scholarly journals Using 3D Convolutional Neural Networks for Tactile Object Recognition with Robotic Palpation

Sensors ◽  
2019 ◽  
Vol 19 (24) ◽  
pp. 5356 ◽  
Author(s):  
Francisco Pastor ◽  
Juan M. Gandarias ◽  
Alfonso J. García-Cerezo ◽  
Jesús M. Gómez-de-Gabriel
Keyword(s):  
Neural Networks ◽  
Tactile Sensor ◽  
Training Data ◽  
Release Process ◽  
Tactile Information ◽  
Grasping Forces ◽  
Novel Method ◽  
3D Cnn ◽  
Robotic Palpation ◽  
Exploratory Procedure

In this paper, a novel method of active tactile perception based on 3D neural networks and a high-resolution tactile sensor installed on a robot gripper is presented. A haptic exploratory procedure based on robotic palpation is performed to get pressure images at different grasping forces that provide information not only about the external shape of the object, but also about its internal features. The gripper consists of two underactuated fingers with a tactile sensor array in the thumb. A new representation of tactile information as 3D tactile tensors is described. During a squeeze-and-release process, the pressure images read from the tactile sensor are concatenated forming a tensor that contains information about the variation of pressure matrices along with the grasping forces. These tensors are used to feed a 3D Convolutional Neural Network (3D CNN) called 3D TactNet, which is able to classify the grasped object through active interaction. Results show that 3D CNN performs better, and provide better recognition rates with a lower number of training data.

scholarly journals An Efficient Algorithm for Cardiac Arrhythmia Classification Using Ensemble of Depthwise Separable Convolutional Neural Networks

2020 ◽  
Vol 10 (2) ◽  
pp. 483 ◽  
Author(s):  
Eko Ihsanto ◽  
Kalamullah Ramli ◽  
Dodi Sudiana ◽  
Teddy Surya Gunawan
Keyword(s):  
Neural Networks ◽  
Feature Extraction ◽  
Cardiac Arrhythmia ◽  
Convolutional Neural Networks ◽  
Computational Cost ◽  
Training Data ◽  
Qrs Detection ◽  
Convolutional Network ◽  
Novel Method ◽  
Electrocardiogram Ecg

Many algorithms have been developed for automated electrocardiogram (ECG) classification. Due to the non-stationary nature of the ECG signal, it is rather challenging to use traditional handcraft methods, such as time-based analysis of feature extraction and classification, to pave the way for machine learning implementation. This paper proposed a novel method, i.e., the ensemble of depthwise separable convolutional (DSC) neural networks for the classification of cardiac arrhythmia ECG beats. Using our proposed method, the four stages of ECG classification, i.e., QRS detection, preprocessing, feature extraction, and classification, were reduced to two steps only, i.e., QRS detection and classification. No preprocessing method was required while feature extraction was combined with classification. Moreover, to reduce the computational cost while maintaining its accuracy, several techniques were implemented, including All Convolutional Network (ACN), Batch Normalization (BN), and ensemble convolutional neural networks. The performance of the proposed ensemble CNNs were evaluated using the MIT-BIH arrythmia database. In the training phase, around 22% of the 110,057 beats data extracted from 48 records were utilized. Using only these 22% labeled training data, our proposed algorithm was able to classify the remaining 78% of the database into 16 classes. Furthermore, the sensitivity ( S n ), specificity ( S p ), and positive predictivity ( P p ), and accuracy ( A c c ) are 99.03%, 99.94%, 99.03%, and 99.88%, respectively. The proposed algorithm required around 180 μs, which is suitable for real time application. These results showed that our proposed method outperformed other state of the art methods.

Generative models for the transfer of knowledge in seismic interpretation with deep learning

2021 ◽  
Vol 40 (7) ◽  
pp. 534-542
Author(s):  
Ricard Durall ◽  
Valentin Tschannen ◽  
Norman Ettrich ◽  
Janis Keuper
Keyword(s):  
Neural Networks ◽  
Real Data ◽  
Generative Models ◽  
Training Data ◽  
Transfer Of Knowledge ◽  
Validation Data ◽  
Generalization Problem ◽  
Novel Method ◽  
Segmentation Task

Interpreting seismic data requires the characterization of a number of key elements such as the position of faults and main reflections, presence of structural bodies, and clustering of areas exhibiting a similar amplitude versus angle response. Manual interpretation of geophysical data is often a difficult and time-consuming task, complicated by lack of resolution and presence of noise. In recent years, approaches based on convolutional neural networks have shown remarkable results in automating certain interpretative tasks. However, these state-of-the-art systems usually need to be trained in a supervised manner, and they suffer from a generalization problem. Hence, it is highly challenging to train a model that can yield accurate results on new real data obtained with different acquisition, processing, and geology than the data used for training. In this work, we introduce a novel method that combines generative neural networks with a segmentation task in order to decrease the gap between annotated training data and uninterpreted target data. We validate our approach on two applications: the detection of diffraction events and the picking of faults. We show that when transitioning from synthetic training data to real validation data, our workflow yields superior results compared to its counterpart without the generative network.

Operational Determination of the Activated Sludge Process Using Neural Networks

1992 ◽  
Vol 26 (9-11) ◽  
pp. 2461-2464 ◽  
Author(s):  
R. D. Tyagi ◽  
Y. G. Du
Keyword(s):  
Neural Network ◽  
Neural Networks ◽  
Steady State ◽  
Activated Sludge ◽  
Feedforward Neural Network ◽  
Training Data ◽  
Activated Sludge Process

A steady-statemathematical model of an activated sludgeprocess with a secondary settler was developed. With a limited number of training data samples obtained from the simulation at steady state, a feedforward neural network was established which exhibits an excellent capability for the operational prediction and determination.

scholarly journals Improving Semi-Supervised Learning for Audio Classification with FixMatch

Electronics ◽  
2021 ◽  
Vol 10 (15) ◽  
pp. 1807
Author(s):  
Sascha Grollmisch ◽  
Estefanía Cano
Keyword(s):  
Neural Networks ◽  
Supervised Learning ◽  
Transfer Learning ◽  
Data Transfer ◽  
State Of The Art ◽  
Training Data ◽  
Audio Classification ◽  
Image Domain ◽  
Full Dataset ◽  
Audio Data

Including unlabeled data in the training process of neural networks using Semi-Supervised Learning (SSL) has shown impressive results in the image domain, where state-of-the-art results were obtained with only a fraction of the labeled data. The commonality between recent SSL methods is that they strongly rely on the augmentation of unannotated data. This is vastly unexplored for audio data. In this work, SSL using the state-of-the-art FixMatch approach is evaluated on three audio classification tasks, including music, industrial sounds, and acoustic scenes. The performance of FixMatch is compared to Convolutional Neural Networks (CNN) trained from scratch, Transfer Learning, and SSL using the Mean Teacher approach. Additionally, a simple yet effective approach for selecting suitable augmentation methods for FixMatch is introduced. FixMatch with the proposed modifications always outperformed Mean Teacher and the CNNs trained from scratch. For the industrial sounds and music datasets, the CNN baseline performance using the full dataset was reached with less than 5% of the initial training data, demonstrating the potential of recent SSL methods for audio data. Transfer Learning outperformed FixMatch only for the most challenging dataset from acoustic scene classification, showing that there is still room for improvement.

Classification and Recognition of Plant Leaf Based on Neural Networks

2011 ◽  
Vol 464 ◽  
pp. 38-42 ◽  
Author(s):  
Ping Ye ◽  
Gui Rong Weng
Keyword(s):  
Neural Networks ◽  
Fractal Dimension ◽  
Recognition Rate ◽  
Image Binarization ◽  
Characteristic Parameters ◽  
Moment Invariant ◽  
Plant Leaf ◽  
The Neural Networks ◽  
Novel Method ◽  
The Moment

This paper proposed a novel method for leaf classification and recognition. In the method, the moment invariant and fractal dimension were regarded as the characteristic parameters of the plant leaf. In order to extract the representative characteristic parameters, pretreatment of the leaf images, including RGB-gray converting, image binarization and leafstalk removing. The extracted leaf characteristic parameters were further utilized as training sets to train the neural networks. The proposed method was proved effectively to reach a recognition rate about 92% for most of the testing leaf samples

scholarly journals Experiments with Neural Networks in the Identification and Control of a Magnetic Levitation System Using a Low-Cost Platform

2021 ◽  
Vol 11 (6) ◽  
pp. 2535
Author(s):  
Bruno E. Silva ◽  
Ramiro S. Barbosa
Keyword(s):  
Neural Networks ◽  
Neural Control ◽  
Magnetic Levitation ◽  
Low Cost ◽  
Training Data ◽  
Neural Controllers ◽  
Levitation System ◽  
Internal Model Controller ◽  
Magnetic Levitation System ◽  
And Performance

In this article, we designed and implemented neural controllers to control a nonlinear and unstable magnetic levitation system composed of an electromagnet and a magnetic disk. The objective was to evaluate the implementation and performance of neural control algorithms in a low-cost hardware. In a first phase, we designed two classical controllers with the objective to provide the training data for the neural controllers. After, we identified several neural models of the levitation system using Nonlinear AutoRegressive eXogenous (NARX)-type neural networks that were used to emulate the forward dynamics of the system. Finally, we designed and implemented three neural control structures: the inverse controller, the internal model controller, and the model reference controller for the control of the levitation system. The neural controllers were tested on a low-cost Arduino control platform through MATLAB/Simulink. The experimental results proved the good performance of the neural controllers.

scholarly journals Autonomous flight cycles and extreme landings of airliners beyond the current limits and capabilities using artificial neural networks

2021 ◽  
Author(s):  
Haitham Baomar ◽  
Peter J. Bentley
Keyword(s):  
Neural Networks ◽  
Artificial Neural Networks ◽  
Weather Conditions ◽  
Extreme Weather ◽  
Training Data ◽  
Aviation Industry ◽  
Control Models ◽  
Novel Approach ◽  
Network Modules ◽  
Artificial Neural

AbstractWe describe the Intelligent Autopilot System (IAS), a fully autonomous autopilot capable of piloting large jets such as airliners by learning from experienced human pilots using Artificial Neural Networks. The IAS is capable of autonomously executing the required piloting tasks and handling the different flight phases to fly an aircraft from one airport to another including takeoff, climb, cruise, navigate, descent, approach, and land in simulation. In addition, the IAS is capable of autonomously landing large jets in the presence of extreme weather conditions including severe crosswind, gust, wind shear, and turbulence. The IAS is a potential solution to the limitations and robustness problems of modern autopilots such as the inability to execute complete flights, the inability to handle extreme weather conditions especially during approach and landing where the aircraft’s speed is relatively low, and the uncertainty factor is high, and the pilots shortage problem compared to the increasing aircraft demand. In this paper, we present the work done by collaborating with the aviation industry to provide training data for the IAS to learn from. The training data is used by Artificial Neural Networks to generate control models automatically. The control models imitate the skills of the human pilot when executing all the piloting tasks required to pilot an aircraft between two airports. In addition, we introduce new ANNs trained to control the aircraft’s elevators, elevators’ trim, throttle, flaps, and new ailerons and rudder ANNs to counter the effects of extreme weather conditions and land safely. Experiments show that small datasets containing single demonstrations are sufficient to train the IAS and achieve excellent performance by using clearly separable and traceable neural network modules which eliminate the black-box problem of large Artificial Intelligence methods such as Deep Learning. In addition, experiments show that the IAS can handle landing in extreme weather conditions beyond the capabilities of modern autopilots and even experienced human pilots. The proposed IAS is a novel approach towards achieving full control autonomy of large jets using ANN models that match the skills and abilities of experienced human pilots and beyond.

scholarly journals Localization of Scattering Objects Using Neural Networks

Sensors ◽  
2020 ◽  
Vol 21 (1) ◽  
pp. 11
Author(s):  
Domonkos Haffner ◽  
Ferenc Izsák
Keyword(s):  
Neural Networks ◽  
Plane Waves ◽  
Measurement Data ◽  
Scattered Wave ◽  
Training Data ◽  
Data Set ◽  
Main Compound ◽  
Incident Plane ◽  
The Neural Networks ◽  
Simulation Package

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

scholarly journals Estimation of electrical resistivity using artificial neural networks: a case study from Lublin Basin, SE Poland

2021 ◽  
Author(s):  
Jakub Ważny ◽  
Michał Stefaniuk ◽  
Adam Cygal
Keyword(s):  
Neural Networks ◽  
Artificial Neural Networks ◽  
Training Data ◽  
Multilayer Perceptrons ◽  
Borehole Data ◽  
Geological Interpretation ◽  
Se Poland ◽  
Geological Conditions ◽  
Artificial Neural ◽  
Reliable Solution

AbstractArtificial neural networks method (ANNs) is a common estimation tool used for geophysical applications. Considering borehole data, when the need arises to supplement a missing well log interval or whole logging—ANNs provide a reliable solution. Supervised training of the network on a reliable set of borehole data values with further application of this network on unknown wells allows creation of synthetic values of missing geophysical parameters, e.g., resistivity. The main assumptions for boreholes are: representation of similar geological conditions and the use of similar techniques of well data collection. In the analyzed case, a set of Multilayer Perceptrons were trained on five separate chronostratigraphic intervals of borehole, considered as training data. The task was to predict missing deep laterolog (LLD) logging in a borehole representing the same sequence of layers within the Lublin Basin area. Correlation between well logs data exceeded 0.8. Subsequently, magnetotelluric parametric soundings were modeled and inverted on both boreholes. Analysis showed that congenial Occam 1D models had better fitting of TM mode of MT data in each case. Ipso facto, synthetic LLD log could be considered as a basis for geophysical and geological interpretation. ANNs provided solution for supplementing datasets based on this analytical approach.

scholarly journals Laplacian networks: bounding indicator function smoothness for neural networks robustness

2021 ◽  
Vol 10 ◽  
Author(s):  
Carlos Lassance ◽  
Vincent Gripon ◽  
Antonio Ortega
Keyword(s):  
Neural Networks ◽  
Deep Learning ◽  
Supervised Learning ◽  
Indicator Function ◽  
Training Data ◽  
Theoretical Justification ◽  
The Past ◽  
Noisy Examples

For the past few years, deep learning (DL) robustness (i.e. the ability to maintain the same decision when inputs are subject to perturbations) has become a question of paramount importance, in particular in settings where misclassification can have dramatic consequences. To address this question, authors have proposed different approaches, such as adding regularizers or training using noisy examples. In this paper we introduce a regularizer based on the Laplacian of similarity graphs obtained from the representation of training data at each layer of the DL architecture. This regularizer penalizes large changes (across consecutive layers in the architecture) in the distance between examples of different classes, and as such enforces smooth variations of the class boundaries. We provide theoretical justification for this regularizer and demonstrate its effectiveness to improve robustness on classical supervised learning vision datasets for various types of perturbations. We also show it can be combined with existing methods to increase overall robustness.

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