Cooperative Field Estimation and Tracking by Autonomous Manipulator and Mobile Robots

In order to forecast missile storage reliability better, the paper researched a forecasting method based on neural network which is with the ability of actualizing multi-nonlinear mapping from input to output, and discussed steps of forecasting based on back propagation (BP) network and radial basis function (RBF) network respectively. At last, the storage reliability of one type ship-to-ship missile is forecasted based on BP network and RBF network respectively. The results show that both of the BP and RBF are suitable for Missile storage reliability forecasting, and the precision of the train goal is better by using RBF network. RBF network is more suitable for dealing with this problem.

Radial Basis Function (RBF) Network is popularly used for solving pattern recognition problems. The training of RBF Network is faster compared to multi layer perceptron using error backpropagation. However, the RBF Network uses the pseudo inverse matrix to calculate weights from the hidden layer to the output layer. Thus calculation cost increases when the number of data and the number of hidden units increase. In addition, in RBF Network the decision of optimum number of hidden units is difficult. It is also more prone to overtraining, needing repeated train and test cycles to ascertain a proper number of the Network hidden units, so that generalization performance is good. In this work, we propose a technique to set up RBF network parameters which is fast, as well as the number of hidden units are automatically determined. We start with training a Self-Organizing Maps (SOM), which is a unsupervised training, though our samples are labeled. SOM can find the distribution of data in multidimensional space, and map it on a two dimensional display. The results of SOM network is used to calculate the RBF parameters. It is shown by experiments that using the proposed method, RBF network parameters can be determined much faster compared to existing technique. Moreover, the recognition rate for the test data was higher, showing better generalization performance.

We propose a differential radial basis function (RBF) network termed RBF-DiffNet—whose hidden layer blocks are partial differential equations (PDEs) linear in terms of the RBF—to make the baseline RBF network robust to noise in sequential data. Assuming that the sequential data derives from the discretisation of the solution to an underlying PDE, the differential RBF network learns constant linear coefficients of the PDE, consequently regularising the RBF network by following modified backward-Euler updates. We experimentally validate the differential RBF network on the logistic map chaotic timeseries as well as on 30 real-world timeseries provided by Walmart in the M5 forecasting competition. The proposed model is compared with the normalised and unnormalised RBF networks, ARIMA, and ensembles of multilayer perceptrons (MLPs) and recurrent networks with long short-term memory (LSTM) blocks. From the experimental results, RBF-DiffNet consistently shows a marked reduction in the prediction error over the baseline RBF network (e.g., 41% reduction in the root mean squared scaled error on the M5 dataset, and 53% reduction in the mean absolute error on the logistic map); RBF-DiffNet also shows a comparable performance to the LSTM ensemble but requires 99% less computational time. Our proposed network consequently enables more accurate predictions—in the presence of observational noise—in sequence modelling tasks such as timeseries forecasting that leverage the model interpretability, fast training, and function approximation properties of the RBF network.

The radial basis function (RBF) network is a type of neural network that uses a radial basis function as its activation function (Ou, Oyang & Chen, 2005). Because of the better approximation capabilities, simpler network structure and faster learning speed, the RBF networks have attracted considerable attention in many science and engineering field. Horng (2010) used the RBF for multiple classifications of supraspinatus ultrasonic images. Korurek & Dogan (2010) used the RBF networks for ECG beat classifications. Wu, Warwick, Jonathan, Burgess, Pan & Aziz (2010) applied the RBF networks for prediction of Parkinson’s disease tremor onset. Feng & Chou (2011) use the RBF network for prediction of the financial time series data. In spite of the fact that the RBF network can effectively be applied, however, the number of neurons in the hidden layer of RBF network always affects the network complexity and the generalizing capabilities of the network. If the number of neurons of the hidden layer is insufficient, the learning of RBF network fails to correct convergence, however, the neuron number is too high, the resulting over-learning situation may occur. Furthermore, the position of center of the each neuron of hidden layer and the spread parameter of its activation function also affect the network performance considerably. The determination of three parameters that are the number of neuron, the center position of each neuron and its spread parameter of activation function in the hidden layer is very important.

A new approach is presented to enhance fuzzy modeling using multidimensional fuzzy sets directly in the fuzzy model in place of decomposed fuzzy sets by projection. The antecedent fuzzy sets in the form of multivariable functions are represented in continuous form. This is accomplished by using a multi input and multi output neural network, which is in particular radial basis functions (RBF) network providing the required multivariable function approximation properties in a fuzzy model. The inputs of the network are fuzzy model inputs, outputs are the membership function values as to the multivariable fuzzy sets involved in the model. Thus, each output is restricted to one multivariable fuzzy set. The RBF network is trained according to the multidimensional fuzzy sets which are identified after fuzzy clustering of the data. Based on this, the linear model parameters are determined by the method of least squares in a straightforward manner. The transparency issues can be handled by means of projection process to have information about the shape and locations of the membership functions pertinent to each variable at the input. The accurate fuzzy modeling having been thus guaranteed the information on the linear model parameters are used to establish the multivariable fuzzy rules with their respective validity regions. The redundancy of the number of fuzzy sets can be circumvented by classical cluster merging algorithms available. In this approach, the fuzzy rules are determined from the local linear models, however in contrast with the conventional fuzzy modeling, the model outputs are determined by the multivariable fuzzy sets. To obtain regular sets, RBF network is trained by means of orthogonal least squares (OLS) method so that at the same time the convergence issues of general neural network training is eliminated.

Recognition of human faces is a very important task in many applications such as authentication and surveillance. An efficient face recognition system with face image representation using averaged wavelet and wavelet packet coefficients, Discriminative Common Vector (DCV) and modified Local Binary Patterns (LBP) and recognition using radial basis function (RBF) network is presented. Face images are decomposed by 2-level wavelet and wavelet packet transformation. The discriminative common vectors are obtained for averaged wavelet. The new proposed LBP operator is applied on the obtained DCV and also applied on averaged wavelet packet coefficients of all the samples of a class. The histogram values obtained from the LBP are recognized using RBF network. The proposed work is tested on three face databases such as Olivetti Oracle Research Lab (ORL), Japanese Female Facial Expression (JAFFE) and Essex face database. The proposed method results in good recognition rates along with less training time because of the extracted discriminant input from the preprocessing steps involved in the proposed work.

Radial basis function (RBF) network can be viewed as a fuzzy rule base with specified membership functions and fuzzy inference operations. However, there is a trade-off between the approximation performance of RBF network and the number of hidden neurons. To tackle this problem, this paper proposes a dynamic RBF (DRBF) network with a constructive learning. This DRBF network not only can create the new hidden neurons, but also can prune the insignificant hidden neurons. Then, an adaptive dynamic RBF fuzzy neural control (ADRFNC) system, including a neural controller and a saturation compensator, is developed. The neural controller uses a DRBF network to on-line mimic an ideal controller and the saturation compensator is designed to dispel the approximation error introduced by the neural controller. Finally, the proposed ADRFNC system is applied to a chaotic circuit and a DC motor control system. Simulation and experimental results show the proposed ADRFNC system can achieve a favorable tracking performance when the controller’s parameters have been learned and the network structure has been constructed by the proposed learning algorithm.

This article explores the use of single trial EEG signals to predict the voluntary movements of single hand and two hands. During single-hand movements, three kinds of task, grasping, releasing, and holding were considered. The tasks considered during two-hand movements are left and right grasping, left and right releasing, and holding. The subject performs the tasks spontaneously without waiting for and responding to any external cues. In addition, a neural adaptive noise canceller is developed that accomplishes eye blinks suppression. The neural adaptive filter is here implemented by means of a three-layer feed-forward neural network. The feature vectors are formed from the three channels (Fz, C3, and F3). We employ the multilayer perceptron (MLP) with back-propagation learning algorithm and Radial Basis Function (RBF) network with stochastic gradient learning rule for discriminating different patterns of the EEG signals. In the classical approach to RBF and MLP network implementation, the number of hidden units is predetermined. It, usually, results in too many hidden units. To overcome this drawback, we develop an enhanced resource-allocating network (RAN) for discriminating the EEG patterns. These networks start with no hidden units and grow by allocating new hidden units based on the novelty in the EEG signals, which arrive sequentially. The results of this analysis show that the neural networks would be able to detect the movements of a single hand and two hands with an average classification accuracy of 98.82% and 96.40%, respectively. Moreover, the RAN provides a reduction in the training epochs as compared to the MLP and RBF networks. This work represents a promising approach to control prosthesis device.

In the radial basis function (RBF) network, selection of width parameter of the basis functions is considered. The effect of the width parameter on multivariable discrete function approximation is analysed in the Fourier domain and based on this, an appropriate selection method for the width parameter is presented. The method basically takes the orthogonal multiresolutional decomposition by wavelet transform of the function subject to approximation and to each decomposed component, a separate RBF network having a suitable width parameter matching to the appropriate resolution level, is employed. Each outcome from these multiresolutional RBF networks is added to that from the others and a final approximation result is obtained. A marked enhancement of approximation is achieved which implies an enhancement of the generalisation capability of the network performing robust estimation at the same time.

A new learning method of radial basis function (RBF) network based on fuzzy C-means (FCM) clustering and ant colony optimization (ACO) is presented in the paper. Generally, the crucial problem of learning RBF network is the selection of the unit number, the centers and widths of the Gaussian radial basis function in hidden layer, and the weights between hidden layer and output layer. In this work, the centers are determined by FCM clustering, and the weights are determined by least mean squares (LMS) method. In addition, ACO is introduced to optimize two important parameters of FCM including the weighting exponent which impacts its performance, and the clustering number that is equal to the hidden unit number which impacts the generalization of RBF network, by minimizing an objective function integrated the generalization error with the hidden unit number of RBF network. Simulation results of identifying a nonlinear system illustrate the effectiveness of designing the RBF network with smaller structure but stronger generalization ability, comparing with K-means and orthogonal least squares (OLS) based learning methods.

In this paper, a steady-state frequency-domain model of an uncontrolled rectifier bridge with capacitive dc smoothing, developed with radial basis function (RBF) networks, is presented. The nonlinear load model is incorporated in a balanced harmonic load-flow program in order to evaluate the harmonic distortion introduced in the networks by this device. The fundamental frequency load flow, used in the harmonic load-flow algorithm, is enhanced with the incorporation to the Jacobian matrix of active and reactive power sensitivities from nonlinear loads. These sensitivities can be computed easily from the nonlinear load model built with RBF networks.

Three learning phases for radial-basis-function networks

This research work focuses on the development of meta-cognitive sequential learning algorithms in Radial Basis Function (RBF) network classiers, and their application to the early diagnosis of neurodegenerative diseases. The important issues in existing sequential learning algorithms are proper selection of training samples, nding minimal network structure and selection of an appropriate learning strategy. In addition, the random sequence of sample arrival inuences the performance signicantly. It has been reported in human learning that best learning strategies employ meta-cognition (metacognition means cognition about cognition) to address fundamental problems of what-tolearn, when-to-learn and how-to-learn. This thesis develops such meta-cognitive sequential learning algorithms in RBF network for classication problems. We call a RBF network employing meta-cognitive algorithm as `meta-cognitive RBF network' (McRBFN). McRBFN is developed based on Nelson and Narens model of meta-cognition for human learning. Accordingly, McRBFN has two components, namely cognitive and meta-cognitive components. A RBF network with evolving structure is the cognitive component and a self-regulatory learning mechanism is its meta-cognitive component. List of Figures 1.1 Nelson and Narens model of meta-cognition . . . . . . . . . . . . . . . .

In fuzzy C-means (FCM) clustering, each data point belongs to a cluster to a degree specified by a membership grade. FCM partitions a collection of vectors in c fuzzy groups and finds a cluster center in each group such that the dissimilarity measure is minimized. This paper presents a training algorithm for the radial basis function (RBF) network using symmetry-based Fuzzy C-means (SFCM) clustering method which is the modified version of FCM clustering method based on point symmetry distance measure. The training algorithm which uses SFCM clustering method to train the network has a number of advantages such as faster training time, more accurate predictions and reduced network architecture compared to the standard RBF networks. The proposed training algorithm has been implemented in the RBF networks created by the newrb function of MATLAB which uses gradient based iterative method as learning strategy, therefore the new network will undergo a hybrid learning process. The networks called Symmetry-based Fuzzy C-means Clustering–Radial Basis Function Network (SFCM/RBF) has been tested against the standard RBF network and the networks called standard Fuzzy C-means Clustering (FCM)-RBF network (FCM/RBF) in forecasting. The experimental models has been tested on three real world application problems, particularly in Air pollutant problem, Biochemical Oxygen Demand (BOD) problem, and Phytoplankton problem. Keywords: Fuzzy c-means clustering; SFCM; Radial basis function network; point symmetry distance; forecasting.

The construction of a smart autonomous mobile robot system that can operate in an anonymous environment can be difficult. Building an autonomous mobile robot requires collecting data from sensors and cameras in order to recognize the surrounding environment, get knowledge of existing landmarks, and figure out its position and orientation. Many research studies have been carried out in recent years providing algorithms for achieving autonomous motion of mobile robot systems and object detection. The most common platform utilized for robot motion design is ROS (Robot Operating System) and for object detection YOLO (You Only Look Once) is a common choice. Additionally, the autonomous system needs motion planning in a systematic way to avoid obstacles by using LIDAR or other sensing methods generating the feedback signals required for control of motion around occupied spaces. One of the most effective and versatile feedback systems for mobile robot control can be constructed using visual feedback, which relies on a high-resolution camera that processes the image in real-time and the result is fed back to the control system for decision making. Visual feedback can be employed alone without sensors for feedback control of autonomous mobile robots, and it can be used for multiple tasks like path planning, obstacle avoidance, object detection, object recognition in addition to motion control. In this research, results of design and construction of an autonomous mobile rescue robot for finding victims through video data are presented. It is aimed to find victims via applying video as a data collection and feedback generation tool in the autonomous mobile robot control system. The visual feedback and YOLO v3 are used not only for finding victims but also for motion control. Our autonomous mobile robot is designed to move smoothly to the victim's direction and avoids obstacles by using ROS Global Planner. The robot is tested in multiple scenarios in different locations, various obstacle and victim numbers, and satisfactory results with good performances are obtained.