14996476
Global exponential convergence and stability of gradient-based neural network for online matrix inversion
Wang proposed a gradient-based neural network (GNN) to solve online matrix-inverses. Global asymptotical convergence was shown for such a neural network when applied to inverting nonsingular matrices. As compared to the previously-presented asymptotical convergence, this paper investigates more desirable properties of the gradient-based neural network; e.g., global exponential convergence for nonsingular matrix inversion, and global stability even for the singular-matrix case. Illustrative simulation results further demonstrate the theoretical analysis of gradient-based neural network for online matrix inversion.
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.
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.
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.
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.
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.
24158595
A Fractal Watermark Solution for Product Data
Copyright and integrity protection over product data is becoming an urgent requirement, because in a Distributed Networked Manufacturing environment, enterprises have to interact with each other to share product data. In this paper, we introduce a novel watermarking solution for product data based on the idea of fractal, which classifies product data watermarks into three tiers: fractal watermark, tree-structure watermark, and tree-node watermark. It embeds watermarks not only in value-carrying nodes but also in product structures that "glue" all the nodes together by embedding multiple structure watermarks in product data. Simulation results show that the proposed technique is robust against various forms of malicious attacks of product data, and naturally immune from structure transformation attacks and subtractive (sub-tree) attacks. Moreover, the solution can protect tree-structure data whose knowledge is mainly embodied in the tree structure efficiently. It is very easy to implement and popularize.
5747087
Efficient Processing of Warping Time Series Join of Motion Capture Data
Discovering non-trivial matching subsequences from two time series is very useful in synthesizing novel time series. This can be applied to applications such as motion synthesis where smooth and natural motion sequences are often required to be generated from existing motion sequences. We first address this problem by defining it as a problem of l-e-join over two time series. Given two time series, the goal of l-e-join is to find those non-trivial matching subsequences by detecting maximal l-connections from the e-matching matrix of the two time series. Given a querying motion sequence, the l-e-join can be applied to retrieve all connectable motion sequences from a database of motion sequences. To support efficient l-e-join of time series, we propose a two-step filter-and-refine algorithm, called Warping Time Series Join (WTSJ) algorithm. The filtering step serves to prune those sparse regions of the e-matching matrix where there are no maximal l-connections without incurring costly computation. The refinement step serves to detect closed l-connections within regions that cannot be pruned by the filtering step. To speed up the computation of e-matching matrix, we propose a block-based time series summarization method, based on which the block-wise e-matching matrix is first computed. Lots of pairwise distance computation of elements can then be avoided by applying the filtering algorithm on the block-wise e-matching matrix.Extensive experiments on l-e-join of motion capture sequences are conducted. The results confirm the efficiency and effectiveness of our proposed algorithm in processing l-e-join of motion capture time series.
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.
11635081
Cost-Aware Caching Algorithms for Distributed Storage Servers
We study replacement algorithms for non-uniform access caches that are used in distributed storage systems. Considering access latencies as major costs of data management in such a system, we show that the total cost of any replacement algorithm is bounded by the total costs of evicted blocks plus the total cost of the optimal off-line algorithm (OPT). We propose two off-line heuristics: MIN-d and MIN-cod, as well as an on-line algorithm: HD-cod, which can be run efficiently and perform well at the same time. 
 
Our simulation results with Storage Performance Council (SPC)'s storage server traces show that: (1) for off-line workloads, MIN-cod performs as well as OPT in some cases, all is atmost three times worse in all test case; (2) for on-line workloads, HD-cod performs closely to the best algorithms in all cases, and is the single algorithm that performs well in all test cases, including the optimal on-line algorithm (Landlord). Our study suggests that the essential issue to be considered be the trade-off between the costs of victim blocks and the total number of evictions in order to effectively optimize both efficiency and performance of distributed storage cache replacement algorithms.
19202214
A self-generating modular neural network architecture for supervised learning
Abstract In this paper, we present a self-generating modular neural network architecture for supervised learning. In the architecture, any kind of feedforward neural networks can be employed as component nets. For a given task, a tree-structured modular neural network is automatically generated with a growing algorithm by partitioning input space recursively to avoid the problem of pre-determined structure. Due to the principle of divide-and-conquer used in the proposed architecture, the modular neural network can yield both good performance and significantly faster training. The proposed architecture has been applied to several supervised learning tasks and has achieved satisfactory results.