A CMAC-Based Systematic Design Approach of an Adaptive Embedded Control Force Loading System

In this chapter, an adaptive embedded control system is developed to measure yield strength of the material plate with an applied load. A systematic approach is proposed to handle special requirements of embedded control systems which are different from computer-based control systems as there are much less computational power and hardware resources available. Efficient control algorithm has to be designed to remove CPU burden so that the microcontroller has enough power available. A three-step approach is proposed to address the embedded control issue: Firstly, the mathematical description of the whole system is studied using both theoretical and experimental methods. A mathematical model is derived from the physical models of each component used, and an experiment is retrieved by employing Levy’s method and least square estimation to identify specific parameters of the system model. Secondly, an adaptive feedforward plus feedback controller is designed and simulated as a preparation for the embedded system implementation. The Cerebellar Model Articulation Controller (CMAC) is chosen as the feedforward part, and a PD controller is used as the feedback part to train the CMAC. Finally, the proposed algorithm is applied to the embedded system, and experiments are conducted to verify both the identified model and designed controller

PAC: A Novel Self-Adaptive Neuro-Fuzzy Controller for Micro Aerial Vehicles

There exists an increasing demand for a flexible and computationally efficient controller for micro aerial vehicles (MAVs) due to a high degree of environmental perturbations. In this work, an evolving neuro-fuzzy controller, namely Parsimonious Controller (PAC) is proposed. It features fewer network parameters than conventional approaches due to the absence of rule premise parameters. PAC is built upon a recently developed evolving neuro-fuzzy system known as parsimonious learning machine (PALM) and adopts new rule growing and pruning modules derived from the approximation of bias and variance. These rule adaptation methods have no reliance on user-defined thresholds, thereby increasing the PAC's autonomy for real-time deployment. PAC adapts the consequent parameters with the sliding mode control (SMC) theory in the single-pass fashion. The boundedness and convergence of the closed-loop control system's tracking error and the controller's consequent parameters are confirmed by utilizing the LaSalle-Yoshizawa theorem. Lastly, the controller's efficacy is evaluated by observing various trajectory tracking performance from a bio-inspired flapping-wing micro aerial vehicle (BI-FWMAV) and a rotary wing micro aerial vehicle called hexacopter. Furthermore, it is compared to three distinctive controllers. Our PAC outperforms the linear PID controller and feed-forward neural network (FFNN) based nonlinear adaptive controller. Compared to its predecessor, G-controller, the tracking accuracy is comparable, but the PAC incurs significantly fewer parameters to attain similar or better performance than the G-controller.Comment: This paper has been accepted for publication in Information Science Journal 201

Classification of hypoglycemic episodes for Type 1 diabetes mellitus based on neural networks

Hypoglycemia is dangerous for Type 1 diabetes mellitus (T1DM) patients. Based on the physiological parameters, we have developed a classification unit with hybridizing the approaches of neural networks and genetic algorithm to identify the presences of hypoglycemic episodes for TIDM patients. The proposed classification unit is built and is validated by using the real T1DM patients' data sets collected from Department of Health, Government of Western Australia. Experimental results show that the proposed neural network based classification unit can achieve more accurate results on both trained and unseen T1DM patients' data sets compared with those developed based on the commonly used classification methods for medical diagnosis including statistical regression, fuzzy regression and genetic programming

A Neural Network Approach to Dependent *Reliability Estimation.

This research presents the creation of a new model for automating the generation of component and system reliability estimates from simulated field data for tightly coupled systems. The model utilizes the CMAC neural network architecture, which resembles the human cerebellum and is capable of approximating nonlinear functions. An analysis and testing of the network as a tool for reliability prediction of dependent components within an assembly has been performed. In order to evaluate the performance of the model, the network has been tested on simulated data and provided over 90% performance accuracy in learning non-linear functions that represent the dependency between components. This serves as a valuable tool for maintenance personnel faced with important and costly decisions regarding equipment maintenance policies