1213875
A simplified LVI-based primal-dual neural network for repetitive motion planning of PA10 robot manipulator starting from different initial states
This paper presents a simplified primal-dual neural network based on linear variational inequalities (LVI) for online repetitive motion planning of PA10 robot manipulator. To do this, a drift-free criterion is exploited in the form of a quadratic function. In addition, the repetitive-motion-planning scheme could incorporate the joint limits and joint velocity limits simultaneously. Such a scheme is finally reformulated as a time-varying quadratic program (QP). As a QP real-time solver, the simplified LVI-based primal-dual neural network (LVI-PDNN) is designed based on the QP-LVI conversion and Karush-Kuhn-Tucker (KKT) conditions. It has a simple piecewise-linear dynamics and could globally exponentially converge to the optimal solution of strictly-convex quadratic-programs. The simplified LVI-PDNN model is simulated based on PA10 robot arm, and simulation results show the effective remedy of the joint angle drift problem of PA10 robot.
35419934
MATLAB Simulation of Gradient-Based Neural Network for Online Matrix Inversion
This paper investigates the simulation of a gradient-based recurrent neural network for online solution of the matrix-inverse problem. Several important techniques are employed as follows to simulate such a neural system. 1) Kronecker product of matrices is introduced to transform a matrix-differential-equation (MDE) to a vector-differential-equation (VDE); i.e., finally, a standard ordinary-differential-equation (ODE) is obtained. 2) MATLAB routine "ode45" is introduced to solve the transformed initial-value ODE problem. 3) In addition to various implementation errors, different kinds of activation functions are simulated to show the characteristics of such a neural network. Simulation results substantiate the theoretical analysis and efficacy of the gradient-based neural network for online constant matrix inversion.
3106142
MATLAB Simulation and Comparison of Zhang Neural Network and Gradient Neural Network for Online Solution of Linear Time-Varying Matrix Equation AXB-C=0
Different from gradient neural networks (GNN), a special kind ofrecurrent neural networks has been proposed recently by Zhanget alfor solving online linear matrix equations withtime-varying coefficients. Such recurrent neural networks, designedbased on a matrix-valued error-function, could achieve globalexponential convergence when solving online time-varying problemsin comparison with gradient neural networks. This paperinvestigates the MATLAB simulation of Zhang neural networks (ZNN)for real-time solution of linear time-varying matrix equationAXB- C= 0. Gradient neural networks aresimulated and compared as well. Simulation results substantiate thetheoretical analysis and efficacy of ZNN on linear time-varyingmatrix equation solving.
11395736
Repetitive motion of redundant robots planned by three kinds of recurrent neural networks and illustrated with a four-link planar manipulator's straight-line example
In this paper, a dual neural network, LVI (linear variational inequalities)-based primal-dual neural network and simplified LVI-based primal-dual neural network are presented for online repetitive motion planning (RMP) of redundant robot manipulators (with a four-link planar manipulator as an example). To do this, a drift-free criterion is exploited in the form of a quadratic performance index. In addition, the repetitive-motion-planning scheme could incorporate the joint physical limits such as joint limits and joint velocity limits simultaneously. Such a scheme is finally reformulated as a quadratic program (QP). As QP real-time solvers, the aforementioned three kinds of neural networks all have piecewise-linear dynamics and could globally exponentially converge to the optimal solution of strictly-convex quadratic-programs. Furthermore, the neural-network based RMP scheme is simulated based on a four-link planar robot manipulator. Computer-simulation results substantiate the theoretical analysis and also show the effective remedy of the joint angle drift problem of robot manipulators.
15986478
MATLAB Simulink Modeling and Simulation of Zhang Neural Network for Online Time-Varying Matrix Inversion
Recently, a special kind of recurrent neural networks (RNN) with implicit dynamics has been proposed by Zhang et al for online time-varying problems solving (such as time-varying matrix inversion). Such a neural-dynamic system is elegantly designed by defining a matrix-valued error function rather than the usual scalar-valued norm-based error function. Its computational error can be made decrease to zero globally and exponentially. For the final purpose of field programmable gate array (FPGA) and application-specific integrated circuit (ASIC) realization, we investigate in this paper the MATLAB Simulink modeling and simulative verification of such a Zhang neural network (ZNN). By using click-and-drag mouse operations, it is easier to model and simulate in comparison with MATLAB coding. Both convergence and robustness properties of such a ZNN model are analyzed, which substantiate the effectiveness of Zhang neural network on inverting the time-varying matrices.
14977777
Zhang neural network without using time-derivative information for constant and time-varying matrix inversion
To obtain the inverses of time-varying matrices in real time, a special kind of recurrent neural networks has recently been proposed by Zhang et al. It is proved that such a Zhang neural network (ZNN) could globally exponentially converge to the exact inverse of a given time-varying matrix. To find out the effect of time-derivative term on global convergence as well as for easier hardware-implementation purposes, the ZNN model without exploiting time-derivative information is investigated in this paper for inverting online matrices. Theoretical results of both constant matrix inversion case and time-varying matrix inversion case are presented for comparative and illustrative purposes. In order to substantiate the presented theoretical results, computer-simulation results are shown, which demonstrate the importance of time derivative term of given matrices on the exact convergence of ZNN model to time-varying matrix inverses.
15381679
A Modular Neural Network Architecture for Pattern Classification Based on Different Feature Sets
We propose a novel connectionist method for the use of different feature sets in pattern classification. Unlike traditional methods, e.g., combination of multiple classifiers and use of a composite feature set, our method copes with the problem based on an idea of soft competition on different feature sets developed in our earlier work. An alternative modular neural network architecture is proposed to provide a more effective implementation of soft competition on different feature sets. The proposed architecture is interpreted as a generalized finite mixture model and, therefore, parameter estimation is treated as a maximum likelihood problem. An EM algorithm is derived for parameter estimation and, moreover, a model selection method is proposed to fit the proposed architecture to a specific problem. Comparative results are presented for the real world problem of speaker identification.
18102767
Resilient Rights Protection for Product Data
With the development of advance manufacture applications, enterprise must interact with their suppliers and customers to share more product data information. Consequently, copyright and integrity protection over product data is becoming an urgent requirement. Product data information consists of two parts: product structure and part content, besides protecting the three-dimensional (3D) model of part by watermarking, we also need to protect product structure information, which describes the relations among product parts and can be represented as a tree. In this paper, based on the 3D polygonal meshes watermark technology, the structure/semi-structure data watermark technologies and the idea of Fractal, we propose a novel watermark scheme for tree-structure product data with the value lying both in product structure and in part node content, which gives a more comprehensive and resilient right protection for both part node content and product structure. Moreover it is particularly effective when resisting invertibility attacks
2074142
Prediction of protein structural class using novel evolutionary collocation-based sequence representation
Knowledge of structural classes is useful in understanding of folding patterns in proteins. Although existing structural class prediction methods applied virtually all state-of-the-art classifiers, many of them use a relatively simple protein sequence representation that often includes amino acid (AA) composition. To this end, we propose a novel sequence representation that incorporates evolutionary information encoded using PSI-BLAST profile-based collocation of AA pairs. We used six benchmark datasets and five representative classifiers to quantify and compare the quality of the structural class prediction with the proposed representation. The best, classifier support vector machine achieved 61-96% accuracy on the six datasets. These predictions were comprehensively compared with a wide range of recently proposed methods for prediction of structural classes. Our comprehensive comparison shows superiority of the proposed representation, which results in error rate reductions that range between 14% and 26% when compared with predictions of the best-performing, previously published classifiers on the considered datasets. The study also shows that, for the benchmark dataset that includes sequences characterized by low identity (i.e., 25%, 30%, and 40%), the prediction accuracies are 20-35% lower than for the other three datasets that include sequences with a higher degree of similarity. In conclusion, the proposed representation is shown to substantially improve the accuracy of the structural class prediction. A web server that implements the presented prediction method is freely available at http://biomine.ece.ualberta.ca/Structural_Class/SCEC.html.
28337697
Trends in Neural Computation
Hyperbolic Function Networks for Pattern Classification.- Variable Selection for the Linear Support Vector Machine.- Selecting Data for Fast Support Vector Machines Training.- Universal Approach to Study Delayed Dynamical Systems.- A Hippocampus-Neocortex Model for Chaotic Association.- Latent Attractors: A General Paradigm for Context-Dependent Neural Computation.- Learning Mechanisms in Networks of Spiking Neurons.- GTSOM: Game Theoretic Self-organizing Maps.- How to Generate Different Neural Networks.- A Gradient-Based Forward Greedy Algorithm for Space Gaussian Process Regression.- An Evolved Recurrent Neural Network and Its Application.- A Min-Max Modular Network with Gaussian-Zero-Crossing Function.- Combining Competitive Learning Networks of Various Representations for Sequential Data Clustering.- Modular Neural Networks and Their Applications in Biometrics.- Performance Analysis of Dynamic Cell Structures.- Short Term Electric Load Forecasting: A Tutorial.- Performance Improvement for Formation-Keeping Control Using a Neural Network HJI Approach.- A Robust Blind Neural Equalizer Based on Higher-Order Cumulants.- The Artificial Neural Network Applied to Servo Control System.- Robot Localization Using Vision.
10775107
An Architecture Approach to Dynamic Policy in RBAC
Dynamic policy enables the system to adjust the policies according to the changing circumstance, and makes the system more flexible and adaptive. We have proposed a dynamic model and the idea is to dynamically change the policy according to a pair of states rather than one state, which provides more information for the policy decision making, thus makes policy more accurate. The dynamic policy architecture based on this model is built in this paper, and we describe the components and steps of detecting a change, deciding the pair of current and previous states and picking up the policy according to the change.