptive dynamic programming approaches, are also reviewed. Overall, this paper is devoted to make a brief summary for recent progresses in FLC and NN-based intelligent control design for discrete-time systems as well as to present our thoughts and considerations of recent trends and potential research directions in this area.
Fuzzy logic and neural network technologies
Villarreal, James A.; Lea, Robert N.; Savely, Robert T.
1992-01-01
Applications of fuzzy logic technologies in NASA projects are reviewed to examine their advantages in the development of neural networks for aerospace and commercial expert systems and control. Examples of fuzzy-logic applications include a 6-DOF spacecraft controller, collision-avoidance systems, and reinforcement-learning techniques. The commercial applications examined include a fuzzy autofocusing system, an air conditioning system, and an automobile transmission application. The practical use of fuzzy logic is set in the theoretical context of artificial neural systems (ANSs) to give the background for an overview of ANS research programs at NASA. The research and application programs include the Network Execution and Training Simulator and faster training algorithms such as the Difference Optimized Training Scheme. The networks are well suited for pattern-recognition applications such as predicting sunspots, controlling posture maintenance, and conducting adaptive diagnoses.
Analysis of neural networks through base functions
van der Zwaag, B.J.; Slump, Cornelis H.; Spaanenburg, L.
Problem statement. Despite their success-story, neural networks have one major disadvantage compared to other techniques: the inability to explain comprehensively how a trained neural network reaches its output; neural networks are not only (incorrectly) seen as a "magic tool" but possibly even more
Novel quantum inspired binary neural network algorithm
Indian Academy of Sciences (India)
In this paper, a quantum based binary neural network algorithm is proposed, named as novel quantum binary neural network algorithm (NQ-BNN). It forms a neural network structure by deciding weights and separability parameter in quantum based manner. Quantum computing concept represents solution probabilistically ...
Material procedure quality forecast based on genetic BP neural network
Zheng, Bao-Hua
2017-07-01
Material procedure quality forecast plays an important role in quality control. This paper proposes a prediction model based on genetic algorithm (GA) and back propagation (BP) neural network. It can obtain the initial weights and thresholds of optimized BP neural network with the GA global search ability. A material process quality prediction model with the optimized BP neural network is adopted to predict the error of future process to measure the accuracy of process quality. The results show that the proposed method has the advantages of high accuracy and fast convergence rate compared with BP neural network.
Neural network models: Insights and prescriptions from practical applications
Energy Technology Data Exchange (ETDEWEB)
Samad, T. [Honeywell Technology Center, Minneapolis, MN (United States)
1995-12-31
Neural networks are no longer just a research topic; numerous applications are now testament to their practical utility. In the course of developing these applications, researchers and practitioners have been faced with a variety of issues. This paper briefly discusses several of these, noting in particular the rich connections between neural networks and other, more conventional technologies. A more comprehensive version of this paper is under preparation that will include illustrations on real examples. Neural networks are being applied in several different ways. Our focus here is on neural networks as modeling technology. However, much of the discussion is also relevant to other types of applications such as classification, control, and optimization.
Stamova, Ivanka; Stamov, Gani
2017-12-01
In this paper, we propose a fractional-order neural network system with time-varying delays and reaction-diffusion terms. We first develop a new Mittag-Leffler synchronization strategy for the controlled nodes via impulsive controllers. Using the fractional Lyapunov method sufficient conditions are given. We also study the global Mittag-Leffler synchronization of two identical fractional impulsive reaction-diffusion neural networks using linear controllers, which was an open problem even for integer-order models. Since the Mittag-Leffler stability notion is a generalization of the exponential stability concept for fractional-order systems, our results extend and improve the exponential impulsive control theory of neural network system with time-varying delays and reaction-diffusion terms to the fractional-order case. The fractional-order derivatives allow us to model the long-term memory in the neural networks, and thus the present research provides with a conceptually straightforward mathematical representation of rather complex processes. Illustrative examples are presented to show the validity of the obtained results. We show that by means of appropriate impulsive controllers we can realize the stability goal and to control the qualitative behavior of the states. An image encryption scheme is extended using fractional derivatives. Copyright © 2017 Elsevier Ltd. All rights reserved.
Directory of Open Access Journals (Sweden)
Fengxia Xu
2014-01-01
Full Text Available U-model can approximate a large class of smooth nonlinear time-varying delay system to any accuracy by using time-varying delay parameters polynomial. This paper proposes a new approach, namely, U-model approach, to solving the problems of analysis and synthesis for nonlinear systems. Based on the idea of discrete-time U-model with time-varying delay, the identification algorithm of adaptive neural network is given for the nonlinear model. Then, the controller is designed by using the Newton-Raphson formula and the stability analysis is given for the closed-loop nonlinear systems. Finally, illustrative examples are given to show the validity and applicability of the obtained results.
Wang, Leimin; Shen, Yi; Zhang, Guodong
2016-10-01
This paper is concerned with the synchronization problem for a class of switched neural networks (SNNs) with time-varying delays. First, a new crucial lemma which includes and extends the classical exponential stability theorem is constructed. Then by using the lemma, new algebraic criteria of ψ -type synchronization (synchronization with general decay rate) for SNNs are established via the designed nonlinear feedback control. The ψ -type synchronization which is in a general framework is obtained by introducing a ψ -type function. It contains exponential synchronization, polynomial synchronization, and other synchronization as its special cases. The results of this paper are general, and they also complement and extend some previous results. Finally, numerical simulations are carried out to demonstrate the effectiveness of the obtained results.
Zhang, Bitao; Pi, YouGuo
2013-07-01
The traditional integer order proportional-integral-differential (IO-PID) controller is sensitive to the parameter variation or/and external load disturbance of permanent magnet synchronous motor (PMSM). And the fractional order proportional-integral-differential (FO-PID) control scheme based on robustness tuning method is proposed to enhance the robustness. But the robustness focuses on the open-loop gain variation of controlled plant. In this paper, an enhanced robust fractional order proportional-plus-integral (ERFOPI) controller based on neural network is proposed. The control law of the ERFOPI controller is acted on a fractional order implement function (FOIF) of tracking error but not tracking error directly, which, according to theory analysis, can enhance the robust performance of system. Tuning rules and approaches, based on phase margin, crossover frequency specification and robustness rejecting gain variation, are introduced to obtain the parameters of ERFOPI controller. And the neural network algorithm is used to adjust the parameter of FOIF. Simulation and experimental results show that the method proposed in this paper not only achieve favorable tracking performance, but also is robust with regard to external load disturbance and parameter variation. Crown Copyright © 2013. Published by Elsevier Ltd. All rights reserved.
Directory of Open Access Journals (Sweden)
N. S. Rodionova
2015-01-01
Full Text Available Summary. Researches on increase in an expiration date of the wheat germs (WG with use of compositions of organic acids are conducted. With a research objective of influence of concentration of mixes of organic acids on change of indicators of quality at storage of the SALARY in various modes investigated quality indicators in the range of concentration of 1-7% to the mass of a product. As control the raw SALARIES served. Skilled products stored in refrigerator conditions (temperature 4-6 ºС, relative humidity of air of 75-80% and a warehouse (temperature 20-22 ºС, relative humidity of air of 70-80%. The software product on the basis of the program of training and the analysis of training of an artificial full-coherent neural network (INS in the Python 2.7 language with program libraries of mathematical processing of scientific data of "scipy" is developed. As input parameters of a neural network were considered: humidity of wheaten germs (х1, %, relative humidity of air (х2, %, ambient temperature (х3, ºС and concentration of mix of organic acids (х4, %. By means of the software, some neural networks were designed and trained. For modeling the network with two layers was used. Applying the developed and trained neural network it is possible constructed dependence у(х1, х2, х3, х4. For visualization in three-dimensional space limited amount of arguments of function by two. Results of work of neural networks y (x1, x4 with the recorded entrance parameters (x2 = 60, %, x3=20, ºC and a neural network y (x2, x3 with the recorded input parameters are presented (x1 = 15%, x4 = 5%. The received mathematical model which on the set set of certain parameters of storage, allows to receive concrete value of output parameter and to plan the storage modes in controlled environments.
Directory of Open Access Journals (Sweden)
Minghui Yu
2017-01-01
Full Text Available The global exponential antisynchronization in mean square of memristive neural networks with stochastic perturbation and mixed time-varying delays is studied in this paper. Then, two kinds of novel delay-dependent and delay-independent adaptive controllers are designed. With the ability of adapting to environment changes, the proposed controllers can modify their behaviors to achieve the best performance. In particular, on the basis of the differential inclusions theory, inequality theory, and stochastic analysis techniques, several sufficient conditions are obtained to guarantee the exponential antisynchronization between the drive system and response system. Furthermore, two numerical simulation examples are provided to the validity of the derived criteria.
Kempe, Matthias; Grunz, Andreas; Memmert, Daniel
2015-01-01
The soaring amount of data, especially spatial-temporal data, recorded in recent years demands for advanced analysis methods. Neural networks derived from self-organizing maps established themselves as a useful tool to analyse static and temporal data. In this study, we applied the merge self-organising map (MSOM) to spatio-temporal data. To do so, we investigated the ability of MSOM's to analyse spatio-temporal data and compared its performance to the common dynamical controlled network (DyCoN) approach to analyse team sport position data. The position data of 10 players were recorded via the Ubisense tracking system during a basketball game. Furthermore, three different pre-selected plays were recorded for classification. Following data preparation, the different nets were trained with the data of the first half. The training success of both networks was evaluated by achieved entropy. The second half of the basketball game was presented to both nets for automatic classification. Both approaches were able to present the trained data extremely well and to detect the pre-selected plays correctly. In conclusion, MSOMs are a useful tool to analyse spatial-temporal data, especially in team sports. By their direct inclusion of different time length of tactical patterns, they open up new opportunities within team sports.
Dynamic properties of cellular neural networks
Directory of Open Access Journals (Sweden)
Angela Slavova
1993-01-01
Full Text Available Dynamic behavior of a new class of information-processing systems called Cellular Neural Networks is investigated. In this paper we introduce a small parameter in the state equation of a cellular neural network and we seek for periodic phenomena. New approach is used for proving stability of a cellular neural network by constructing Lyapunov's majorizing equations. This algorithm is helpful for finding a map from initial continuous state space of a cellular neural network into discrete output. A comparison between cellular neural networks and cellular automata is made.
An Artificial Neural Network Modeling for Force Control System of a Robotic Pruning Machine
Directory of Open Access Journals (Sweden)
Ali Hashemi
2014-06-01
Full Text Available Nowadays, there has been an increasing application of pruning robots for planted forests due to the growing concern on the efficiency and safety issues. Power consumption and working time of agricultural machines have become important issues due to the high value of energy in modern world. In this study, different multi-layer back-propagation networks were utilized for mapping the complex and highly interactive of pruning process parameters and to predict power consumption and cutting time of a force control equipped robotic pruning machine by knowing input parameters such as: rotation speed, stalk diameter, and sensitivity coefficient. Results showed significant effects of all input parameters on output parameters except rotational speed on cutting time. Therefore, for reducing the wear of cutting system, a less rotational speed in every sensitivity coefficient should be selected.
Altered Synchronizations among Neural Networks in Geriatric Depression.
Wang, Lihong; Chou, Ying-Hui; Potter, Guy G; Steffens, David C
2015-01-01
Although major depression has been considered as a manifestation of discoordinated activity between affective and cognitive neural networks, only a few studies have examined the relationships among neural networks directly. Because of the known disconnection theory, geriatric depression could be a useful model in studying the interactions among different networks. In the present study, using independent component analysis to identify intrinsically connected neural networks, we investigated the alterations in synchronizations among neural networks in geriatric depression to better understand the underlying neural mechanisms. Resting-state fMRI data was collected from thirty-two patients with geriatric depression and thirty-two age-matched never-depressed controls. We compared the resting-state activities between the two groups in the default-mode, central executive, attention, salience, and affective networks as well as correlations among these networks. The depression group showed stronger activity than the controls in an affective network, specifically within the orbitofrontal region. However, unlike the never-depressed controls, geriatric depression group lacked synchronized/antisynchronized activity between the affective network and the other networks. Those depressed patients with lower executive function has greater synchronization between the salience network with the executive and affective networks. Our results demonstrate the effectiveness of the between-network analyses in examining neural models for geriatric depression.
Fatih Korkmaz; M.Faruk Çakır; İsmail Topaloğlu; Rıza Gürbüz
2012-01-01
The International Journal of Computer Networks & Communications (IJCNC) is a bi monthly open access peer-reviewed journal that publishes articles which contribute new results in all areas of Computer Networks & Communications.The journal focuses on all technical and practical aspects of Computer Networks & data Communications. The goal of this journal is to bring together researchers and practitioners from academia and industry to focus on advanced networking concepts and establishing new col...
Application of Neural Networks to House Pricing and Bond Rating
Daniëls, H.A.M.; Kamp, B.; Verkooijen, W.J.H.
1997-01-01
Feed forward neural networks receive a growing attention as a data modelling tool in economic classification problems. It is well-known that controlling the design of a neural network can be cumbersome. Inaccuracies may lead to a manifold of problems in the application such as higher errors due to
Directory of Open Access Journals (Sweden)
Zhe Dong
2014-02-01
Full Text Available Small modular reactors (SMRs could be beneficial in providing electricity power safely and also be viable for applications such as seawater desalination and heat production. Due to its inherent safety features, the modular high temperature gas-cooled reactor (MHTGR has been seen as one of the best candidates for building SMR-based nuclear power plants. Since the MHTGR dynamics display high nonlinearity and parameter uncertainty, it is necessary to develop a nonlinear adaptive power-level control law which is not only beneficial to the safe, stable, efficient and autonomous operation of the MHTGR, but also easy to implement practically. In this paper, based on the concept of shifted-ectropy and the physically-based control design approach, it is proved theoretically that the simple proportional-differential (PD output-feedback power-level control can provide asymptotic closed-loop stability. Then, based on the strong approximation capability of the multi-layer perceptron (MLP artificial neural network (ANN, a compensator is established to suppress the negative influence caused by system parameter uncertainty. It is also proved that the MLP-compensated PD power-level control law constituted by an experientially-tuned PD regulator and this MLP-based compensator can guarantee bounded closed-loop stability. Numerical simulation results not only verify the theoretical results, but also illustrate the high performance of this MLP-compensated PD power-level controller in suppressing the oscillation of process variables caused by system parameter uncertainty.
Directory of Open Access Journals (Sweden)
Suliang Ma
2016-11-01
Full Text Available Photovoltaic (PV systems have non-linear characteristics that generate maximum power at one particular operating point. Environmental factors such as irradiance and temperature variations greatly affect the maximum power point (MPP. Diverse offline and online techniques have been introduced for tracking the MPP. Here, to track the MPP, an augmented-state feedback linearized (AFL non-linear controller combined with an artificial neural network (ANN is proposed. This approach linearizes the non-linear characteristics in PV systems and DC/DC converters, for tracking and optimizing the PV system operation. It also reduces the dependency of the designed controller on linearized models, to provide global stability. A complete model of the PV system is simulated. The existing maximum power-point tracking (MPPT and DC/DC boost-converter controller techniques are compared with the proposed ANN method. Two case studies, which simulate realistic circumstances, are presented to demonstrate the effectiveness and superiority of the proposed method. The AFL with ANN controller can provide good dynamic operation, faster convergence speed, and fewer operating-point oscillations around the MPP. It also tracks the global maxima under different conditions, especially irradiance-mutating situations, more effectively than the conventional methods. Detailed mathematical models and a control approach for a three-phase grid-connected intelligent hybrid system are proposed using MATLAB/Simulink.
Niebur, Dagmar
1995-01-01
Electric power systems represent complex systems involving many electrical components whoseoperation has to be planned, analyzed, monitored and controlled. The time-scale of tasks in electricpower systems extends from long term planning years ahead to milliseconds in the area of control. The behavior of power systems is highly non-linear. Monitoring and control involves several hundred variables which are only partly available by measurements.
Neural Networks Methodology and Applications
Dreyfus, Gérard
2005-01-01
Neural networks represent a powerful data processing technique that has reached maturity and broad application. When clearly understood and appropriately used, they are a mandatory component in the toolbox of any engineer who wants make the best use of the available data, in order to build models, make predictions, mine data, recognize shapes or signals, etc. Ranging from theoretical foundations to real-life applications, this book is intended to provide engineers and researchers with clear methodologies for taking advantage of neural networks in industrial, financial or banking applications, many instances of which are presented in the book. For the benefit of readers wishing to gain deeper knowledge of the topics, the book features appendices that provide theoretical details for greater insight, and algorithmic details for efficient programming and implementation. The chapters have been written by experts ands seemlessly edited to present a coherent and comprehensive, yet not redundant, practically-oriented...
Research of Recurrent Dynamic Neural Networks for Adaptive Control of Complex Dynamic Systems
2010-07-08
of human brain . Neural Dynamic Associative Memory can be considered as an analogue of mechanisms of brain memory that explains processes of forming...4402.85 UAH. Total, without VAT 13164.30 UAH. Pure VAT 2632.86 UAH. Total with VAT
The LILARTI neural network system
Energy Technology Data Exchange (ETDEWEB)
Allen, J.D. Jr.; Schell, F.M.; Dodd, C.V.
1992-10-01
The material of this Technical Memorandum is intended to provide the reader with conceptual and technical background information on the LILARTI neural network system of detail sufficient to confer an understanding of the LILARTI method as it is presently allied and to facilitate application of the method to problems beyond the scope of this document. Of particular importance in this regard are the descriptive sections and the Appendices which include operating instructions, partial listings of program output and data files, and network construction information.
Directory of Open Access Journals (Sweden)
Libing Wang
2014-01-01
Full Text Available In order to control the cascaded H-bridges (CHB converter with staircase modulation strategy in a real-time manner, a real-time and closed-loop control algorithm based on artificial neural network (ANN for three-phase CHB converter is proposed in this paper. It costs little computation time and memory. It has two steps. In the first step, hierarchical particle swarm optimizer with time-varying acceleration coefficient (HPSO-TVAC algorithm is employed to minimize the total harmonic distortion (THD and generate the optimal switching angles offline. In the second step, part of optimal switching angles are used to train an ANN and the well-designed ANN can generate optimal switching angles in a real-time manner. Compared with previous real-time algorithm, the proposed algorithm is suitable for a wider range of modulation index and results in a smaller THD and a lower calculation time. Furthermore, the well-designed ANN is embedded into a closed-loop control algorithm for CHB converter with variable direct voltage (DC sources. Simulation results demonstrate that the proposed closed-loop control algorithm is able to quickly stabilize load voltage and minimize the line current’s THD (<5% when subjecting the DC sources disturbance or load disturbance. In real design stage, a switching angle pulse generation scheme is proposed and experiment results verify its correctness.
Wang, Libing; Mao, Chengxiong; Wang, Dan; Lu, Jiming; Zhang, Junfeng; Chen, Xun
2014-01-01
In order to control the cascaded H-bridges (CHB) converter with staircase modulation strategy in a real-time manner, a real-time and closed-loop control algorithm based on artificial neural network (ANN) for three-phase CHB converter is proposed in this paper. It costs little computation time and memory. It has two steps. In the first step, hierarchical particle swarm optimizer with time-varying acceleration coefficient (HPSO-TVAC) algorithm is employed to minimize the total harmonic distortion (THD) and generate the optimal switching angles offline. In the second step, part of optimal switching angles are used to train an ANN and the well-designed ANN can generate optimal switching angles in a real-time manner. Compared with previous real-time algorithm, the proposed algorithm is suitable for a wider range of modulation index and results in a smaller THD and a lower calculation time. Furthermore, the well-designed ANN is embedded into a closed-loop control algorithm for CHB converter with variable direct voltage (DC) sources. Simulation results demonstrate that the proposed closed-loop control algorithm is able to quickly stabilize load voltage and minimize the line current's THD (switching angle pulse generation scheme is proposed and experiment results verify its correctness.
Shukla, Pitamber; Basu, Ishita; Graupe, Daniel; Tuninetti, Daniela; Slavin, Konstantin V
2012-01-01
The current Food and Drug Administration approved system for the treatment of tremor disorders through Deep Brain Stimulation (DBS) of the area of the brain that controls movement, operates open-loop. It does not automatically adapt to the instantaneous patient's needs or to the progression of the disease. This paper demonstrates an adaptive closed-loop controlled DBS that, after switching off stimulation, tracks few physiological signals to predict the reappearance of tremor before the patient experiences discomfort, at which point it instructs the DBS controller to switch on stimulation again. The core of the proposed approach is a Neural Network (NN) which effectively extracts tremor predictive information from non-invasively recorded surface-electromyogram(sEMG) and accelerometer signals measured at the symptomatic extremities. A simple feed-forward back-propagation NN architecture is shown to successfully predict tremor in 31 out of 33 trials in two Parkinson's Disease patients with an overall accuracy of 75.8% and sensitivity of 92.3%. This work therefore shows that closed-loop DBS control is feasible in the near future and that it can be achieved without modifications of the electrodes implanted in the brain, i.e., is backward compatible with approved DBS systems.
Directory of Open Access Journals (Sweden)
Chih-Hong Lin
2016-06-01
Full Text Available A permanent magnet (PM synchronous generator system driven by wind turbine (WT, connected with smart grid via AC-DC converter and DC-AC converter, are controlled by the novel recurrent Chebyshev neural network (NN and amended particle swarm optimization (PSO to regulate output power and output voltage in two power converters in this study. Because a PM synchronous generator system driven by WT is an unknown non-linear and time-varying dynamic system, the on-line training novel recurrent Chebyshev NN control system is developed to regulate DC voltage of the AC-DC converter and AC voltage of the DC-AC converter connected with smart grid. Furthermore, the variable learning rate of the novel recurrent Chebyshev NN is regulated according to discrete-type Lyapunov function for improving the control performance and enhancing convergent speed. Finally, some experimental results are shown to verify the effectiveness of the proposed control method for a WT driving a PM synchronous generator system in smart grid.
Wang, Libing; Mao, Chengxiong; Wang, Dan; Lu, Jiming; Zhang, Junfeng; Chen, Xun
2014-01-01
In order to control the cascaded H-bridges (CHB) converter with staircase modulation strategy in a real-time manner, a real-time and closed-loop control algorithm based on artificial neural network (ANN) for three-phase CHB converter is proposed in this paper. It costs little computation time and memory. It has two steps. In the first step, hierarchical particle swarm optimizer with time-varying acceleration coefficient (HPSO-TVAC) algorithm is employed to minimize the total harmonic distortion (THD) and generate the optimal switching angles offline. In the second step, part of optimal switching angles are used to train an ANN and the well-designed ANN can generate optimal switching angles in a real-time manner. Compared with previous real-time algorithm, the proposed algorithm is suitable for a wider range of modulation index and results in a smaller THD and a lower calculation time. Furthermore, the well-designed ANN is embedded into a closed-loop control algorithm for CHB converter with variable direct voltage (DC) sources. Simulation results demonstrate that the proposed closed-loop control algorithm is able to quickly stabilize load voltage and minimize the line current's THD (sources disturbance or load disturbance. In real design stage, a switching angle pulse generation scheme is proposed and experiment results verify its correctness. PMID:24772025
Romani, Santina; Cevoli, Chiara; Fabbri, Angelo; Alessandrini, Laura; Dalla Rosa, Marco
2012-09-01
An electronic nose (EN) based on an array of 10 metal oxide semiconductor sensors was used, jointly with an artificial neural network (ANN), to predict coffee roasting degree. The flavor release evolution and the main physicochemical modifications (weight loss, density, moisture content, and surface color: L*, a*), during the roasting process of coffee, were monitored at different cooking times (0, 6, 8, 10, 14, 19 min). Principal component analysis (PCA) was used to reduce the dimensionality of sensors data set (600 values per sensor). The selected PCs were used as ANN input variables. Two types of ANN methods (multilayer perceptron [MLP] and general regression neural network [GRNN]) were used in order to estimate the EN signals. For both neural networks the input values were represented by scores of sensors data set PCs, while the output values were the quality parameter at different roasting times. Both the ANNs were able to well predict coffee roasting degree, giving good prediction results for both roasting time and coffee quality parameters. In particular, GRNN showed the highest prediction reliability. Actually the evaluation of coffee roasting degree is mainly a manned operation, substantially based on the empirical final color observation. For this reason it requires well-trained operators with a long professional skill. The coupling of e-nose and artificial neural networks (ANNs) may represent an effective possibility to roasting process automation and to set up a more reproducible procedure for final coffee bean quality characterization. © 2012 Institute of Food Technologists®
Directory of Open Access Journals (Sweden)
Li Zeng
2015-11-01
Full Text Available This article puts forward inductive magnetic suspension spherical active joints and has researched on its mechanism. The expression of motor’s electromagnetic torque is derived from the point of power balance of three-dimensional electromagnetic model, and on the basis of the air gap magnetic flux density distribution, we establish the joint’s mathematical model of electromagnetic levitation force. The relationship between the two of displacement, angle, and current and the transfer function expression of motor system are derived by the state equation and the inverse system theory We established the inverse system of joint’s original system using fuzzy neural network theory and simplified coupling relationship of the motor’s complex multivariable to establish ANFIS model of joint’s inverse system. An internal model controller with high robustness and stability was designed, and an internal model control joint pseudo linear system was built. According to the simulation analysis and experimental verification of the joint control system, the conclusion indicates that the rotor has quick dynamic response and high robustness.
Wheeler, Bruce C; Brewer, Gregory J
2010-03-01
Technology has advanced to where it is possible to design and grow-with predefined geometry and surprisingly good fidelity-living networks of neurons in culture dishes. Here we overview the elements of design, emphasizing the lithographic techniques that alter the cell culture surface which in turn influences the attachment and growth of the neural networks. Advanced capability in this area makes it possible to design networks of desired complexity. Other issues addressed include the influence of glial cells and media on activity and the potential for extending the designs into three dimensions. Investigators are advancing the art and science of analyzing and controlling through stimulation the function of the neural networks, including the ability to take advantage of their geometric form in order to influence functional properties.
Practical neural network recipies in C++
Masters
2014-01-01
This text serves as a cookbook for neural network solutions to practical problems using C++. It will enable those with moderate programming experience to select a neural network model appropriate to solving a particular problem, and to produce a working program implementing that network. The book provides guidance along the entire problem-solving path, including designing the training set, preprocessing variables, training and validating the network, and evaluating its performance. Though the book is not intended as a general course in neural networks, no background in neural works is assum
Neural network modeling of emotion
Levine, Daniel S.
2007-03-01
This article reviews the history and development of computational neural network modeling of cognitive and behavioral processes that involve emotion. The exposition starts with models of classical conditioning dating from the early 1970s. Then it proceeds toward models of interactions between emotion and attention. Then models of emotional influences on decision making are reviewed, including some speculative (not and not yet simulated) models of the evolution of decision rules. Through the late 1980s, the neural networks developed to model emotional processes were mainly embodiments of significant functional principles motivated by psychological data. In the last two decades, network models of these processes have become much more detailed in their incorporation of known physiological properties of specific brain regions, while preserving many of the psychological principles from the earlier models. Most network models of emotional processes so far have dealt with positive and negative emotion in general, rather than specific emotions such as fear, joy, sadness, and anger. But a later section of this article reviews a few models relevant to specific emotions: one family of models of auditory fear conditioning in rats, and one model of induced pleasure enhancing creativity in humans. Then models of emotional disorders are reviewed. The article concludes with philosophical statements about the essential contributions of emotion to intelligent behavior and the importance of quantitative theories and models to the interdisciplinary enterprise of understanding the interactions of emotion, cognition, and behavior.
MEMBRAIN NEURAL NETWORK FOR VISUAL PATTERN RECOGNITION
Directory of Open Access Journals (Sweden)
Artur Popko
2013-06-01
Full Text Available Recognition of visual patterns is one of significant applications of Artificial Neural Networks, which partially emulate human thinking in the domain of artificial intelligence. In the paper, a simplified neural approach to recognition of visual patterns is portrayed and discussed. This paper is dedicated for investigators in visual patterns recognition, Artificial Neural Networking and related disciplines. The document describes also MemBrain application environment as a powerful and easy to use neural networks’ editor and simulator supporting ANN.
UAV Trajectory Modeling Using Neural Networks
Xue, Min
2017-01-01
Massive small unmanned aerial vehicles are envisioned to operate in the near future. While there are lots of research problems need to be addressed before dense operations can happen, trajectory modeling remains as one of the keys to understand and develop policies, regulations, and requirements for safe and efficient unmanned aerial vehicle operations. The fidelity requirement of a small unmanned vehicle trajectory model is high because these vehicles are sensitive to winds due to their small size and low operational altitude. Both vehicle control systems and dynamic models are needed for trajectory modeling, which makes the modeling a great challenge, especially considering the fact that manufactures are not willing to share their control systems. This work proposed to use a neural network approach for modelling small unmanned vehicle's trajectory without knowing its control system and bypassing exhaustive efforts for aerodynamic parameter identification. As a proof of concept, instead of collecting data from flight tests, this work used the trajectory data generated by a mathematical vehicle model for training and testing the neural network. The results showed great promise because the trained neural network can predict 4D trajectories accurately, and prediction errors were less than 2:0 meters in both temporal and spatial dimensions.
Satellite image analysis using neural networks
Sheldon, Roger A.
1990-01-01
The tremendous backlog of unanalyzed satellite data necessitates the development of improved methods for data cataloging and analysis. Ford Aerospace has developed an image analysis system, SIANN (Satellite Image Analysis using Neural Networks) that integrates the technologies necessary to satisfy NASA's science data analysis requirements for the next generation of satellites. SIANN will enable scientists to train a neural network to recognize image data containing scenes of interest and then rapidly search data archives for all such images. The approach combines conventional image processing technology with recent advances in neural networks to provide improved classification capabilities. SIANN allows users to proceed through a four step process of image classification: filtering and enhancement, creation of neural network training data via application of feature extraction algorithms, configuring and training a neural network model, and classification of images by application of the trained neural network. A prototype experimentation testbed was completed and applied to climatological data.
Fuzzy neural networks: theory and applications
Gupta, Madan M.
1994-10-01
During recent years, significant advances have been made in two distinct technological areas: fuzzy logic and computational neural networks. The theory of fuzzy logic provides a mathematical framework to capture the uncertainties associated with human cognitive processes, such as thinking and reasoning. It also provides a mathematical morphology to emulate certain perceptual and linguistic attributes associated with human cognition. On the other hand, the computational neural network paradigms have evolved in the process of understanding the incredible learning and adaptive features of neuronal mechanisms inherent in certain biological species. Computational neural networks replicate, on a small scale, some of the computational operations observed in biological learning and adaptation. The integration of these two fields, fuzzy logic and neural networks, have given birth to an emerging technological field -- fuzzy neural networks. Fuzzy neural networks, have the potential to capture the benefits of these two fascinating fields, fuzzy logic and neural networks, into a single framework. The intent of this tutorial paper is to describe the basic notions of biological and computational neuronal morphologies, and to describe the principles and architectures of fuzzy neural networks. Towards this goal, we develop a fuzzy neural architecture based upon the notion of T-norm and T-conorm connectives. An error-based learning scheme is described for this neural structure.
Pediatric Nutritional Requirements Determination with Neural Networks
Karlık, Bekir; Ece, Aydın
1998-01-01
To calculate daily nutritional requirements of children, a computer program has been developed based upon neural network. Three parameters, daily protein, energy and water requirements, were calculated through trained artificial neural networks using a database of 312 children The results were compared with those of calculated from dietary requirements tables of World Health Organisation. No significant difference was found between two calculations. In conclusion, a simple neural network may ...
Bayesian regularization of neural networks.
Burden, Frank; Winkler, Dave
2008-01-01
Bayesian regularized artificial neural networks (BRANNs) are more robust than standard back-propagation nets and can reduce or eliminate the need for lengthy cross-validation. Bayesian regularization is a mathematical process that converts a nonlinear regression into a "well-posed" statistical problem in the manner of a ridge regression. The advantage of BRANNs is that the models are robust and the validation process, which scales as O(N2) in normal regression methods, such as back propagation, is unnecessary. These networks provide solutions to a number of problems that arise in QSAR modeling, such as choice of model, robustness of model, choice of validation set, size of validation effort, and optimization of network architecture. They are difficult to overtrain, since evidence procedures provide an objective Bayesian criterion for stopping training. They are also difficult to overfit, because the BRANN calculates and trains on a number of effective network parameters or weights, effectively turning off those that are not relevant. This effective number is usually considerably smaller than the number of weights in a standard fully connected back-propagation neural net. Automatic relevance determination (ARD) of the input variables can be used with BRANNs, and this allows the network to "estimate" the importance of each input. The ARD method ensures that irrelevant or highly correlated indices used in the modeling are neglected as well as showing which are the most important variables for modeling the activity data. This chapter outlines the equations that define the BRANN method plus a flowchart for producing a BRANN-QSAR model. Some results of the use of BRANNs on a number of data sets are illustrated and compared with other linear and nonlinear models.
Neural networks for nuclear spectroscopy
Energy Technology Data Exchange (ETDEWEB)
Keller, P.E.; Kangas, L.J.; Hashem, S.; Kouzes, R.T. [Pacific Northwest Lab., Richland, WA (United States)] [and others
1995-12-31
In this paper two applications of artificial neural networks (ANNs) in nuclear spectroscopy analysis are discussed. In the first application, an ANN assigns quality coefficients to alpha particle energy spectra. These spectra are used to detect plutonium contamination in the work environment. The quality coefficients represent the levels of spectral degradation caused by miscalibration and foreign matter affecting the instruments. A set of spectra was labeled with quality coefficients by an expert and used to train the ANN expert system. Our investigation shows that the expert knowledge of spectral quality can be transferred to an ANN system. The second application combines a portable gamma-ray spectrometer with an ANN. In this system the ANN is used to automatically identify, radioactive isotopes in real-time from their gamma-ray spectra. Two neural network paradigms are examined: the linear perception and the optimal linear associative memory (OLAM). A comparison of the two paradigms shows that OLAM is superior to linear perception for this application. Both networks have a linear response and are useful in determining the composition of an unknown sample when the spectrum of the unknown is a linear superposition of known spectra. One feature of this technique is that it uses the whole spectrum in the identification process instead of only the individual photo-peaks. For this reason, it is potentially more useful for processing data from lower resolution gamma-ray spectrometers. This approach has been tested with data generated by Monte Carlo simulations and with field data from sodium iodide and Germanium detectors. With the ANN approach, the intense computation takes place during the training process. Once the network is trained, normal operation consists of propagating the data through the network, which results in rapid identification of samples. This approach is useful in situations that require fast response where precise quantification is less important.
Neural network based system for equipment surveillance
Vilim, R.B.; Gross, K.C.; Wegerich, S.W.
1998-04-28
A method and system are disclosed for performing surveillance of transient signals of an industrial device to ascertain the operating state. The method and system involves the steps of reading into a memory training data, determining neural network weighting values until achieving target outputs close to the neural network output. If the target outputs are inadequate, wavelet parameters are determined to yield neural network outputs close to the desired set of target outputs and then providing signals characteristic of an industrial process and comparing the neural network output to the industrial process signals to evaluate the operating state of the industrial process. 33 figs.
Fuzzy neural network theory and application
Liu, Puyin
2004-01-01
This book systematically synthesizes research achievements in the field of fuzzy neural networks in recent years. It also provides a comprehensive presentation of the developments in fuzzy neural networks, with regard to theory as well as their application to system modeling and image restoration. Special emphasis is placed on the fundamental concepts and architecture analysis of fuzzy neural networks. The book is unique in treating all kinds of fuzzy neural networks and their learning algorithms and universal approximations, and employing simulation examples which are carefully designed to he
Pansharpening by Convolutional Neural Networks
Directory of Open Access Journals (Sweden)
Giuseppe Masi
2016-07-01
Full Text Available A new pansharpening method is proposed, based on convolutional neural networks. We adapt a simple and effective three-layer architecture recently proposed for super-resolution to the pansharpening problem. Moreover, to improve performance without increasing complexity, we augment the input by including several maps of nonlinear radiometric indices typical of remote sensing. Experiments on three representative datasets show the proposed method to provide very promising results, largely competitive with the current state of the art in terms of both full-reference and no-reference metrics, and also at a visual inspection.
Neural networks and perceptual learning
Tsodyks, Misha; Gilbert, Charles
2005-01-01
Sensory perception is a learned trait. The brain strategies we use to perceive the world are constantly modified by experience. With practice, we subconsciously become better at identifying familiar objects or distinguishing fine details in our environment. Current theoretical models simulate some properties of perceptual learning, but neglect the underlying cortical circuits. Future neural network models must incorporate the top-down alteration of cortical function by expectation or perceptual tasks. These newly found dynamic processes are challenging earlier views of static and feedforward processing of sensory information. PMID:15483598
Optimization with Potts Neural Networks
Söderberg, Bo
The Potts Neural Network approach to non-binary discrete optimization problems is described. It applies to problems that can be described as a set of elementary `multiple choice' options. Instead of the conventional binary (Ising) neurons, mean field Potts neurons, having several available states, are used to describe the elementary degrees of freedom of such problems. The dynamics consists of iterating the mean field equations with annealing until convergence. Due to its deterministic character, the method is quite fast. When applied to problems of Graph Partition and scheduling types, it produces very good solutions also for problems of considerable size.
Aktas, Elcin; Eroglu, Hakan; Kockan, Umit; Oner, Levent
2013-08-01
The purpose of this study was to apply the optimization method incorporating artificial neural network (ANN) using pH-independent release of weakly basic drug, carvedilol from HPMC-based matrix formulation. Because of weakly basic nature of carvedilol, drug shows pH-dependent solubility. The enteric polymer EUDRAGIT L100 was added formulations to overcome pH-dependent solubility of carvedilol. Effects of the Hydroxypropylmethyl cellulose (HPMC) K4M and EUDRAGIT L100 amount on drug release were investigated. For this purpose 13 kinds of formulations were prepared at three different levels of each variables. The optimization of the formulation was evaluated by using ANN method. Two formulation parameters, the amounts of HPMC K4M and Eudragit L100 at three levels (-1, 0, 1) were selected as independent/input variables. In-vitro dissolution sampling times at twelve different time points were selected as dependent/output variables. By using experimental dissolution results and amount of HPMC K4M and EUDRAGIT L100, percentage of dissolved carvedilol was predicted by ANN. Similarity factor (f2) between predicted and experimentally observed profile was calculated and f2 value was found 76.33. This value showed that there was no difference between predicted and experimentally observed drug release profile. As a result of these experiments, it was found that ANNs can be successfully used to optimize controlled release drug delivery systems.
The Laplacian spectrum of neural networks
de Lange, Siemon C.; de Reus, Marcel A.; van den Heuvel, Martijn P.
2014-01-01
The brain is a complex network of neural interactions, both at the microscopic and macroscopic level. Graph theory is well suited to examine the global network architecture of these neural networks. Many popular graph metrics, however, encode average properties of individual network elements. Complementing these “conventional” graph metrics, the eigenvalue spectrum of the normalized Laplacian describes a network's structure directly at a systems level, without referring to individual nodes or connections. In this paper, the Laplacian spectra of the macroscopic anatomical neuronal networks of the macaque and cat, and the microscopic network of the Caenorhabditis elegans were examined. Consistent with conventional graph metrics, analysis of the Laplacian spectra revealed an integrative community structure in neural brain networks. Extending previous findings of overlap of network attributes across species, similarity of the Laplacian spectra across the cat, macaque and C. elegans neural networks suggests a certain level of consistency in the overall architecture of the anatomical neural networks of these species. Our results further suggest a specific network class for neural networks, distinct from conceptual small-world and scale-free models as well as several empirical networks. PMID:24454286
Zhang, Xiaolei; Zhao, Yan; Guo, Kai; Li, Gaoliang; Deng, Nianmao
2017-01-01
The mobile satcom antenna (MSA) enables a moving vehicle to communicate with a geostationary Earth orbit satellite. To realize continuous communication, the MSA should be aligned with the satellite in both sight and polarization all the time. Because of coupling effects, unknown disturbances, sensor noises and unmodeled dynamics existing in the system, the control system should have a strong adaptability. The significant features of terminal sliding mode control method are robustness and finite time convergence, but the robustness is related to the large switching control gain which is determined by uncertain issues and can lead to chattering phenomena. Neural networks can reduce the chattering and approximate nonlinear issues. In this work, a novel B-spline curve-based B-spline neural network (BSNN) is developed. The improved BSNN has the capability of shape changing and self-adaption. In addition, the output of the proposed BSNN is applied to approximate the nonlinear function in the system. The results of simulations and experiments are also compared with those of PID method, non-singularity fast terminal sliding mode (NFTSM) control and radial basis function (RBF) neural network-based NFTSM. It is shown that the proposed method has the best performance, with reliable control precision. PMID:28452931
Zhang, Xiaolei; Zhao, Yan; Guo, Kai; Li, Gaoliang; Deng, Nianmao
2017-04-28
The mobile satcom antenna (MSA) enables a moving vehicle to communicate with a geostationary Earth orbit satellite. To realize continuous communication, the MSA should be aligned with the satellite in both sight and polarization all the time. Because of coupling effects, unknown disturbances, sensor noises and unmodeled dynamics existing in the system, the control system should have a strong adaptability. The significant features of terminal sliding mode control method are robustness and finite time convergence, but the robustness is related to the large switching control gain which is determined by uncertain issues and can lead to chattering phenomena. Neural networks can reduce the chattering and approximate nonlinear issues. In this work, a novel B-spline curve-based B-spline neural network (BSNN) is developed. The improved BSNN has the capability of shape changing and self-adaption. In addition, the output of the proposed BSNN is applied to approximate the nonlinear function in the system. The results of simulations and experiments are also compared with those of PID method, non-singularity fast terminal sliding mode (NFTSM) control and radial basis function (RBF) neural network-based NFTSM. It is shown that the proposed method has the best performance, with reliable control precision.
El-Nagar, Ahmad M; El-Bardini, Mohammad
2014-05-01
This manuscript describes the use of a hardware-in-the-loop simulation to simulate the control of a multivariable anesthesia system based on an interval type-2 fuzzy neural network (IT2FNN) controller. The IT2FNN controller consists of an interval type-2 fuzzy linguistic process as the antecedent part and an interval neural network as the consequent part. It has been proposed that the IT2FNN controller can be used for the control of a multivariable anesthesia system to minimize the effects of surgical stimulation and to overcome the uncertainty problem introduced by the large inter-individual variability of the patient parameters. The parameters of the IT2FNN controller were trained online using a back-propagation algorithm. Three experimental cases are presented. All of the experimental results show good performance for the proposed controller over a wide range of patient parameters. Additionally, the results show better performance than the type-1 fuzzy neural network (T1FNN) controller under the effect of surgical stimulation. The response of the proposed controller has a smaller settling time and a smaller overshoot compared with the T1FNN controller and the adaptive interval type-2 fuzzy logic controller (AIT2FLC). The values of the performance indices for the proposed controller are lower than those obtained for the T1FNN controller and the AIT2FLC. The IT2FNN controller is superior to the T1FNN controller for the handling of uncertain information due to the structure of type-2 fuzzy logic systems (FLSs), which are able to model and minimize the numerical and linguistic uncertainties associated with the inputs and outputs of the FLSs. Copyright © 2014 Elsevier B.V. All rights reserved.
Neural networks with discontinuous/impact activations
Akhmet, Marat
2014-01-01
This book presents as its main subject new models in mathematical neuroscience. A wide range of neural networks models with discontinuities are discussed, including impulsive differential equations, differential equations with piecewise constant arguments, and models of mixed type. These models involve discontinuities, which are natural because huge velocities and short distances are usually observed in devices modeling the networks. A discussion of the models, appropriate for the proposed applications, is also provided. This book also: Explores questions related to the biological underpinning for models of neural networks\\ Considers neural networks modeling using differential equations with impulsive and piecewise constant argument discontinuities Provides all necessary mathematical basics for application to the theory of neural networks Neural Networks with Discontinuous/Impact Activations is an ideal book for researchers and professionals in the field of engineering mathematics that have an interest in app...
Hindcasting of storm waves using neural networks
Digital Repository Service at National Institute of Oceanography (India)
Rao, S.; Mandal, S.
of any exogenous input requirement makes the network attractive. A neural network is an information processing system modeled on the structure of the human brain. Its merit is the ability to deal with fuzzy information whose interrelation is ambiguous...
UAV Trajectory Modeling Using Neural Networks
Xue, Min
2017-01-01
Large amount of small Unmanned Aerial Vehicles (sUAVs) are projected to operate in the near future. Potential sUAV applications include, but not limited to, search and rescue, inspection and surveillance, aerial photography and video, precision agriculture, and parcel delivery. sUAVs are expected to operate in the uncontrolled Class G airspace, which is at or below 500 feet above ground level (AGL), where many static and dynamic constraints exist, such as ground properties and terrains, restricted areas, various winds, manned helicopters, and conflict avoidance among sUAVs. How to enable safe, efficient, and massive sUAV operations at the low altitude airspace remains a great challenge. NASA's Unmanned aircraft system Traffic Management (UTM) research initiative works on establishing infrastructure and developing policies, requirement, and rules to enable safe and efficient sUAVs' operations. To achieve this goal, it is important to gain insights of future UTM traffic operations through simulations, where the accurate trajectory model plays an extremely important role. On the other hand, like what happens in current aviation development, trajectory modeling should also serve as the foundation for any advanced concepts and tools in UTM. Accurate models of sUAV dynamics and control systems are very important considering the requirement of the meter level precision in UTM operations. The vehicle dynamics are relatively easy to derive and model, however, vehicle control systems remain unknown as they are usually kept by manufactures as a part of intellectual properties. That brings challenges to trajectory modeling for sUAVs. How to model the vehicle's trajectories with unknown control system? This work proposes to use a neural network to model a vehicle's trajectory. The neural network is first trained to learn the vehicle's responses at numerous conditions. Once being fully trained, given current vehicle states, winds, and desired future trajectory, the neural
Drift chamber tracking with neural networks
Energy Technology Data Exchange (ETDEWEB)
Lindsey, C.S.; Denby, B.; Haggerty, H.
1992-10-01
We discuss drift chamber tracking with a commercial log VLSI neural network chip. Voltages proportional to the drift times in a 4-layer drift chamber were presented to the Intel ETANN chip. The network was trained to provide the intercept and slope of straight tracks traversing the chamber. The outputs were recorded and later compared off line to conventional track fits. Two types of network architectures were studied. Applications of neural network tracking to high energy physics detector triggers is discussed.
Neural network optimization, components, and design selection
Weller, Scott W.
1991-01-01
Neural Networks are part of a revived technology which has received a lot of hype in recent years. As is apt to happen in any hyped technology, jargon and predictions make its assimilation and application difficult. Nevertheless, Neural Networks have found use in a number of areas, working on non-trivial and non-contrived problems. For example, one net has been trained to "read", translating English text into phoneme sequences. Other applications of Neural Networks include data base manipulation and the solving of routing and classification types of optimization problems. It was their use in optimization that got me involved with Neural Networks. As it turned out, "optimization" used in this context was somewhat misleading, because while some network configurations could indeed solve certain kinds of optimization problems, the configuring or "training" of a Neural Network itself is an optimization problem, and most of the literature which talked about Neural Nets and optimization in the same breath did not speak to my goal of using Neural Nets to help solve lens optimization problems. I did eventually apply Neural Network to lens optimization, and I will touch on those results. The application of Neural Nets to the problem of lens selection was much more successful, and those results will dominate this paper.
Lei Wang; Shan Zuo; Y. D. Song; Zheng Zhou
2014-01-01
Offshore floating wind turbine (OFWT) has been a challenging research spot because of the high-quality wind power and complex load environment. This paper focuses on the research of variable torque control of offshore wind turbine on Spar floating platform. The control objective in below-rated wind speed region is to optimize the output power by tracking the optimal tip-speed ratio and ideal power curve. Aiming at the external disturbances and nonlinear uncertain dynamic systems of OFWT becau...
Radiation Behavior of Analog Neural Network Chip
Langenbacher, H.; Zee, F.; Daud, T.; Thakoor, A.
1996-01-01
A neural network experiment conducted for the Space Technology Research Vehicle (STRV-1) 1-b launched in June 1994. Identical sets of analog feed-forward neural network chips was used to study and compare the effects of space and ground radiation on the chips. Three failure mechanisms are noted.
Neural network approach to parton distributions fitting
Piccione, Andrea; Forte, Stefano; Latorre, Jose I.; Rojo, Joan; Piccione, Andrea; Rojo, Joan
2006-01-01
We will show an application of neural networks to extract information on the structure of hadrons. A Monte Carlo over experimental data is performed to correctly reproduce data errors and correlations. A neural network is then trained on each Monte Carlo replica via a genetic algorithm. Results on the proton and deuteron structure functions, and on the nonsinglet parton distribution will be shown.
Self-organization of neural networks
Energy Technology Data Exchange (ETDEWEB)
Clark, J.W.; Winston, J.V.; Rafelski, J.
1984-05-14
The plastic development of a neural-network model operating autonomously in discrete time is described by the temporal modification of interneuronal coupling strengths according to momentary neural activity. A simple algorithm (brainwashing) is found which, applied to nets with initially quasirandom connectivity, leads to model networks with properties conducive to the simulation of memory and learning phenomena. 18 references, 2 figures.
Medical image analysis with artificial neural networks.
Jiang, J; Trundle, P; Ren, J
2010-12-01
Given that neural networks have been widely reported in the research community of medical imaging, we provide a focused literature survey on recent neural network developments in computer-aided diagnosis, medical image segmentation and edge detection towards visual content analysis, and medical image registration for its pre-processing and post-processing, with the aims of increasing awareness of how neural networks can be applied to these areas and to provide a foundation for further research and practical development. Representative techniques and algorithms are explained in detail to provide inspiring examples illustrating: (i) how a known neural network with fixed structure and training procedure could be applied to resolve a medical imaging problem; (ii) how medical images could be analysed, processed, and characterised by neural networks; and (iii) how neural networks could be expanded further to resolve problems relevant to medical imaging. In the concluding section, a highlight of comparisons among many neural network applications is included to provide a global view on computational intelligence with neural networks in medical imaging. Copyright © 2010 Elsevier Ltd. All rights reserved.
Hidden neural networks: application to speech recognition
DEFF Research Database (Denmark)
Riis, Søren Kamaric
1998-01-01
We evaluate the hidden neural network HMM/NN hybrid on two speech recognition benchmark tasks; (1) task independent isolated word recognition on the Phonebook database, and (2) recognition of broad phoneme classes in continuous speech from the TIMIT database. It is shown how hidden neural networks...
Genetic Algorithm Optimized Neural Networks Ensemble as ...
African Journals Online (AJOL)
Improvements in neural network calibration models by a novel approach using neural network ensemble (NNE) for the simultaneous spectrophotometric multicomponent analysis are suggested, with a study on the estimation of the components of an antihypertensive combination, namely, atenolol and losartan potassium.
Application of Neural Networks for Energy Reconstruction
Damgov, Jordan
2002-01-01
The possibility to use Neural Networks for reconstruction ofthe energy deposited in the calorimetry system of the CMS detector is investigated. It is shown that using feed-forward neural network, good linearity, Gaussian energy distribution and good energy resolution can be achieved. Significant improvement of the energy resolution and linearity is reached in comparison with other weighting methods for energy reconstruction.
Neural Network to Solve Concave Games
Zixin Liu; Nengfa Wang
2014-01-01
The issue on neural network method to solve concave games is concerned. Combined with variational inequality, Ky Fan inequality, and projection equation, concave games are transformed into a neural network model. On the basis of the Lyapunov stable theory, some stability results are also given. Finally, two classic games’ simulation results are given to illustrate the theoretical results.
Recognizing changing seasonal patterns using neural networks
Ph.H.B.F. Franses (Philip Hans); G. Draisma (Gerrit)
1997-01-01
textabstractIn this paper we propose a graphical method based on an artificial neural network model to investigate how and when seasonal patterns in macroeconomic time series change over time. Neural networks are useful since the hidden layer units may become activated only in certain seasons or
Adaptive Neurons For Artificial Neural Networks
Tawel, Raoul
1990-01-01
Training time decreases dramatically. In improved mathematical model of neural-network processor, temperature of neurons (in addition to connection strengths, also called weights, of synapses) varied during supervised-learning phase of operation according to mathematical formalism and not heuristic rule. Evidence that biological neural networks also process information at neuronal level.
Initialization of multilayer forecasting artifical neural networks
Bochkarev, Vladimir V.; Maslennikova, Yulia S.
2014-01-01
In this paper, a new method was developed for initialising artificial neural networks predicting dynamics of time series. Initial weighting coefficients were determined for neurons analogously to the case of a linear prediction filter. Moreover, to improve the accuracy of the initialization method for a multilayer neural network, some variants of decomposition of the transformation matrix corresponding to the linear prediction filter were suggested. The efficiency of the proposed neural netwo...
Parameter estimation of an aeroelastic aircraft using neural networks
Indian Academy of Sciences (India)
Application of neural networks to the problem of aerodynamic modelling and parameter estimation for aeroelastic aircraft is addressed. A neural model capable of predicting generalized force and moment coefficients using measured motion and control variables only, without any need for conventional normal elastic ...
Directory of Open Access Journals (Sweden)
DANIEL GÓMEZ PIZANO
2011-01-01
Full Text Available La identificación de sistemas es un método que puede ser utilizado para obtener las propiedades dinámicas de un sistema estructural integrado por sensores, actuadores yun algoritmo de control, sometido a diferentes tipos de excitación. Estas propiedades dinámicas son utilizadas en varios propósitos, tales como: Actualización de modelos, Monitoreo de salud estructural y Sistemas de control. En este artículo se presenta la identificación de una estructura con un sistema de control activo colocado en la parte superior por medio de la relación entre las señales de entrada (movimiento en la base y fuerza de control y la señal de salida (respuesta de la estructura. Para esto se utiliza la respuesta en frecuencia con funciones de transferencia y se compara con las relaciones no lineales obtenidas mediante Redes Neuronales Artificiales (RNA de una entrada-una salida (SISO y de múltiples entradas-una salida (MISO. Finalmente, se demuestra que la identificación del sistema estructural MISO con RNA presenta una mejor aproximación al sistema real que las obtenidas con la matriz de transferencia conformada a partir de funciones de transferencia.
Directory of Open Access Journals (Sweden)
Yimin Wu
2016-08-01
Full Text Available In this paper, we consider the control problem of a class of uncertain fractional-order chaotic systems preceded by unknown backlash-like hysteresis nonlinearities based on backstepping control algorithm. We model the hysteresis by using a differential equation. Based on the fractional Lyapunov stability criterion and the backstepping algorithm procedures, an adaptive neural network controller is driven. No knowledge of the upper bound of the disturbance and system uncertainty is required in our controller, and the asymptotical convergence of the tracking error can be guaranteed. Finally, we give two simulation examples to confirm our theoretical results.
Energy Technology Data Exchange (ETDEWEB)
Rajagopalan, A.; Washington, G.; Rizzoni, G.; Guezennec, Y.
2003-12-01
This report describes the development of new control strategies and models for Hybrid Electric Vehicles (HEV) by the Ohio State University. The report indicates results from models created in NREL's ADvanced VehIcle SimulatOR (ADVISOR 3.2), and results of a scalable IC Engine model, called in Willan's Line technique, implemented in ADVISOR 3.2.
Implementation of neural network based non-linear predictive
DEFF Research Database (Denmark)
Sørensen, Paul Haase; Nørgård, Peter Magnus; Ravn, Ole
1998-01-01
The paper describes a control method for non-linear systems based on generalized predictive control. Generalized predictive control (GPC) was developed to control linear systems including open loop unstable and non-minimum phase systems, but has also been proposed extended for the control of non......-linear systems. GPC is model-based and in this paper we propose the use of a neural network for the modeling of the system. Based on the neural network model a controller with extended control horizon is developed and the implementation issues are discussed, with particular emphasis on an efficient Quasi......-Newton optimization algorithm. The performance is demonstrated on a pneumatic servo system....
Neural Based Orthogonal Data Fitting The EXIN Neural Networks
Cirrincione, Giansalvo
2008-01-01
Written by three leaders in the field of neural based algorithms, Neural Based Orthogonal Data Fitting proposes several neural networks, all endowed with a complete theory which not only explains their behavior, but also compares them with the existing neural and traditional algorithms. The algorithms are studied from different points of view, including: as a differential geometry problem, as a dynamic problem, as a stochastic problem, and as a numerical problem. All algorithms have also been analyzed on real time problems (large dimensional data matrices) and have shown accurate solutions. Wh
Clustering: a neural network approach.
Du, K-L
2010-01-01
Clustering is a fundamental data analysis method. It is widely used for pattern recognition, feature extraction, vector quantization (VQ), image segmentation, function approximation, and data mining. As an unsupervised classification technique, clustering identifies some inherent structures present in a set of objects based on a similarity measure. Clustering methods can be based on statistical model identification (McLachlan & Basford, 1988) or competitive learning. In this paper, we give a comprehensive overview of competitive learning based clustering methods. Importance is attached to a number of competitive learning based clustering neural networks such as the self-organizing map (SOM), the learning vector quantization (LVQ), the neural gas, and the ART model, and clustering algorithms such as the C-means, mountain/subtractive clustering, and fuzzy C-means (FCM) algorithms. Associated topics such as the under-utilization problem, fuzzy clustering, robust clustering, clustering based on non-Euclidean distance measures, supervised clustering, hierarchical clustering as well as cluster validity are also described. Two examples are given to demonstrate the use of the clustering methods.
Complex-valued Neural Networks
Hirose, Akira
This paper reviews the features and applications of complex-valued neural networks (CVNNs). First we list the present application fields, and describe the advantages of the CVNNs in two application examples, namely, an adaptive plastic-landmine visualization system and an optical frequency-domain-multiplexed learning logic circuit. Then we briefly discuss the features of complex number itself to find that the phase rotation is the most significant concept, which is very useful in processing the information related to wave phenomena such as lightwave and electromagnetic wave. The CVNNs will also be an indispensable framework of the future microelectronic information-processing hardware where the quantum electron wave plays the principal role.
Molecular imaging and neural networks in impulse control disorders in Parkinson's disease.
Aracil-Bolaños, I; Strafella, A P
2016-01-01
Impulse control disorders (ICDs) may arise in Parkinson's disease (PD) in relation to the use of dopamine agonists (DA). A dysfunction of reward circuits is considered the main underlying mechanism. Neuroimaging has been largely used in this setting to understand the structure of the reward system and its abnormalities brought by exogenous stimulation in PD. Dopaminergic changes, such as increased dopamine release, reduced dopamine transporter activity and other changes, have been shown to be a consistent feature of ICDs in PD. Beyond the striatum, alterations of prefrontal cortical function may also impact an individuals' propensity for impulsivity. Neuroimaging is advancing our knowledge of the mechanisms involved in the development of these behavioral addictions. An increased understanding of these disorders may lead to the discovery of new therapeutic targets, or the identification of risk factors for the development of these disorders. Copyright © 2015 Elsevier Ltd. All rights reserved.
Introduction to neural networks in high energy physics
Therhaag, Jan
2013-07-01
Artificial neural networks are a well established tool in high energy physics, playing an important role in both online and offline data analysis. Nevertheless they are often perceived as black boxes which perform obscure operations beyond the control of the user, resulting in a skepticism against any results that may be obtained using them. The situation is not helped by common explanations which try to draw analogies between artificial neural networks and the human brain, for the brain is an even more complex black box itself. In this introductory text, I will take a problem-oriented approach to neural network techniques, showing how the fundamental concepts arise naturally from the demand to solve classification tasks which are frequently encountered in high energy physics. Particular attention is devoted to the question how probability theory can be used to control the complexity of neural networks.
Introduction to neural networks in high energy physics
Directory of Open Access Journals (Sweden)
Therhaag Jan
2013-07-01
Full Text Available Artificial neural networks are a well established tool in high energy physics, playing an important role in both online and offline data analysis. Nevertheless they are often perceived as black boxes which perform obscure operations beyond the control of the user, resulting in a skepticism against any results that may be obtained using them. The situation is not helped by common explanations which try to draw analogies between artificial neural networks and the human brain, for the brain is an even more complex black box itself. In this introductory text, I will take a problem-oriented approach to neural network techniques, showing how the fundamental concepts arise naturally from the demand to solve classification tasks which are frequently encountered in high energy physics. Particular attention is devoted to the question how probability theory can be used to control the complexity of neural networks.
Talebi, H A; Khorasani, K; Tafazoli, S
2009-01-01
This paper presents a robust fault detection and isolation (FDI) scheme for a general class of nonlinear systems using a neural-network-based observer strategy. Both actuator and sensor faults are considered. The nonlinear system considered is subject to both state and sensor uncertainties and disturbances. Two recurrent neural networks are employed to identify general unknown actuator and sensor faults, respectively. The neural network weights are updated according to a modified backpropagation scheme. Unlike many previous methods developed in the literature, our proposed FDI scheme does not rely on availability of full state measurements. The stability of the overall FDI scheme in presence of unknown sensor and actuator faults as well as plant and sensor noise and uncertainties is shown by using the Lyapunov's direct method. The stability analysis developed requires no restrictive assumptions on the system and/or the FDI algorithm. Magnetorquer-type actuators and magnetometer-type sensors that are commonly employed in the attitude control subsystem (ACS) of low-Earth orbit (LEO) satellites for attitude determination and control are considered in our case studies. The effectiveness and capabilities of our proposed fault diagnosis strategy are demonstrated and validated through extensive simulation studies.
Kontrol Kecepatan Motor Induksi menggunakan Algoritma Backpropagation Neural Network
Directory of Open Access Journals (Sweden)
MUHAMMAD RUSWANDI DJALAL
2017-07-01
Full Text Available ABSTRAKBanyak strategi kontrol berbasis kecerdasan buatan telah diusulkan dalam penelitian seperti Fuzzy Logic dan Artificial Neural Network (ANN. Tujuan dari penelitian ini adalah untuk mendesain sebuah kontrol agar kecepatan motor induksi dapat diatur sesuai kebutuhan serta membandingkan kinerja motor induksi tanpa kontrol dan dengan kontrol. Dalam penelitian ini diusulkan sebuah metode artificial neural network untuk mengontrol kecepatan motor induksi tiga fasa. Kecepatan referensi motor diatur pada kecepatan 140 rad/s, 150 rad/s, dan 130 rad/s. Perubahan kecepatan diatur pada setiap interval 0.3 detik dan waktu simulasi maksimum adalah 0,9 detik. Kasus 1 tanpa kontrol, menunjukkan respon torka dan kecepatan dari motor induksi tiga fasa tanpa kontrol. Meskipun kecepatan motor induksi tiga fasa diatur berubah pada setiap 0,3 detik tidak akan mempengaruhi torka. Selain itu, motor induksi tiga fasa tanpa kontrol memiliki kinerja yang buruk dikarenakan kecepatan motor induksi tidak dapat diatur sesuai dengan kebutuhan. Kasus 2 dengan control backpropagation neural network, meskipun kecepatan motor induksi tiga fasa berubah pada setiap 0.3 detik tidak akan mempengaruhi torsi. Selain itu, kontrol backpropagation neural network memiliki kinerja yang baik dikarenakan kecepatan motor induksi dapat diatur sesuai dengan kebutuhan.Kata kunci: Backpropagation Neural Network (BPNN, NN Training, NN Testing, Motor.ABSTRACTMany artificial intelligence-based control strategies have been proposed in research such as Fuzzy Logic and Artificial Neural Network (ANN. The purpose of this research was design a control for the induction motor speed that could be adjusted as needed and compare the performance of induction motor without control and with control. In this research, it was proposed an artificial neural network method to control the speed of three-phase induction motors. The reference speed of motor was set at the rate of 140 rad / s, 150 rad / s, and 130
Neural Generalized Predictive Control of a non-linear Process
DEFF Research Database (Denmark)
Sørensen, Paul Haase; Nørgård, Peter Magnus; Ravn, Ole
1998-01-01
The use of neural network in non-linear control is made difficult by the fact the stability and robustness is not guaranteed and that the implementation in real time is non-trivial. In this paper we introduce a predictive controller based on a neural network model which has promising stability qu...... detail and discuss the implementation difficulties. The neural generalized predictive controller is tested on a pneumatic servo sys-tem....
Introduction to neural networks in high energy physics
Therhaag Jan
2013-01-01
Artificial neural networks are a well established tool in high energy physics, playing an important role in both online and offline data analysis. Nevertheless they are often perceived as black boxes which perform obscure operations beyond the control of the user, resulting in a skepticism against any results that may be obtained using them. The situation is not helped by common explanations which try to draw analogies between artificial neural networks and the human brain, for the brain is a...
Synchronization of fractional fuzzy cellular neural networks with interactions
Ma, Weiyuan; Li, Changpin; Wu, Yujiang; Wu, Yongqing
2017-10-01
In this paper, we introduce fuzzy theory into the fractional cellular neural networks to dynamically enhance the coupling strength and propose a fractional fuzzy neural network model with interactions. Using the Lyapunov principle of fractional differential equations, we design the adaptive control schemes to realize the synchronization and obtain the synchronization criteria. Finally, we provide some numerical examples to show the effectiveness of our obtained results.
Neural Network-Based Segmentation of Textures Using Gabor Features
Ramakrishnan, AG; Raja, Kumar S; Ram, Ragu HV
2002-01-01
The effectiveness of Gabor filters for texture segmentation is well known. In this paper, we propose a texture identification scheme, based on a neural network (NN) using Gabor features. The features are derived from both the Gabor cosine and sine filters. Through experiments, we demonstrate the effectiveness of a NN based classifier using Gabor features for identifying textures in a controlled environment. The neural network used for texture identification is based on the multilayer perceptr...
Learning Processes of Layered Neural Networks
Fujiki, Sumiyoshi; FUJIKI, Nahomi, M.
1995-01-01
A positive reinforcement type learning algorithm is formulated for a stochastic feed-forward neural network, and a learning equation similar to that of the Boltzmann machine algorithm is obtained. By applying a mean field approximation to the same stochastic feed-forward neural network, a deterministic analog feed-forward network is obtained and the back-propagation learning rule is re-derived.
Song, Shuai; Song, Xiaona; Balsera, Ines Tejado
2017-05-01
This paper investigates the mixed H∞ and passive projective synchronization problem for fractional-order (FO) memristor-based neural networks with time delays. Our aim is to design a controller such that, though the unavoidable phenomena of time delay and external disturbances is fully considered, the resulting closed-loop system is stable with a mixed H∞ and passive performance level. By combining sliding mode control and adaptive control methods, a novel adaptive sliding mode control strategy is designed for the synchronization of time-delayed FO dynamic networks. Via the application of FO system stability theory, the projective synchronization conditions are addressed in terms of linear matrix inequalities. Based on the conditions, a desired controller which can guarantee the stability of the closed-loop system and also ensure a mixed H∞ and passive performance level is designed. Finally, two simulation examples are given to illustrate the effectiveness of the proposed method.
Modular representation of layered neural networks.
Watanabe, Chihiro; Hiramatsu, Kaoru; Kashino, Kunio
2018-01-01
Layered neural networks have greatly improved the performance of various applications including image processing, speech recognition, natural language processing, and bioinformatics. However, it is still difficult to discover or interpret knowledge from the inference provided by a layered neural network, since its internal representation has many nonlinear and complex parameters embedded in hierarchical layers. Therefore, it becomes important to establish a new methodology by which layered neural networks can be understood. In this paper, we propose a new method for extracting a global and simplified structure from a layered neural network. Based on network analysis, the proposed method detects communities or clusters of units with similar connection patterns. We show its effectiveness by applying it to three use cases. (1) Network decomposition: it can decompose a trained neural network into multiple small independent networks thus dividing the problem and reducing the computation time. (2) Training assessment: the appropriateness of a trained result with a given hyperparameter or randomly chosen initial parameters can be evaluated by using a modularity index. And (3) data analysis: in practical data it reveals the community structure in the input, hidden, and output layers, which serves as a clue for discovering knowledge from a trained neural network. Copyright © 2017 Elsevier Ltd. All rights reserved.
Research of The Deeper Neural Networks
Directory of Open Access Journals (Sweden)
Xiao You Rong
2016-01-01
Full Text Available Neural networks (NNs have powerful computational abilities and could be used in a variety of applications; however, training these networks is still a difficult problem. With different network structures, many neural models have been constructed. In this report, a deeper neural networks (DNNs architecture is proposed. The training algorithm of deeper neural network insides searching the global optimal point in the actual error surface. Before the training algorithm is designed, the error surface of the deeper neural network is analyzed from simple to complicated, and the features of the error surface is obtained. Based on these characters, the initialization method and training algorithm of DNNs is designed. For the initialization, a block-uniform design method is proposed which separates the error surface into some blocks and finds the optimal block using the uniform design method. For the training algorithm, the improved gradient-descent method is proposed which adds a penalty term into the cost function of the old gradient descent method. This algorithm makes the network have a great approximating ability and keeps the network state stable. All of these improve the practicality of the neural network.
DEFF Research Database (Denmark)
Manoonpong, Poramate; Pasemann, Frank; Fischer, Joern
2005-01-01
. The parameters of these networks are optimized by an evolutionary algorithm. In addition, a simple modular neural controller then generates the desired different walking patterns such that the machine walks straight, then turns towards a switched-on sound source, and then stops near to it....... and a neural preprocessing system together with a modular neural controller are used to generate a sound tropism of a four-legged walking machine. The neural preprocessing network is acting as a low-pass filter and it is followed by a network which discerns between signals coming from the left or the right...
National Research Council Canada - National Science Library
Hechelef Mohammed; Abdelkader Meroufel
2015-01-01
... network accordingly, both strategies can manage the degraded and normal modes. The neural networks used are the back-propagation, to reduce the training patterns and increase the execution speed of the training...
Xia, Yonghui; Yang, Zijiang; Han, Maoan
2009-07-01
This paper considers the lag synchronization (LS) issue of unknown coupled chaotic delayed Yang-Yang-type fuzzy neural networks (YYFCNN) with noise perturbation. Separate research work has been published on the stability of fuzzy neural network and LS issue of unknown coupled chaotic neural networks, as well as its application in secure communication. However, there have not been any studies that integrate the two. Motivated by the achievements from both fields, we explored the benefits of integrating fuzzy logic theories into the study of LS problems and applied the findings to secure communication. Based on adaptive feedback control techniques and suitable parameter identification, several sufficient conditions are developed to guarantee the LS of coupled chaotic delayed YYFCNN with or without noise perturbation. The problem studied in this paper is more general in many aspects. Various problems studied extensively in the literature can be treated as special cases of the findings of this paper, such as complete synchronization (CS), effect of fuzzy logic, and noise perturbation. This paper presents an illustrative example and uses simulated results of this example to show the feasibility and effectiveness of the proposed adaptive scheme. This research also demonstrates the effectiveness of application of the proposed adaptive feedback scheme in secure communication by comparing chaotic masking with fuzziness with some previous studies. Chaotic signal with fuzziness is more complex, which makes unmasking more difficult due to the added fuzzy logic.
Genetic algorithm for neural networks optimization
Setyawati, Bina R.; Creese, Robert C.; Sahirman, Sidharta
2004-11-01
This paper examines the forecasting performance of multi-layer feed forward neural networks in modeling a particular foreign exchange rates, i.e. Japanese Yen/US Dollar. The effects of two learning methods, Back Propagation and Genetic Algorithm, in which the neural network topology and other parameters fixed, were investigated. The early results indicate that the application of this hybrid system seems to be well suited for the forecasting of foreign exchange rates. The Neural Networks and Genetic Algorithm were programmed using MATLAB«.
Estimation of Conditional Quantile using Neural Networks
DEFF Research Database (Denmark)
Kulczycki, P.; Schiøler, Henrik
1999-01-01
The problem of estimating conditional quantiles using neural networks is investigated here. A basic structure is developed using the methodology of kernel estimation, and a theory guaranteeing con-sistency on a mild set of assumptions is provided. The constructed structure constitutes a basis...... for the design of a variety of different neural networks, some of which are considered in detail. The task of estimating conditional quantiles is related to Bayes point estimation whereby a broad range of applications within engineering, economics and management can be suggested. Numerical results illustrating...... the capabilities of the elaborated neural network are also given....
Vectorized algorithms for spiking neural network simulation.
Brette, Romain; Goodman, Dan F M
2011-06-01
High-level languages (Matlab, Python) are popular in neuroscience because they are flexible and accelerate development. However, for simulating spiking neural networks, the cost of interpretation is a bottleneck. We describe a set of algorithms to simulate large spiking neural networks efficiently with high-level languages using vector-based operations. These algorithms constitute the core of Brian, a spiking neural network simulator written in the Python language. Vectorized simulation makes it possible to combine the flexibility of high-level languages with the computational efficiency usually associated with compiled languages.
Convolutional Neural Network for Image Recognition
Seifnashri, Sahand
2015-01-01
The aim of this project is to use machine learning techniques especially Convolutional Neural Networks for image processing. These techniques can be used for Quark-Gluon discrimination using calorimeters data, but unfortunately I didn’t manage to get the calorimeters data and I just used the Jet data fromminiaodsim(ak4 chs). The Jet data was not good enough for Convolutional Neural Network which is designed for ’image’ recognition. This report is made of twomain part, part one is mainly about implementing Convolutional Neural Network on unphysical data such as MNIST digits and CIFAR-10 dataset and part 2 is about the Jet data.
Improved Local Weather Forecasts Using Artificial Neural Networks
DEFF Research Database (Denmark)
Wollsen, Morten Gill; Jørgensen, Bo Nørregaard
2015-01-01
Solar irradiance and temperature forecasts are used in many different control systems. Such as intelligent climate control systems in commercial greenhouses, where the solar irradiance affects the use of supplemental lighting. This paper proposes a novel method to predict the forthcoming weather...... using an artificial neural network. The neural network used is a NARX network, which is known to model non-linear systems well. The predictions are compared to both a design reference year as well as commercial weather forecasts based upon numerical modelling. The results presented in this paper show...... that the network outperforms the commercial forecast for lower step aheads (forecast. However, the neural network approach is fast, fairly precise and allows for further expansion with higher resolution....
Neural Network and Letter Recognition.
Lee, Hue Yeon
Neural net architectures and learning algorithms that recognize hand written 36 alphanumeric characters are studied. The thin line input patterns written in 32 x 32 binary array are used. The system is comprised of two major components, viz. a preprocessing unit and a Recognition unit. The preprocessing unit in turn consists of three layers of neurons; the U-layer, the V-layer, and the C -layer. The functions of the U-layer is to extract local features by template matching. The correlation between the detected local features are considered. Through correlating neurons in a plane with their neighboring neurons, the V-layer would thicken the on-cells or lines that are groups of on-cells of the previous layer. These two correlations would yield some deformation tolerance and some of the rotational tolerance of the system. The C-layer then compresses data through the 'Gabor' transform. Pattern dependent choice of center and wavelengths of 'Gabor' filters is the cause of shift and scale tolerance of the system. Three different learning schemes had been investigated in the recognition unit, namely; the error back propagation learning with hidden units, a simple perceptron learning, and a competitive learning. Their performances were analyzed and compared. Since sometimes the network fails to distinguish between two letters that are inherently similar, additional ambiguity resolving neural nets are introduced on top of the above main neural net. The two dimensional Fourier transform is used as the preprocessing and the perceptron is used as the recognition unit of the ambiguity resolver. One hundred different person's handwriting sets are collected. Some of these are used as the training sets and the remainders are used as the test sets. The correct recognition rate of the system increases with the number of training sets and eventually saturates at a certain value. Similar recognition rates are obtained for the above three different learning algorithms. The minimum error
Nonequilibrium landscape theory of neural networks
Yan, Han; Zhao, Lei; Hu, Liang; Wang, Xidi; Wang, Erkang; Wang, Jin
2013-01-01
The brain map project aims to map out the neuron connections of the human brain. Even with all of the wirings mapped out, the global and physical understandings of the function and behavior are still challenging. Hopfield quantified the learning and memory process of symmetrically connected neural networks globally through equilibrium energy. The energy basins of attractions represent memories, and the memory retrieval dynamics is determined by the energy gradient. However, the realistic neural networks are asymmetrically connected, and oscillations cannot emerge from symmetric neural networks. Here, we developed a nonequilibrium landscape–flux theory for realistic asymmetrically connected neural networks. We uncovered the underlying potential landscape and the associated Lyapunov function for quantifying the global stability and function. We found the dynamics and oscillations in human brains responsible for cognitive processes and physiological rhythm regulations are determined not only by the landscape gradient but also by the flux. We found that the flux is closely related to the degrees of the asymmetric connections in neural networks and is the origin of the neural oscillations. The neural oscillation landscape shows a closed-ring attractor topology. The landscape gradient attracts the network down to the ring. The flux is responsible for coherent oscillations on the ring. We suggest the flux may provide the driving force for associations among memories. We applied our theory to rapid-eye movement sleep cycle. We identified the key regulation factors for function through global sensitivity analysis of landscape topography against wirings, which are in good agreements with experiments. PMID:24145451
Using fuzzy logic to integrate neural networks and knowledge-based systems
Yen, John
1991-01-01
Outlined here is a novel hybrid architecture that uses fuzzy logic to integrate neural networks and knowledge-based systems. The author's approach offers important synergistic benefits to neural nets, approximate reasoning, and symbolic processing. Fuzzy inference rules extend symbolic systems with approximate reasoning capabilities, which are used for integrating and interpreting the outputs of neural networks. The symbolic system captures meta-level information about neural networks and defines its interaction with neural networks through a set of control tasks. Fuzzy action rules provide a robust mechanism for recognizing the situations in which neural networks require certain control actions. The neural nets, on the other hand, offer flexible classification and adaptive learning capabilities, which are crucial for dynamic and noisy environments. By combining neural nets and symbolic systems at their system levels through the use of fuzzy logic, the author's approach alleviates current difficulties in reconciling differences between low-level data processing mechanisms of neural nets and artificial intelligence systems.
Robust Adaptive Control via Neural Linearization and Compensation
Directory of Open Access Journals (Sweden)
Roberto Carmona Rodríguez
2012-01-01
Full Text Available We propose a new type of neural adaptive control via dynamic neural networks. For a class of unknown nonlinear systems, a neural identifier-based feedback linearization controller is first used. Dead-zone and projection techniques are applied to assure the stability of neural identification. Then four types of compensator are addressed. The stability of closed-loop system is also proven.
Neural Network for Estimating Conditional Distribution
DEFF Research Database (Denmark)
Schiøler, Henrik; Kulczycki, P.
Neural networks for estimating conditional distributions and their associated quantiles are investigated in this paper. A basic network structure is developed on the basis of kernel estimation theory, and consistency is proved from a mild set of assumptions. A number of applications within...... statistcs, decision theory and signal processing are suggested, and a numerical example illustrating the capabilities of the elaborated network is given...
Person Movement Prediction Using Neural Networks
Vintan, Lucian; Gellert, Arpad; Petzold, Jan; Ungerer, Theo
2006-01-01
Ubiquitous systems use context information to adapt appliance behavior to human needs. Even more convenience is reached if the appliance foresees the user's desires and acts proactively. This paper proposes neural prediction techniques to anticipate a person's next movement. We focus on neural predictors (multi-layer perceptron with back-propagation learning) with and without pre-training. The optimal configuration of the neural network is determined by evaluating movement sequences of real p...
Deep Learning Neural Networks and Bayesian Neural Networks in Data Analysis
Chernoded, Andrey; Dudko, Lev; Myagkov, Igor; Volkov, Petr
2017-10-01
Most of the modern analyses in high energy physics use signal-versus-background classification techniques of machine learning methods and neural networks in particular. Deep learning neural network is the most promising modern technique to separate signal and background and now days can be widely and successfully implemented as a part of physical analysis. In this article we compare Deep learning and Bayesian neural networks application as a classifiers in an instance of top quark analysis.
Deep Learning Neural Networks and Bayesian Neural Networks in Data Analysis
Directory of Open Access Journals (Sweden)
Chernoded Andrey
2017-01-01
Full Text Available Most of the modern analyses in high energy physics use signal-versus-background classification techniques of machine learning methods and neural networks in particular. Deep learning neural network is the most promising modern technique to separate signal and background and now days can be widely and successfully implemented as a part of physical analysis. In this article we compare Deep learning and Bayesian neural networks application as a classifiers in an instance of top quark analysis.
Aminiazar, Wahab; Najafi, Farid; Nekoui, Mohammad Ali
2013-08-14
There is an increasing trend in using robots for medical purposes. One specific area is rehabilitation. Rehabilitation is one of the non-drug treatments in community health which means the restoration of the abilities to maximize independence. It is a prolonged work and costly labor. On the other hand, by using the flexible and efficient robots in rehabilitation area, this process will be more useful for handicapped patients. In this study, a rule-based intelligent control methodology is proposed to mimic the behavior of a healthy limb in a satisfactory way by a 2-DOF planar robot. Inverse kinematic of the planar robot will be solved by neural networks and control parameters will be optimized by genetic algorithm, as rehabilitation progress. The results of simulations are presented by defining a physiotherapy simple mode on desired trajectory. MATLAB/Simulink is used for simulations. The system is capable of learning the action of the physiotherapist for each patient and imitating this behaviour in the absence of a physiotherapist that can be called robotherapy. In this study, a therapeutic exercise planar 2-DOF robot is designed and controlled for lower-limb rehabilitation. The robot manipulator is controlled by combination of hybrid and adaptive controls. Some safety factors and stability constraints are defined and obtained. The robot is stopped when the safety factors are not satisfied. Kinematics of robot is estimated by an MLP neural network and proper control parameters are achieved using GA optimization.
Energy Technology Data Exchange (ETDEWEB)
Brito Filho, Pedro Rodrigues de; Nascimento Garcez, Jurandyr do [Para Univ., Belem, PA (Brazil). Centro Tecnologico; Charone Junior, Wady [Centrais Eletricas do Nordeste do Brasil S.A. (ELETRONORTE), Belem, PA (Brazil)
1994-12-31
This work presents an application of artificial neural network as a support to decision making in the automatic generation control (AGC) of the ELETRONORTE. It uses a software to auxiliary in the decisions in real time of the AGC. (author) 2 refs., 6 figs., 1 tab.
[Medical use of artificial neural networks].
Molnár, B; Papik, K; Schaefer, R; Dombóvári, Z; Fehér, J; Tulassay, Z
1998-01-04
The main aim of the research in medical diagnostics is to develop more exact, cost-effective and handsome systems, procedures and methods for supporting the clinicians. In their paper the authors introduce a new method that recently came into the focus referred to as artificial neural networks. Based on the literature of the past 5-6 years they give a brief review--highlighting the most important ones--showing the idea behind neural networks, what they are used for in the medical field. The definition, structure and operation of neural networks are discussed. In the application part they collect examples in order to give an insight in the neural network application research. It is emphasised that in the near future basically new diagnostic equipment can be developed based on this new technology in the field of ECG, EEG and macroscopic and microscopic image analysis systems.
Application of neural networks in coastal engineering
Digital Repository Service at National Institute of Oceanography (India)
Mandal, S.
methods. That is why it is becoming popular in various fields including coastal engineering. Waves and tides will play important roles in coastal erosion or accretion. This paper briefly describes the back-propagation neural networks and its application...
Blood glucose prediction using neural network
Soh, Chit Siang; Zhang, Xiqin; Chen, Jianhong; Raveendran, P.; Soh, Phey Hong; Yeo, Joon Hock
2008-02-01
We used neural network for blood glucose level determination in this study. The data set used in this study was collected using a non-invasive blood glucose monitoring system with six laser diodes, each laser diode operating at distinct near infrared wavelength between 1500nm and 1800nm. The neural network is specifically used to determine blood glucose level of one individual who participated in an oral glucose tolerance test (OGTT) session. Partial least squares regression is also used for blood glucose level determination for the purpose of comparison with the neural network model. The neural network model performs better in the prediction of blood glucose level as compared with the partial least squares model.
PREDIKSI FOREX MENGGUNAKAN MODEL NEURAL NETWORK
Directory of Open Access Journals (Sweden)
R. Hadapiningradja Kusumodestoni
2015-11-01
Full Text Available ABSTRAK Prediksi adalah salah satu teknik yang paling penting dalam menjalankan bisnis forex. Keputusan dalam memprediksi adalah sangatlah penting, karena dengan prediksi dapat membantu mengetahui nilai forex di waktu tertentu kedepan sehingga dapat mengurangi resiko kerugian. Tujuan dari penelitian ini dimaksudkan memprediksi bisnis fores menggunakan model neural network dengan data time series per 1 menit untuk mengetahui nilai akurasi prediksi sehingga dapat mengurangi resiko dalam menjalankan bisnis forex. Metode penelitian pada penelitian ini meliputi metode pengumpulan data kemudian dilanjutkan ke metode training, learning, testing menggunakan neural network. Setelah di evaluasi hasil penelitian ini menunjukan bahwa penerapan algoritma Neural Network mampu untuk memprediksi forex dengan tingkat akurasi prediksi 0.431 +/- 0.096 sehingga dengan prediksi ini dapat membantu mengurangi resiko dalam menjalankan bisnis forex. Kata kunci: prediksi, forex, neural network.
Using Neural Networks in Diagnosing Breast Cancer
National Research Council Canada - National Science Library
Fogel, David
1997-01-01
.... In the current study, evolutionary programming is used to train neural networks and linear discriminant models to detect breast cancer in suspicious and microcalcifications using radiographic features and patient age...
Isolated Speech Recognition Using Artificial Neural Networks
National Research Council Canada - National Science Library
Polur, Prasad
2001-01-01
.... A small size vocabulary containing the words YES and NO is chosen. Spectral features using cepstral analysis are extracted per frame and imported to a feedforward neural network which uses a backpropagation with momentum training algorithm...
Artificial neural networks a practical course
da Silva, Ivan Nunes; Andrade Flauzino, Rogerio; Liboni, Luisa Helena Bartocci; dos Reis Alves, Silas Franco
2017-01-01
This book provides comprehensive coverage of neural networks, their evolution, their structure, the problems they can solve, and their applications. The first half of the book looks at theoretical investigations on artificial neural networks and addresses the key architectures that are capable of implementation in various application scenarios. The second half is designed specifically for the production of solutions using artificial neural networks to solve practical problems arising from different areas of knowledge. It also describes the various implementation details that were taken into account to achieve the reported results. These aspects contribute to the maturation and improvement of experimental techniques to specify the neural network architecture that is most appropriate for a particular application scope. The book is appropriate for students in graduate and upper undergraduate courses in addition to researchers and professionals.
Constructive autoassociative neural network for facial recognition.
Directory of Open Access Journals (Sweden)
Bruno J T Fernandes
Full Text Available Autoassociative artificial neural networks have been used in many different computer vision applications. However, it is difficult to define the most suitable neural network architecture because this definition is based on previous knowledge and depends on the problem domain. To address this problem, we propose a constructive autoassociative neural network called CANet (Constructive Autoassociative Neural Network. CANet integrates the concepts of receptive fields and autoassociative memory in a dynamic architecture that changes the configuration of the receptive fields by adding new neurons in the hidden layer, while a pruning algorithm removes neurons from the output layer. Neurons in the CANet output layer present lateral inhibitory connections that improve the recognition rate. Experiments in face recognition and facial expression recognition show that the CANet outperforms other methods presented in the literature.
Genetic Algorithm Optimized Neural Networks Ensemble as ...
African Journals Online (AJOL)
NJD
Genetic Algorithm Optimized Neural Networks Ensemble as. Calibration Model for Simultaneous Spectrophotometric. Estimation of Atenolol and Losartan Potassium in Tablets. Dondeti Satyanarayana*, Kamarajan Kannan and Rajappan Manavalan. Department of Pharmacy, Annamalai University, Annamalainagar, Tamil ...
Neural network structure for navigation using potential fields
Plumer, Edward S.
1992-01-01
A hybrid-network method for obstacle avoidance in the truck-backing system of D. Nguyen and B. Widrow (1989) is presented. A neural network technique for vehicle navigation and control in the presence of obstacles has been developed. A potential function which peaks at the surface of obstacles and has its minimum at the proper vehicle destination is computed using a network structure. The field is guaranteed not to have spurious local minima and does not have the property of flattening-out far from the goal. A feedforward neural network is used to control the steering of the vehicle using local field information. The network is trained in an obstacle-free space to follow the negative gradient of the field, after which the network is able to control and navigate the truck to its target destination in a space of obstacles which may be stationary or movable.
Applications of Pulse-Coupled Neural Networks
Ma, Yide; Wang, Zhaobin
2011-01-01
"Applications of Pulse-Coupled Neural Networks" explores the fields of image processing, including image filtering, image segmentation, image fusion, image coding, image retrieval, and biometric recognition, and the role of pulse-coupled neural networks in these fields. This book is intended for researchers and graduate students in artificial intelligence, pattern recognition, electronic engineering, and computer science. Prof. Yide Ma conducts research on intelligent information processing, biomedical image processing, and embedded system development at the School of Information Sci
Neural networks as models of psychopathology.
Aakerlund, L; Hemmingsen, R
1998-04-01
Neural network modeling is situated between neurobiology, cognitive science, and neuropsychology. The structural and functional resemblance with biological computation has made artificial neural networks (ANN) useful for exploring the relationship between neurobiology and computational performance, i.e., cognition and behavior. This review provides an introduction to the theory of ANN and how they have linked theories from neurobiology and psychopathology in schizophrenia, affective disorders, and dementia.
A neural network simulation package in CLIPS
Bhatnagar, Himanshu; Krolak, Patrick D.; Mcgee, Brenda J.; Coleman, John
1990-01-01
The intrinsic similarity between the firing of a rule and the firing of a neuron has been captured in this research to provide a neural network development system within an existing production system (CLIPS). A very important by-product of this research has been the emergence of an integrated technique of using rule based systems in conjunction with the neural networks to solve complex problems. The systems provides a tool kit for an integrated use of the two techniques and is also extendible to accommodate other AI techniques like the semantic networks, connectionist networks, and even the petri nets. This integrated technique can be very useful in solving complex AI problems.
Logarithmic learning for generalized classifier neural network.
Ozyildirim, Buse Melis; Avci, Mutlu
2014-12-01
Generalized classifier neural network is introduced as an efficient classifier among the others. Unless the initial smoothing parameter value is close to the optimal one, generalized classifier neural network suffers from convergence problem and requires quite a long time to converge. In this work, to overcome this problem, a logarithmic learning approach is proposed. The proposed method uses logarithmic cost function instead of squared error. Minimization of this cost function reduces the number of iterations used for reaching the minima. The proposed method is tested on 15 different data sets and performance of logarithmic learning generalized classifier neural network is compared with that of standard one. Thanks to operation range of radial basis function included by generalized classifier neural network, proposed logarithmic approach and its derivative has continuous values. This makes it possible to adopt the advantage of logarithmic fast convergence by the proposed learning method. Due to fast convergence ability of logarithmic cost function, training time is maximally decreased to 99.2%. In addition to decrease in training time, classification performance may also be improved till 60%. According to the test results, while the proposed method provides a solution for time requirement problem of generalized classifier neural network, it may also improve the classification accuracy. The proposed method can be considered as an efficient way for reducing the time requirement problem of generalized classifier neural network. Copyright © 2014 Elsevier Ltd. All rights reserved.
Diabetic retinopathy screening using deep neural network.
Ramachandran, Nishanthan; Hong, Sheng Chiong; Sime, Mary J; Wilson, Graham A
2017-09-07
There is a burgeoning interest in the use of deep neural network in diabetic retinal screening. To determine whether a deep neural network could satisfactorily detect diabetic retinopathy that requires referral to an ophthalmologist from a local diabetic retinal screening programme and an international database. Retrospective audit. Diabetic retinal photos from Otago database photographed during October 2016 (485 photos), and 1200 photos from Messidor international database. Receiver operating characteristic curve to illustrate the ability of a deep neural network to identify referable diabetic retinopathy (moderate or worse diabetic retinopathy or exudates within one disc diameter of the fovea). Area under the receiver operating characteristic curve, sensitivity and specificity. For detecting referable diabetic retinopathy, the deep neural network had an area under receiver operating characteristic curve of 0.901 (95% confidence interval 0.807-0.995), with 84.6% sensitivity and 79.7% specificity for Otago and 0.980 (95% confidence interval 0.973-0.986), with 96.0% sensitivity and 90.0% specificity for Messidor. This study has shown that a deep neural network can detect referable diabetic retinopathy with sensitivities and specificities close to or better than 80% from both an international and a domestic (New Zealand) database. We believe that deep neural networks can be integrated into community screening once they can successfully detect both diabetic retinopathy and diabetic macular oedema. © 2017 Royal Australian and New Zealand College of Ophthalmologists.
Symbolic processing in neural networks
Neto, João Pedro; Hava T Siegelmann; Costa,J.Félix
2003-01-01
In this paper we show that programming languages can be translated into recurrent (analog, rational weighted) neural nets. Implementation of programming languages in neural nets turns to be not only theoretical exciting, but has also some practical implications in the recent efforts to merge symbolic and sub symbolic computation. To be of some use, it should be carried in a context of bounded resources. Herein, we show how to use resource bounds to speed up computations over neural nets, thro...
Hindcasting cyclonic waves using neural networks
Digital Repository Service at National Institute of Oceanography (India)
Mandal, S.; Rao, S.; Chakravarty, N.V.
the backpropagation networks with updated algorithms are used in this paper. A brief description about the working of a back propagation neural network and three updated algorithms is given below. Backpropagation learning: Backpropagation is the most widely used... algorithm for supervised learning with multi layer feed forward networks. The idea of the backpropagation learning algorithm is the repeated application of the chain rule to compute the influence of each weight in the network with respect to an arbitrary...
Wang, L. M.
2017-09-01
A novel model-free adaptive sliding mode strategy is proposed for a generalized projective synchronization (GPS) between two entirely unknown fractional-order chaotic systems subject to the external disturbances. To solve the difficulties from the little knowledge about the master-slave system and to overcome the bad effects of the external disturbances on the generalized projective synchronization, the radial basis function neural networks are used to approach the packaged unknown master system and the packaged unknown slave system (including the external disturbances). Consequently, based on the slide mode technology and the neural network theory, a model-free adaptive sliding mode controller is designed to guarantee asymptotic stability of the generalized projective synchronization error. The main contribution of this paper is that a control strategy is provided for the generalized projective synchronization between two entirely unknown fractional-order chaotic systems subject to the unknown external disturbances, and the proposed control strategy only requires that the master system has the same fractional orders as the slave system. Moreover, the proposed method allows us to achieve all kinds of generalized projective chaos synchronizations by turning the user-defined parameters onto the desired values. Simulation results show the effectiveness of the proposed method and the robustness of the controlled system.
Dharani, S; Rakkiyappan, R; Cao, Jinde; Alsaedi, Ahmed
2017-08-01
This paper explores the problem of synchronization of a class of generalized reaction-diffusion neural networks with mixed time-varying delays. The mixed time-varying delays under consideration comprise of both discrete and distributed delays. Due to the development and merits of digital controllers, sampled-data control is a natural choice to establish synchronization in continuous-time systems. Using a newly introduced integral inequality, less conservative synchronization criteria that assure the global asymptotic synchronization of the considered generalized reaction-diffusion neural network and mixed delays are established in terms of linear matrix inequalities (LMIs). The obtained easy-to-test LMI-based synchronization criteria depends on the delay bounds in addition to the reaction-diffusion terms, which is more practicable. Upon solving these LMIs by using Matlab LMI control toolbox, a desired sampled-data controller gain can be acuqired without any difficulty. Finally, numerical examples are exploited to express the validity of the derived LMI-based synchronization criteria.
Robust adaptive fuzzy neural tracking control for a class of unknown ...
Indian Academy of Sciences (India)
In this paper, an adaptive fuzzy neural controller (AFNC) for a class of unknown chaotic systems is proposed. The proposed AFNC is comprised of a fuzzy neural controller and a robust controller. The fuzzy neural controller including a fuzzy neural network identiﬁer (FNNI) is the principal controller. The FNNI is used for ...
Artificial astrocytes improve neural network performance.
Porto-Pazos, Ana B; Veiguela, Noha; Mesejo, Pablo; Navarrete, Marta; Alvarellos, Alberto; Ibáñez, Oscar; Pazos, Alejandro; Araque, Alfonso
2011-04-19
Compelling evidence indicates the existence of bidirectional communication between astrocytes and neurons. Astrocytes, a type of glial cells classically considered to be passive supportive cells, have been recently demonstrated to be actively involved in the processing and regulation of synaptic information, suggesting that brain function arises from the activity of neuron-glia networks. However, the actual impact of astrocytes in neural network function is largely unknown and its application in artificial intelligence remains untested. We have investigated the consequences of including artificial astrocytes, which present the biologically defined properties involved in astrocyte-neuron communication, on artificial neural network performance. Using connectionist systems and evolutionary algorithms, we have compared the performance of artificial neural networks (NN) and artificial neuron-glia networks (NGN) to solve classification problems. We show that the degree of success of NGN is superior to NN. Analysis of performances of NN with different number of neurons or different architectures indicate that the effects of NGN cannot be accounted for an increased number of network elements, but rather they are specifically due to astrocytes. Furthermore, the relative efficacy of NGN vs. NN increases as the complexity of the network increases. These results indicate that artificial astrocytes improve neural network performance, and established the concept of Artificial Neuron-Glia Networks, which represents a novel concept in Artificial Intelligence with implications in computational science as well as in the understanding of brain function.
Parametric Identification of Aircraft Loads: An Artificial Neural Network Approach
2016-03-30
Undergraduate Student Paper Postgraduate Student Paper Parametric Identification of Aircraft Loads: An Artificial Neural Network Approach...monitoring, flight parameter, nonlinear modeling, Artificial Neural Network , typical loadcase. Introduction Aircraft load monitoring is an... Neural Networks (ANN), i.e. the BP network and Kohonen Clustering Network , are applied and revised by Kalman Filter and Genetic Algorithm to build
Neural networks in support of manned space
Werbos, Paul J.
1989-01-01
Many lobbyists in Washington have argued that artificial intelligence (AI) is an alternative to manned space activity. In actuality, this is the opposite of the truth, especially as regards artificial neural networks (ANNs), that form of AI which has the greatest hope of mimicking human abilities in learning, ability to interface with sensors and actuators, flexibility and balanced judgement. ANNs and their relation to expert systems (the more traditional form of AI), and the limitations of both technologies are briefly reviewed. A Few highlights of recent work on ANNs, including an NSF-sponsored workshop on ANNs for control applications are given. Current thinking on ANNs for use in certain key areas (the National Aerospace Plane, teleoperation, the control of large structures, fault diagnostics, and docking) which may be crucial to the long term future of man in space is discussed.
Fin-and-tube condenser performance evaluation using neural networks
Energy Technology Data Exchange (ETDEWEB)
Zhao, Ling-Xiao [Institute of Refrigeration and Cryogenics, Shanghai Jiaotong University, Shanghai 200240 (China); Zhang, Chun-Lu [China R and D Center, Carrier Corporation, No. 3239 Shen Jiang Road, Shanghai 201206 (China)
2010-05-15
The paper presents neural network approach to performance evaluation of the fin-and-tube air-cooled condensers which are widely used in air-conditioning and refrigeration systems. Inputs of the neural network include refrigerant and air-flow rates, refrigerant inlet temperature and saturated temperature, and entering air dry-bulb temperature. Outputs of the neural network consist of the heating capacity and the pressure drops on both refrigerant and air sides. The multi-input multi-output (MIMO) neural network is separated into multi-input single-output (MISO) neural networks for training. Afterwards, the trained MISO neural networks are combined into a MIMO neural network, which indicates that the number of training data sets is determined by the biggest MISO neural network not the whole MIMO network. Compared with a validated first-principle model, the standard deviations of neural network models are less than 1.9%, and all errors fall into {+-}5%. (author)
Directory of Open Access Journals (Sweden)
Qiang Gao
2016-01-01
Full Text Available To satisfy the lightweight requirements of large pipe weapons, a novel electrohydraulic servo (EHS system where the hydraulic cylinder possesses three cavities is developed and investigated in the present study. In the EHS system, the balancing cavity of the EHS is especially designed for active compensation for the unbalancing force of the system, whereas the two driving cavities are employed for positioning and disturbance rejection of the large pipe. Aiming at simultaneously balancing and positioning of the EHS system, a novel neural network based active disturbance rejection control (NNADRC strategy is developed. In the NNADRC, the radial basis function (RBF neural network is employed for online updating of parameters of the extended state observer (ESO. Thereby, the nonlinear behavior and external disturbance of the system can be accurately estimated and compensated in real time. The efficiency and superiority of the system are critically investigated by conducting numerical simulations, showing that much higher steady accuracy as well as system robustness is achieved when comparing with conventional ADRC control system. It indicates that the NNADRC is a very promising technique for achieving fast, stable, smooth, and accurate control of the novel EHS system.
Prototype-Incorporated Emotional Neural Network.
Oyedotun, Oyebade K; Khashman, Adnan
2017-08-15
Artificial neural networks (ANNs) aim to simulate the biological neural activities. Interestingly, many ''engineering'' prospects in ANN have relied on motivations from cognition and psychology studies. So far, two important learning theories that have been subject of active research are the prototype and adaptive learning theories. The learning rules employed for ANNs can be related to adaptive learning theory, where several examples of the different classes in a task are supplied to the network for adjusting internal parameters. Conversely, the prototype-learning theory uses prototypes (representative examples); usually, one prototype per class of the different classes contained in the task. These prototypes are supplied for systematic matching with new examples so that class association can be achieved. In this paper, we propose and implement a novel neural network algorithm based on modifying the emotional neural network (EmNN) model to unify the prototype- and adaptive-learning theories. We refer to our new model as ``prototype-incorporated EmNN''. Furthermore, we apply the proposed model to two real-life challenging tasks, namely, static hand-gesture recognition and face recognition, and compare the result to those obtained using the popular back-propagation neural network (BPNN), emotional BPNN (EmNN), deep networks, an exemplar classification model, and k-nearest neighbor.
On sparsely connected optimal neural networks
Energy Technology Data Exchange (ETDEWEB)
Beiu, V. [Los Alamos National Lab., NM (United States); Draghici, S. [Wayne State Univ., Detroit, MI (United States)
1997-10-01
This paper uses two different approaches to show that VLSI- and size-optimal discrete neural networks are obtained for small fan-in values. These have applications to hardware implementations of neural networks, but also reveal an intrinsic limitation of digital VLSI technology: its inability to cope with highly connected structures. The first approach is based on implementing F{sub n,m} functions. The authors show that this class of functions can be implemented in VLSI-optimal (i.e., minimizing AT{sup 2}) neural networks of small constant fan-ins. In order to estimate the area (A) and the delay (T) of such networks, the following cost functions will be used: (i) the connectivity and the number-of-bits for representing the weights and thresholds--for good estimates of the area; and (ii) the fan-ins and the length of the wires--for good approximates of the delay. The second approach is based on implementing Boolean functions for which the classical Shannon`s decomposition can be used. Such a solution has already been used to prove bounds on the size of fan-in 2 neural networks. They will generalize the result presented there to arbitrary fan-in, and prove that the size is minimized by small fan-in values. Finally, a size-optimal neural network of small constant fan-ins will be suggested for F{sub n,m} functions.
Artificial neural network intelligent method for prediction
Trifonov, Roumen; Yoshinov, Radoslav; Pavlova, Galya; Tsochev, Georgi
2017-09-01
Accounting and financial classification and prediction problems are high challenge and researchers use different methods to solve them. Methods and instruments for short time prediction of financial operations using artificial neural network are considered. The methods, used for prediction of financial data as well as the developed forecasting system with neural network are described in the paper. The architecture of a neural network used four different technical indicators, which are based on the raw data and the current day of the week is presented. The network developed is used for forecasting movement of stock prices one day ahead and consists of an input layer, one hidden layer and an output layer. The training method is algorithm with back propagation of the error. The main advantage of the developed system is self-determination of the optimal topology of neural network, due to which it becomes flexible and more precise The proposed system with neural network is universal and can be applied to various financial instruments using only basic technical indicators as input data.
Estimating Conditional Distributions by Neural Networks
DEFF Research Database (Denmark)
Kulczycki, P.; Schiøler, Henrik
1998-01-01
Neural Networks for estimating conditionaldistributions and their associated quantiles are investigated in this paper. A basic network structure is developed on the basis of kernel estimation theory, and consistency property is considered from a mild set of assumptions. A number of applications...
Medical Text Classification using Convolutional Neural Networks
Hughes, Mark; Li, Irene; Kotoulas, Spyros; Suzumura, Toyotaro
2017-01-01
We present an approach to automatically classify clinical text at a sentence level. We are using deep convolutional neural networks to represent complex features. We train the network on a dataset providing a broad categorization of health information. Through a detailed evaluation, we demonstrate that our method outperforms several approaches widely used in natural language processing tasks by about 15%.
Medical Text Classification Using Convolutional Neural Networks.
Hughes, Mark; Li, Irene; Kotoulas, Spyros; Suzumura, Toyotaro
2017-01-01
We present an approach to automatically classify clinical text at a sentence level. We are using deep convolutional neural networks to represent complex features. We train the network on a dataset providing a broad categorization of health information. Through a detailed evaluation, we demonstrate that our method outperforms several approaches widely used in natural language processing tasks by about 15%.
Artificial Neural Networks and Instructional Technology.
Carlson, Patricia A.
1991-01-01
Artificial neural networks (ANN), part of artificial intelligence, are discussed. Such networks are fed sample cases (training sets), learn how to recognize patterns in the sample data, and use this experience in handling new cases. Two cognitive roles for ANNs (intelligent filters and spreading, associative memories) are examined. Prototypes…
Directory of Open Access Journals (Sweden)
Shazwani Samson
Full Text Available A predictive model of a virgin coconut oil (VCO nanoemulsion system for the topical delivery of copper peptide (an anti-aging compound was developed using an artificial neural network (ANN to investigate the factors that influence particle size. Four independent variables including the amount of VCO, Tween 80: Pluronic F68 (T80:PF68, xanthan gum and water were the inputs whereas particle size was taken as the response for the trained network. Genetic algorithms (GA were used to model the data which were divided into training sets, testing sets and validation sets. The model obtained indicated the high quality performance of the neural network and its capability to identify the critical composition factors for the VCO nanoemulsion. The main factor controlling the particle size was found out to be xanthan gum (28.56% followed by T80:PF68 (26.9%, VCO (22.8% and water (21.74%. The formulation containing copper peptide was then successfully prepared using optimum conditions and particle sizes of 120.7 nm were obtained. The final formulation exhibited a zeta potential lower than -25 mV and showed good physical stability towards centrifugation test, freeze-thaw cycle test and storage at temperature 25°C and 45°C.