Deep convolutional neural network based fractional-order terminal sliding-mode control for robotic manipulators

To eliminate the effect of the uncertain disturbances and improve the control accuracy of spacecraft Attitude Control System, a nonlinear control algorithm named nonsingular terminal sliding-mode feedback controller is proposed in this work, which is mainly made up of nonsingular terminal sliding-mode controller and sliding-mode feedback controller. In the first place, nonsingular terminal sliding-mode controller is designed, which guarantees global asymptotic convergence of the attitude in the presence of the uncertain perturbations from the space. Despite that, it is the influence of the uncertain disturbances that hinder the control accuracy. Then, in order to promote the control accuracy, the sliding-mode feedback controller based on the principle of minimum sliding-mode error is proposed, which is used to compensate the control errors of the nonsingular terminal sliding-mode controller caused by the uncertainties. Hence, the determination principle of the weighting matrix in sliding-mode feedback controller is discussed, and the algorithm structure of the sliding-mode feedback controller is also analyzed, which provides the theoretical basis for the sliding-mode feedback controller. By contrast, an adaptive fuzzy algorithm is designed and introduced into the nonsingular terminal sliding-mode controller to improve the control accuracy, which named the nonsingular terminal fuzzy sliding-mode controller. Last but not the least, several numerical examples are presented to demonstrate the efficacy of the proposed nonsingular terminal sliding-mode feedback controller. Simulation results confirm that the control accuracy of the nonsingular terminal sliding-mode feedback controller is higher than the nonsingular terminal sliding-mode controller and the same as nonsingular terminal fuzzy sliding-mode controller. Not only is the calculation of the nonsingular terminal fuzzy sliding-mode feedback controller smaller than nonsingular terminal fuzzy sliding-mode controller, the adjusted parameters are also fewer than nonsingular terminal fuzzy sliding-mode controller obviously. The numerical results clearly indicate that the proposed nonsingular terminal sliding-mode feedback controller based on the principle of minimum sliding-mode error can compensate control errors accurately and quickly; therefore, it can reduce the effect of the uncertainties from the space indirectly.

Deep learning (also known as deep structured learning, hierarchical learning, or deep machine learning) is a branch of machine learning based on a set of algorithms that attempt to model high-level abstractions in data by using a deep graph with multiple processing layers, composed of multiple linear and nonlinear transformations. Deep learning has been characterized as a class of machine learning algorithms with the following characteristics [257]: • They use a cascade of many layers of nonlinear processing units for feature extraction and transformation. Each successive layer uses the output from the previous layer as input. The algorithms may be supervised or unsupervised and applications include pattern analysis (unsupervised) and classification (supervised). • They are based on the (unsupervised) learning of multiple levels of features or representations of the data. Higher-level features are derived from lower-level features to form a hierarchical representation. • They are part of the broader machine learning field of learning representations of data. • They learn multiple levels of representations that correspond to different levels of abstraction; the levels form a hierarchy of concepts. These definitions have in common: multiple layers of nonlinear processing units and the supervised or unsupervised learning of feature representations in each layer, with the layers forming a hierarchy from low-level to high-level features. Various deep learning architectures such as deep neural networks, convolutional deep neural networks, deep belief networks (DBN), and recurrent neural networks have been applied to fields like computer vision, automatic speech recognition, natural language processing, audio recognition, and bioinformatics where they have been shown to produce state-of-the-art results on various tasks. In this chapter we start in Section 7.1 with an introduction, giving a brief history of this field, the relevant literature, and its applications. Then we study some basic concepts of deep learning such as convolutional neural networks, recurrent neural networks, backpropagation algorithm, restricted Boltzmann machines, and deep learning networks in Section 7.2. Then we illustrate three examples for Apache Spark implementation for mobile big data (MBD), user moving pattern extraction, and combination with nonparametric Bayesian learning, respectively, in Sections 7.3 through 7.5. Finally, we have summary in Section 7.6.

PurposeThe aim of this study was to analyse and review deep learning convolutional neural networks for detecting and diagnosing early-stage dental caries on periapical radiographs.Materials and MethodsIn order to conduct this review, the Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) guidelines were followed. Studies published from 2015 to 2021 under the keywords (deep convolutional neural network) AND (caries), (deep learning caries) AND (convolutional neural network) AND (caries) were systematically reviewed.ResultsWhen dental caries is improperly diagnosed, the lesion may eventually invade the enamel, dentin, and pulp tissue, leading to loss of tooth function. Rapid and precise detection and diagnosis are vital for implementing appropriate prevention and treatment of dental caries. Radiography and intraoral images are considered to play a vital role in detecting dental caries; nevertheless, studies have shown that 20% of suspicious areas are mistakenly diagnosed as dental caries using this technique; hence, diagnosis via radiography alone without an objective assessment is inaccurate. Identifying caries with a deep convolutional neural network-based detector enables the operator to distinguish changes in the location and morphological features of dental caries lesions. Deep learning algorithms have broader and more profound layers and are continually being developed, remarkably enhancing their precision in detecting and segmenting objects.ConclusionClinical applications of deep learning convolutional neural networks in the dental field have shown significant accuracy in detecting and diagnosing dental caries, and these models hold promise in supporting dental practitioners to improve patient outcomes.

This paper proposes full-order terminal sliding-mode control strategies for wind energy conversion systems. Nonsingular terminal sliding-mode manifolds and related second-order sliding-mode control strategies are designed respectively for the d- and q-axis currents respectively. The control signals in the proposed sliding-mode controllers are continuous and have no chattering phenomenon. So the proposed controllers are suitable for practical applications.

Automated image classification is an essential task of the computer vision field. The tagging of images into a set of predefined groups is referred to as image classification. The implementation of computer vision to automate image classification would be beneficial because manual image evaluation and identification can be time-consuming, particularly when there are many images of different classes. Deep learning approaches are proven to overperform existing machine learning techniques in many fields in recent years, and computer vision is one of the most notable examples. The very deep neural network (VDCNN) is a powerful deep learning model for image classification, and this paper examines it briefly using MNIST handwritten digit dataset. This dataset is used to prove the efficacy of very deep neural networks over other deep learning models. The proposed study aims to comprehend the very deep neural network architecture used to accomplish a handwritten digit recognition task. The feasibility of the proposed model is evaluated using mean accuracy, validation accuracy, and standard deviation. The study results of the very deep neural network model are compared to a convolutional neural network and convolutional neural network with batch normalization. According to the results of the comparison study, very deep neural networks achieve high accuracy of 99.1% for a handwritten dataset. The outcome of the proposed work is used to interpret how well a very deep neural network performs when compared to the other two models of deep neural networks. This proposed architecture may be used to automate the classification of handwritten digits dataset.

In dealing with the trajectory tracking control of robotic manipulator many scholars have had to work in a sliding mode controller. However, SMC has two major limitations one is chattering the other is asymptotical convergence. The chattering problem occurs in traditional SMC due to the switching function of the discontinuous controller and the constant gain parameter of K. Though in this study a Fuzzy Gain Scheduling Terminal Sliding Mode (FGSTSM) controller with a hyperbolic tangent function instead of signum function, is proposed and applied for tracking control of the UR5 robot manipulator. Moreover, the mathematical model of the UR5 robot manipulator using the Newton-Euler algorithm was developed on Maple software of version Maple 18.2. Hence the trajectory tracking control of the UR5 robot manipulator simulation was conducted on MATLAB/SIMULINK of version Matlab R2016a. Then for simulation purposes, a curve (arc) was taken as the desired trajectory for the robot manipulator to track and finally the result is compared with the conventional SMC controller.

Self-mixing interferometry (SMI) is superior to other laser interferometry methods due to its simplicity and compactness. However, SMI signals are often complex and difficult to process due to interference in the form of variations in the effective reflectivity of the target, noisy signals, complex signal shapes, and other dependencies. Deep neural networks have been a very popular area of research in computer artificial intelligence in recent years, allowing more implicit features to be uncovered than traditional shallow machine learning. It has been shown that convolutional and back-propagation neural networks can be used for SMI signal processing. There are also studies that have used machine learning genetic algorithms for absolute distance measurement. Based on the above, this study used convolutional neural networks to form a deep neural network for absolute distance measurement based on SMI technology. We first trained the deep convolutional neural network at different feedback strengths. The results of the Convolutional Neural Network (CNN) model showed a coefficient of determination of 0.9987. which is consistent with the required model. The trained network was then used to estimate absolute distances with and without the addition of noise. The comparison proves that the proposed method is noise-proof and has high adaptability for measurements under different conditions.

Gait recognition is a noncontact biometric procedure that determines the identity or health status of a person by analyzing his or her walking posture and habits, including skeletal and joint movements. The most remarkable feature of this method is the possibility of conducting recognition without demanding much cooperation from participants. Therefore, this recognition technique has attracted much attention from scholars. Additionally, because of the rapid development of graphics processing unit technology, related hardware and computation performance, the applications of deep-learning technology are considerably enhanced. The objective of this study was to apply a deep neural network (DNN), which employs deep-learning technology, to achieve gait-based automatic pedestrian detection and recognition. In contrast to using wearable devices to precisely capture skeletal and joint movements, pedestrian color-image sequences were used as input in this study. Subsequently, a pretraining convolutional neural network (CNN) was employed to capture pedestrian location and extract pedestrian dense optical flow to serve as concrete low-level feature inputs. Then, a finely-tuned DNN based on the wide residual network was employed to extract high-level abstract features. In addition, to overcome the difficulty of obtaining local temporal features by using a 2D CNN, part of the 3D convolutional structure was introduced into the CNN. This design enabled use of limited memory to acquire more effective features and enhance the DNN performance. The experimental results show that the proposed method has exceptional performance for pedestrian detection and recognition.

This study proposes a class of super-twisting-algorithm-based (STA-based) terminal sliding mode control (TSMC) for a bioreactor system with second-order type dynamics. TSMC not only can retain the advantages of conventional sliding mode control (CSMC), including easy implementation, robustness to disturbances, and fast response, but also can make the system states converge to the equivalent point in a finite amount of time after the system states intersect the sliding surface. The chattering phenomena in TSMC will originally exist on the sliding surface after the system states achieve the sliding surface and before the system states reach the equivalent point. However, by using the super twisting algorithm (STA), the chattering phenomena can be obviously reduced. The proposed method is also compared with two other methods: (1) CSMC without STA and (2) TSMC without STA. Finally, the control schemes are applied to the control of a bioreactor system to illustrate the effectiveness and applicability. Simulation results show that it can achieve better performance by using the proposed method.

This paper investigates finite-time attitude tracking control strategies for hypersonic flight vehicles (HFVs) with parameter uncertainties, external disturbances, and actuator saturations by applying sliding model control, adaptive mechanism, and nonlinear disturbance observer techniques. A nonlinear dynamic model of HFV attitude system in reentry flight phase is established. Then, a basic attitude control method of the HFV system is designed based on a terminal sliding mode control (TSMC) scheme to accommodate the system-lumped disturbance torques and guarantee the finite-time stability. To relax the prior knowledge of bounded lumped disturbance of the TSMC-based HFV attitude system, an adaptive TSMC (ATSMC) scheme is proposed. In order to relax the limit of compound uncertainties and attenuate chattering phenomenon of the TSMC-based HFV attitude system, a nonlinear disturbance observer-based TSMC (DO-TSMC) scheme is presented, which enhances the disturbance attenuation and robust tracking performance. Finally, simulation results of a generic X-33 nonlinear model exhibit the effectiveness of the proposed TSMC, ATSMC, and DO-TSMC schemes.

Deep learning models are highly parameterized, resulting in difficulty in inference and transfer learning for image recognition tasks. In this work, we propose a layered pathway evolution method to compress a deep convolutional neural network (DCNN) for classification of masses in digital breast tomosynthesis (DBT). The objective is to prune the number of tunable parameters while preserving the classification accuracy. In the first stage transfer learning, 19 632 augmented regions-of-interest (ROIs) from 2454 mass lesions on mammograms were used to train a pre-trained DCNN on ImageNet. In the second stage transfer learning, the DCNN was used as a feature extractor followed by feature selection and random forest classification. The pathway evolution was performed using genetic algorithm in an iterative approach with tournament selection driven by count-preserving crossover and mutation. The second stage was trained with 9120 DBT ROIs from 228 mass lesions using leave-one-case-out cross-validation. The DCNN was reduced by 87% in the number of neurons, 34% in the number of parameters, and 95% in the number of multiply-and-add operations required in the convolutional layers. The test AUC on 89 mass lesions from 94 independent DBT cases before and after pruning were 0.88 and 0.90, respectively, and the difference was not statistically significant (p > 0.05). The proposed DCNN compression approach can reduce the number of required operations by 95% while maintaining the classification performance. The approach can be extended to other deep neural networks and imaging tasks where transfer learning is appropriate.

Evaluation of the benchmark datasets for testing the efficacy of deep convolutional neural networks

Deep Convolutional Neural Networks for Large-scale Speech Tasks

Identification of crops is an important topic in the agricultural domain. Hyperspectral remote sensing data are very useful for crop feature extraction and classification. Remote sensing data is an unstructured data and Convolutional Neural Network (CNN) can work on unstructured data efficiently. This paper presents an evaluation of CNN for crop classification using the Indian Pines standard dataset obtained from the AVIRIS sensor and the study area dataset obtained from the EO-1hyperion sensor. Optimized CNN has been tuned by training the model on different parameters. It has been compared with two classification algorithms: Deep Neural Network (DNN) and Convolutional Autoencoder. According to the test results, the proposed optimized CNN model provided better results as compared to the other two methods. CNN has given 97 ± 0.58% overall accuracy for the Indian Pines standard dataset and 78 ± 2.43% for our study area dataset.

Deep convolutional neural networks have become a dominant solution for numerous image classification tasks. However, a main criticism is the poor explainability due to the black-box characteristic, which hurdles the extensive usage of deep convolutional neural networks. To address this issue, this paper proposes a new evolutionary multi-objective based method, which aims to explain the behaviours of deep convolutional neural networks by evolving local explanations on specific images. To the best of our knowledge, this is the first evolutionary multi-objective method to evolve local explanations. The proposed method is model-agnostic, i.e. it is applicable to explain any deep convolutional neural networks. ImageNet is used to examine the effectiveness of the proposed method. Three well-known deep convolutional neural networks -VGGNet, ResNet, and MobileNet, are chosen to demonstrate the modelagnostic characteristic. Based on the experimental results, it can be observed that the local explanations are understandable to end-users, who need to check the sensibility of the evolved explanations to decide whether to trust the predictions made by the deep convolutional neural networks. Furthermore, the local explanations evolved by the proposed method improves the confidence of deep convolutional neural networks making the predictions. Lastly, the pareto front and convergence analyses indicate that the proposed method can form a good set of nondominated solutions.