A methodology is presented whereby a neural network is used to learn the inverse kinematic relationships of the position and orientation of a six joint manipulator. The arm solution for the orientation of a manipulato...A methodology is presented whereby a neural network is used to learn the inverse kinematic relationships of the position and orientation of a six joint manipulator. The arm solution for the orientation of a manipulator using a self organizing neural net is studied in this paper. A new training model of the self organizing neural network is proposed by thoroughly studying Martinetz, Ritter and Schulten′s self organizing neural network based on Kohonen′s self organizing mapping algorithm using a Widrow Hoff type error correction rule and closely combining the characters of the inverse kinematic relationship for a robot arm. The computer simulation results for a PUMA 560 robot show that the proposed method has a significant improvement over other methods documented in the references in self organizing capability and precision by training process.展开更多
Human brain is hypothesized to store a geometry and dynamic model of the limb.A multilayer perceptron (or MLP) network is used to stand for the model.In this paper the human elbow joint rhythmic movement is simulated ...Human brain is hypothesized to store a geometry and dynamic model of the limb.A multilayer perceptron (or MLP) network is used to stand for the model.In this paper the human elbow joint rhythmic movement is simulated in three cases:1)Parameters of the MLP,the limb geometry and dynamic model match completely,2)Parameters mismatch between them,and 3)Disturbance exists.The results show that parameters mismatch is the main error source,which causes the elbow joint movement to be aberrant.From this we can infer that movement study is a process in which the internal model is updated continuously to match the geometry and dynamic model of limb.展开更多
Due to the nonlinearity and uncertainty, the precise control of underwater vehicles in some intelligent operations hasn’t been solved very well yet. A novel method of control based on desired state programming was pr...Due to the nonlinearity and uncertainty, the precise control of underwater vehicles in some intelligent operations hasn’t been solved very well yet. A novel method of control based on desired state programming was presented, which used the technique of fuzzy neural network. The structure of fuzzy neural network was constructed according to the moving characters and the back propagation algorithm was deduced. Simulation experiments were conducted on general detection remotely operated vehicle. The results show that there is a great improvement in response and precision over traditional control, and good robustness to the model’s uncertainty and external disturbance, which has theoretical and practical value.展开更多
Single image super-resolution(SISR)is a fundamentally challenging problem because a low-resolution(LR)image can correspond to a set of high-resolution(HR)images,while most are not expected.Recently,SISR can be achieve...Single image super-resolution(SISR)is a fundamentally challenging problem because a low-resolution(LR)image can correspond to a set of high-resolution(HR)images,while most are not expected.Recently,SISR can be achieved by a deep learning-based method.By constructing a very deep super-resolution convolutional neural network(VDSRCNN),the LR images can be improved to HR images.This study mainly achieves two objectives:image super-resolution(ISR)and deblurring the image from VDSRCNN.Firstly,by analyzing ISR,we modify different training parameters to test the performance of VDSRCNN.Secondly,we add the motion blurred images to the training set to optimize the performance of VDSRCNN.Finally,we use image quality indexes to evaluate the difference between the images from classical methods and VDSRCNN.The results indicate that the VDSRCNN performs better in generating HR images from LR images using the optimized VDSRCNN in a proper method.展开更多
An irregular segmented region coding algorithm based on pulse coupled neural network(PCNN) is presented. PCNN has the property of pulse-coupled and changeable threshold, through which these adjacent pixels with approx...An irregular segmented region coding algorithm based on pulse coupled neural network(PCNN) is presented. PCNN has the property of pulse-coupled and changeable threshold, through which these adjacent pixels with approximate gray values can be activated simultaneously. One can draw a conclusion that PCNN has the advantage of realizing the regional segmentation, and the details of original image can be achieved by the parameter adjustment of segmented images, and at the same time, the trivial segmented regions can be avoided. For the better approximation of irregular segmented regions, the Gram-Schmidt method, by which a group of orthonormal basis functions is constructed from a group of linear independent initial base functions, is adopted. Because of the orthonormal reconstructing method, the quality of reconstructed image can be greatly improved and the progressive image transmission will also be possible.展开更多
A novel 6-PSS flexible parallel mechanism was presented,which employed wide-range flexure hinges as passive joints.The proposed mechanism features micron level positioning accuracy over cubic centimeter scale workspac...A novel 6-PSS flexible parallel mechanism was presented,which employed wide-range flexure hinges as passive joints.The proposed mechanism features micron level positioning accuracy over cubic centimeter scale workspace.A three-layer back-propagation(BP) neural network was utilized to the kinematics analysis,in which learning samples containing 1 280 groups of data based on stiffness-matrix method were used to train the BP model.The kinematics performance was accurately calculated by using the constructed BP model with 19 hidden nodes.Compared with the stiffness model,the simulation and numerical results validate that BP model can achieve millisecond level computation time and micron level calculation accuracy.The concept and approach outlined can be extended to a variety of applications.展开更多
文摘A methodology is presented whereby a neural network is used to learn the inverse kinematic relationships of the position and orientation of a six joint manipulator. The arm solution for the orientation of a manipulator using a self organizing neural net is studied in this paper. A new training model of the self organizing neural network is proposed by thoroughly studying Martinetz, Ritter and Schulten′s self organizing neural network based on Kohonen′s self organizing mapping algorithm using a Widrow Hoff type error correction rule and closely combining the characters of the inverse kinematic relationship for a robot arm. The computer simulation results for a PUMA 560 robot show that the proposed method has a significant improvement over other methods documented in the references in self organizing capability and precision by training process.
文摘Human brain is hypothesized to store a geometry and dynamic model of the limb.A multilayer perceptron (or MLP) network is used to stand for the model.In this paper the human elbow joint rhythmic movement is simulated in three cases:1)Parameters of the MLP,the limb geometry and dynamic model match completely,2)Parameters mismatch between them,and 3)Disturbance exists.The results show that parameters mismatch is the main error source,which causes the elbow joint movement to be aberrant.From this we can infer that movement study is a process in which the internal model is updated continuously to match the geometry and dynamic model of limb.
基金Supported by the National High Technology and Development Program Foundation of China under Grant No. 2002AA420090.
文摘Due to the nonlinearity and uncertainty, the precise control of underwater vehicles in some intelligent operations hasn’t been solved very well yet. A novel method of control based on desired state programming was presented, which used the technique of fuzzy neural network. The structure of fuzzy neural network was constructed according to the moving characters and the back propagation algorithm was deduced. Simulation experiments were conducted on general detection remotely operated vehicle. The results show that there is a great improvement in response and precision over traditional control, and good robustness to the model’s uncertainty and external disturbance, which has theoretical and practical value.
文摘Single image super-resolution(SISR)is a fundamentally challenging problem because a low-resolution(LR)image can correspond to a set of high-resolution(HR)images,while most are not expected.Recently,SISR can be achieved by a deep learning-based method.By constructing a very deep super-resolution convolutional neural network(VDSRCNN),the LR images can be improved to HR images.This study mainly achieves two objectives:image super-resolution(ISR)and deblurring the image from VDSRCNN.Firstly,by analyzing ISR,we modify different training parameters to test the performance of VDSRCNN.Secondly,we add the motion blurred images to the training set to optimize the performance of VDSRCNN.Finally,we use image quality indexes to evaluate the difference between the images from classical methods and VDSRCNN.The results indicate that the VDSRCNN performs better in generating HR images from LR images using the optimized VDSRCNN in a proper method.
基金National Natural Science Foundation of China(60572011) 985 Special Study Project(LZ85 -231 -582627)
文摘An irregular segmented region coding algorithm based on pulse coupled neural network(PCNN) is presented. PCNN has the property of pulse-coupled and changeable threshold, through which these adjacent pixels with approximate gray values can be activated simultaneously. One can draw a conclusion that PCNN has the advantage of realizing the regional segmentation, and the details of original image can be achieved by the parameter adjustment of segmented images, and at the same time, the trivial segmented regions can be avoided. For the better approximation of irregular segmented regions, the Gram-Schmidt method, by which a group of orthonormal basis functions is constructed from a group of linear independent initial base functions, is adopted. Because of the orthonormal reconstructing method, the quality of reconstructed image can be greatly improved and the progressive image transmission will also be possible.
基金Project(2002AA422260) supported by the National High Technology Research and Development Program of ChinaProject(2011-6) supported by CAST-HIT Joint Program,ChinaProject supported by Harbin Institute of Technology (HIT) Overseas Talents Introduction Program,China
文摘A novel 6-PSS flexible parallel mechanism was presented,which employed wide-range flexure hinges as passive joints.The proposed mechanism features micron level positioning accuracy over cubic centimeter scale workspace.A three-layer back-propagation(BP) neural network was utilized to the kinematics analysis,in which learning samples containing 1 280 groups of data based on stiffness-matrix method were used to train the BP model.The kinematics performance was accurately calculated by using the constructed BP model with 19 hidden nodes.Compared with the stiffness model,the simulation and numerical results validate that BP model can achieve millisecond level computation time and micron level calculation accuracy.The concept and approach outlined can be extended to a variety of applications.
