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.
6117831
MATLAB Simulink modeling and simulation of LVI-based primal-dual neural network for solving linear and quadratic programs
In view of parallel-processing nature and circuit-implementation convenience, recurrent neural networks are often employed to solve optimization problems. Recently, a primal-dual neural network based on linear variational inequalities (LVI) was developed by Zhang et al. for the online solution of linear-programming (LP) and quadratic-programming (QP) problems simultaneously subject to equality, inequality and bound constraints. 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 an LVI-based primal-dual neural network (LVI-PDNN). By using click-and-drag mouse operations in MATLAB Simulink environment, we could quickly model and simulate complicated dynamic systems. Modeling and simulative results substantiate the theoretical analysis and efficacy of the LVI-PDNN for solving online the linear and quadratic programs.
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.
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.
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.
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.
15289343
A connectionist method for pattern classification with diverse features
A novel connectionist method is proposed to simultaneously use diverse features in an optimal way for pattern classification. Unlike methods of combining multiple classifiers, a modular neural network architecture is proposed through use of soft competition among diverse features. Parameter estimation in the proposed architecture is treated as a maximum likelihood problem, and an Expectation-Maximization (EM) learning algorithm is developed for adjusting the parameters of the architecture. Comparative simulation results are presented for the real world problem of speaker identification.
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.