Neural Networks in Mobile Robot Motion

This paper deals with a path planning and intelligent control of an autonomous robot which should move safely in partially structured environment. This environment may involve any number of obstacles of arbitrary shape and size; some of them are allowed to move. We describe our approach to solving the motion-planning problem in mobile robot control using neural networks-based technique. Our method of the construction of a collision-free path for moving robot among obstacles is based on two neural networks. The first neural network is used to determine the "free" space using ultrasound range finder data. The second neural network "finds" a safe direction for the next robot section of the path in the workspace while avoiding the nearest obstacles. Simulation examples of generated path with proposed techniques will be presented.Comment: 9 Page

Supervised ANN vs. unsupervised SOM to classify EEG data for BCI: why can GMDH do better?

Construction of a system for measuring the brain activity (electroencephalogram (EEG)) and recognising thinking patterns comprises significant challenges, in addition to the noise and distortion present in any measuring technique. One of the most major applications of measuring and understanding EGG is the brain-computer interface (BCI) technology. In this paper, ANNs (feedforward back -prop and Self Organising Maps) for EEG data classification will be implemented and compared to abductive-based networks, namely GMDH (Group Methods of Data Handling) to show how GMDH can optimally (i.e. noise and accuracy) classify a given set of BCI’s EEG signals. It is shown that GMDH provides such improvements. In this endeavour, EGG classification based on GMDH will be researched for comprehensible classification without scarifying accuracy. GMDH is suggested to be used to optimally classify a given set of BCI’s EEG signals. The other areas related to BCI will also be addressed yet within the context of this purpose

Neural networks in geophysical applications

Neural networks are increasingly popular in geophysics. Because they are universal approximators, these tools can approximate any continuous function with an arbitrary precision. Hence, they may yield important contributions to finding solutions to a variety of geophysical applications. However, knowledge of many methods and techniques recently developed to increase the performance and to facilitate the use of neural networks does not seem to be widespread in the geophysical community. Therefore, the power of these tools has not yet been explored to their full extent. In this paper, techniques are described for faster training, better overall performance, i.e., generalization,and the automatic estimation of network size and architecture

Multilayer Complex Network Descriptors for Color-Texture Characterization

A new method based on complex networks is proposed for color-texture analysis. The proposal consists on modeling the image as a multilayer complex network where each color channel is a layer, and each pixel (in each color channel) is represented as a network vertex. The network dynamic evolution is accessed using a set of modeling parameters (radii and thresholds), and new characterization techniques are introduced to capt information regarding within and between color channel spatial interaction. An automatic and adaptive approach for threshold selection is also proposed. We conduct classification experiments on 5 well-known datasets: Vistex, Usptex, Outex13, CURet and MBT. Results among various literature methods are compared, including deep convolutional neural networks with pre-trained architectures. The proposed method presented the highest overall performance over the 5 datasets, with 97.7 of mean accuracy against 97.0 achieved by the ResNet convolutional neural network with 50 layers.Comment: 20 pages, 7 figures and 4 table

Theoretical Properties of Projection Based Multilayer Perceptrons with Functional Inputs

Many real world data are sampled functions. As shown by Functional Data Analysis (FDA) methods, spectra, time series, images, gesture recognition data, etc. can be processed more efficiently if their functional nature is taken into account during the data analysis process. This is done by extending standard data analysis methods so that they can apply to functional inputs. A general way to achieve this goal is to compute projections of the functional data onto a finite dimensional sub-space of the functional space. The coordinates of the data on a basis of this sub-space provide standard vector representations of the functions. The obtained vectors can be processed by any standard method. In our previous work, this general approach has been used to define projection based Multilayer Perceptrons (MLPs) with functional inputs. We study in this paper important theoretical properties of the proposed model. We show in particular that MLPs with functional inputs are universal approximators: they can approximate to arbitrary accuracy any continuous mapping from a compact sub-space of a functional space to R. Moreover, we provide a consistency result that shows that any mapping from a functional space to R can be learned thanks to examples by a projection based MLP: the generalization mean square error of the MLP decreases to the smallest possible mean square error on the data when the number of examples goes to infinity