Visual feedback control of a robot in an unknown environment (learning control using neural networks)

In this paper, a visual feedback control approach based on neural networks is presented for a robot with a camera installed on its end-effector to trace an object in an unknown environment. First, the one-to-one mapping relations between the image feature domain of the object to the joint angle domain of the robot are derived. Second, a method is proposed to generate a desired trajectory of the robot by measuring the image feature parameters of the object. Third, a multilayer neural network is used for off-line learning of the mapping relations so as to produce on-line the reference inputs for the robot. Fourth, a learning controller based on a multilayer neural network is designed for realizing the visual feedback control of the robot. Last, the effectiveness of the present approach is verified by tracing a curved line using a 6-degrees-of-freedom robot with a CCD camera installed on its end-effector. The present approach does not necessitate the tedious calibration of the CCD camera and the complicated coordinate transformations.

Mill specific prediction of worsted yarn performance

Different spinning mills use different raw materials, processing methodologies, and equipment, all of which influence the quality of the yarns produced. Because of many variables, there is a difficulty in developing a universal empirical/theoretical model. This work presents a multilayer perceptron algorithm (MLP) model for the purpose of building a mill specific worsted spinning performance prediction tool. Sixteen inputs are used to predict key yarn properties and spinning performance, including number of fibers in cross-section, unevenness (U%), thin places, neps, yarn tenacity, elongation at break, thick places, and spinning ends-down. Validation of the model on mill specific commercial data set shows that the general fit to the target values is good. Importantly, the performance of the MLP shows a certain degree of stability to different, random selections of independent test data. Subsequent comparison against the predicted outputs of Sirolan Yarnspec™ confirms the overall performance of the artificial neural network (ANN) method to be more accuratefor mill specific predictions.

Predicting the rolling force in hot steel rolling mill using an ensemble model

Accurate prediction of the roll separating force is critical to assuring the quality of the final product in steel manufacturing. This paper presents an ensemble model that addresses these concerns. A stacked generalisation approach to ensemble modeling is used with two sets of the ensemble model members, the first set being learnt from the current input-output data of the hot rolling finishing mill, while another uses the available information on the previous coil in addition to the current information. Both sets of ensemble members include linear regression, multilayer perceptron, and k-nearest neighbor algorithms. A competitive selection model (multilayer perceptron) is then used to select the output from one of the ensemble members to be the final output of the ensemble model. The ensemble model created by such a stacked generalization is able to achieve extremely high accuracy in predicting the roll separation force with the average relative accuracy being within 1% of the actual measured roll force.

Optimization of MLP parameters on mineral potential mapping tasks

Mineral potential mapping is the process of combining a set of input maps, each representing a distinct geo-scientific variable, to produce a single map which ranks areas according to their potential to host deposits of a particular type. The maps are combined using a mapping function which must be either provided by an expert (knowledge-driven approach), or induced from sample data (data-driven approach). Current data-driven approaches using multilayer perceptrons (MLPs) to represent the mapping function have several inherent problems: they rely heavily on subjective judgment in selecting training data and are highly sensitive to this selection; they do not utilize the contextual information provided by unlabeled data; and, there is no objective interpretation of the values output by the MLP. This paper presents a novel approach which overcomes these three problems.

Comparison of MLP and Bayesian approaches on mineral prospectivity mapping tasks

Mineral Prospectivity Mapping is the process of combining maps containing different geoscientific data sets to produce a single map depicting areas ranked according to their potential to host mineral deposits of a particular type. This paper outlines two approaches for deriving a function which can be used to assign to each cell in the study area a value representing the posterior probability that the cell contains a deposit of the sought-after mineral. One approach is based on estimating probability density functions (pdfs); the second uses multilayer perceptrons (MLPs). Results are provided from applying these approaches to geoscientific datasets covering a region in North Western Victoria, Australia. The results demonstrate that while both the Bayesian approach and the MLP approach yield similar results when the number of input dimensions is small, the Bayesian approach rapidly becomes unstable as the number of input dimensions increases, with the resulting maps displaying high sensitivity to the number of mixtures used to model the distributions. However, despite the fact that Bayesian assigned values cannot be interpreted as posterior probabilities in high dimensional input spaces, the pixel favorability rankings produced by the two methods is similar.

Visual tracking of vehicles using multiresolution analysis and neural network

This paper describes the procedure for detection and tracking of a vehicle from an on-road image sequence taken by a monocular video capturing device in real time. The main objective of such a visual tracking system is to closely follow objects in each frame of a video stream, such that the object position as well as other geometric information are always known. In the tracking system described, the video capturing device is also moving. It is a challenge to detect and track a moving vehicle under a constantly changing environment coupled to real time video processing. The system suggested is robust to implement under different illuminating conditions by using the monocular video capturing device. The vehicle tracking algorithm is one of the most important modules in an autonomous vehicle system, not only it should be very accurate but also must have the safety of other vehicles, pedestrians, and the moving vehicle itself. In order to achieve this an algorithm of multi resolution technique based on Haar basis functions were used for the wavelet transform, where a combination of classification was carried out with the multilayer feed forward neural network. The classification is done in a reduced dimensional space, where principle component analysis (PCA) dimensional reduction technique has been applied to make the classification process much more efficient. The results show the effectiveness of the proposed methodology.

An artificial neural network-based hairiness prediction model for worsted wool yarns

This study evaluated the performance of multilayer perceptron (MLP) and multivariate linear regression (MLR) models for predicting the hairiness of worsted-spun wool yarns from various top, yarn and processing parameters. The results indicated that the MLP model predicted yarn hairiness more accurately than the MLR model, and should have wide mill specific applications. On the basis of sensitivity analysis, the factors that affected yarn hairiness significantly included yarn twist, ring size, average fiber length (hauteur), fiber diameter and yarn count, with twist having the greatest impact on yarn hairiness.

Influence of deformation-induced heating on the bond strength of rolled metal multilayers

The bond strength of various metal multilayers produced by cold rolling of metal foils with different thermal conductivity was investigated. Results indicated that the metallic multilayer system with low thermal conductivity exhibited relative high bond strength while high thermal conductivity metal system may fail to be roll-bonded together. The relationship between the deformation-induced localized heating and the bond strength were discussed.

Improving the prediction of the roll separating force in a hot steel finishing mill

This paper focuses on the development of a hybrid phenomenological/inductive model to improve the current physical setup force model on a five stand industrial hot strip finishing mill. We approached the problem from two directions. In the first approach, the starting point was the output of the current setup force model. A feedforward multilayer perceptron (MLP) model was then used to estimate the true roll separating force using some other available variables as additional inputs to the model.

It was found that it is possible to significantly improve the estimation of a roll separating force from 5.3% error on average with the current setup model to 2.5% error on average with the hybrid model. The corresponding improvements for the first coils are from 7.5% with the current model to 3.8% with the hybrid model. This was achieved by inclusion, in addition to each stand's force from the current model, the contributions from setup forces from the other stands, as well as the contributions from a limited set of additional variables such as: a) aim width; b) setup thickness; c) setup temperature; and d) measured force from the previous coil.

In the second approach, we investigated the correlation between the large errors in the current model and input parameters of the model. The data set was split into two subsets, one representing the "normal" level of error between the current model and the measured force value, while the other set contained the coils with a "large" level of error. Additional set of data with changes in each coil's inputs from the previous coil's inputs was created to investigate the dependency on the previous coil.

The data sets were then analyzed using a C4.5 decision tree. The main findings were that the level of the speed vernier variable is highly correlated with the large errors in the current setup model. Specifically, a high positive speed vernier value often correlated to a large error. Secondly, it has been found that large changes to the model flow stress values between coils are correlated frequently with larger errors in the current setup force model.

Detection of vehicles with monolithic classifier vis-à-vis a boosted cascaded classifier

This paper describes the comparison of accuracy and performance of two machine learning approaches for visual object detection and tracking vehicles, from an on-road image sequence. The first is a neural network based approach. Where an algorithm of multi resolution technique based on Haar basis functions was used to obtain an image with different scales. Thereafter a classification was carried out with the multilayer feed forward neural network. Principle Component Analysis (PCA) technique was used as a dimension reduction technique to make the classification process much more efficient. The second approach is based on boosting which also yields very good detection rates. In general, boosting is one of the most important developments in classification methodology. It works by sequentially applying a classification algorithm to reweighed versions of the training data, followed by taking a weighted majority vote of the sequence of classifiers thus produced. For this work, a strong classifier was trained by the adaboost algorithm. The results of comparing the two methodologies visà-vis shows the effectiveness of the methods that have been used.

Mixed transfer function neural networks for knowledge acquistition

Modeling helps to understand and predict the outcome of complex systems. Inductive modeling methodologies are beneficial for modeling the systems where the uncertainties involved in the system do not permit to obtain an accurate physical model. However inductive models, like artificial neural networks (ANNs), may suffer from a few drawbacks involving over-fitting and the difficulty to easily understand the model itself. This can result in user reluctance to accept the model or even complete rejection of the modeling results. Thus, it becomes highly desirable to make such inductive models more comprehensible and to automatically determine the model complexity to avoid over-fitting. In this paper, we propose a novel type of ANN, a mixed transfer function artificial neural network (MTFANN), which aims to improve the complexity fitting and comprehensibility of the most popular type of ANN (MLP - a Multilayer Perceptron).

The effect of potential bias on the formation of ionic liquid generated surface films on Mg alloys

An electrochemical approach to the formation of a protective surface film on Mg alloys immersed in the ionic liquid (IL), trihexyl(tetradecyl)phosphonium–bis 2,4,4-trimethylpentylphosphinate, was investigated in this work. Initially, cyclic voltammetry was used with the Mg alloy being cycled from OCP to more anodic potentials. EIS data indicate that, under these circumstances, an optimum level of protection was achieved at intermediate potentials (e.g., 0 or 0.25 V versus Ag/AgCl). In the second part of this paper, a small constant bias was applied to the Mg alloy immersed in the IL for extended periods using a novel cell design. This electrochemical cell allowed us to monitor in situ surface film formation on the metal surface as well as the subsequent corrosion behaviour of the metal in a corrosive medium. This apparatus was used to investigate the evolution of the surface film on an AZ31 magnesium alloy under a potential bias (between ±100 mV versus open circuit) applied for over 24 h, and the film evolution was monitored using electrochemical impedance spectroscopy (EIS). A film resistance was determined from the EIS data and it was shown that this increased substantially during the first few hours (independent of the bias potential used) with a subsequent decrease upon longer exposure of the surface to the IL. Preliminary characterization of the film formed on the Mg alloy surface using ToF-SIMS indicates that a multilayer surface exists with a phosphorous rich outer layer and a native oxide/hydroxide film underlying this. The corrosion performance of a treated AZ31 specimen when exposed to 0.1 M NaCl aqueous solution showed considerable improvement, consistent with electrochemical data.

A neural network based human identification framework using ear images

This paper presents a framework that uses ear images for human identification. The framework makes use of Principal Component Analysis (PCA) for ear image feature extraction and Multilayer Feed Forward Neural Network for classification. Framework are proposed to improve recognition accuracy of human identification. The framework was tested on an ear image database to evaluate its reliability and recognition accuracy. The experimental results showed that our framework achieved higher stable recognition accuracy and over-performed other existing methods. The recognition accuracy stability and computation time with respect to different image sizes and factors were investigated thoroughly as well in the experiments.

Neural net device for IED gas identification

Most of the embedded systems that detect gases today are for specific types and indicate the levels of the gas present with their standard sensors. We introduce here an adaptable system that can detect and distinguish the type of gas in a volatile environment such as searching for Improvised Explosive Devices (IEDs). This is achieved with a small device mounted on a mobile robot through the use of an algorithm that is an Artificial Neural Network (ANN). The input layer to the ANN is an array of environmental and gas sensors. The small device, comprising of a multilayer circuit board with sensors in a rugged lightweight case, mounts on the mobile robot and communicates the gaseous data to the robot.

The ANN is implemented in the hardware of a FPGA with the control of the ANN being achieved through the configurable processor and memory. Calibration and testing of the device involves the training of device and the ANN with specific target gases. The Accuracy of the device is validated through lab testing against high-end gas test instruments with known concentrations of gases.

Production and applications of multi-layer 3D fabrics

In this paper, 3D textile structures, their types and applications have been discussed. Woven structures especially multi-layer woven structures are discussed in detail. A simple and quick method to produce 3D textile woven preforms on conventional looms is also given at the end of this paper. 3D textile fabrics give composite structures weight reduction with improved mechanical properties in comparison to traditionally used materials.