Autonomous control of a mobile robot with incremental deep learning neural networks

Over the last few years autonomous driving had an increasingly strong impact on the automotive industry. This created an increased need for artificial intelligence algo- rithms which allow for computers to make human-like decisions. However, a compro- mise between the computational power drawn by these algorithms and their subsequent performance must be found to fulfil production requirements. In this thesis incremental deep learning strategies are used for the control of a mobile robot such as a four wheel steering vehicle. This strategy is similar to the human approach of learning. In many small steps the vehicle learns to achieve a specific goal. The usage of incremental training leads to growing knowledge-base within the system. It also provides the opportunity to use older training achievements to improve the system, when more training data is available. To demonstrate the capabilities of such an algorithm, two different models have been formulated. First, a more simple model with counter wheel steering, and second, a more complex, nonlinear model with independent steering. These two models are trained incrementally to follow different types of trajectories. Therefore an algorithm was established to generate useful initial points. The incremental steps allow the robot to be positioned further and further away from the desired trajectory in the environ- ment. Afterwards, the effects of different trajectory types on model behaviour are investigated by over one thousand simulation runs. To do this, path planning for straight lines and circles are introduced. This work demonstrates that even simulations with simple network structures can have high performance.Tesi

Modeling of complex nonlinear dynamic systems using temporal convolution neural networks

An increasingly important class of nonlinear systems includes the nonaffine hybrid systems, in particular those in which the underlying dynamics explicitly depends on a switching signal. When the inherent complexity is treatable and the phenomena governing the system dynamics are known an implicit model can be derived to describe its behaviour over time. Conversely, when these assumptions are not met the system dynamics can still be approximated by regression-based techniques, provided a dataset comprising inputs and outputs collected from the system is available. One approach to deal with data driven modelling relies on computational intelligent frameworks, in which artificial neural networks stand out as a prominent class of universal approximation black box models. This work aims to explore 1D Convolutional Neural Networks capabilities, in which the inputs are represented by regressors and structural configuration parameters, to modelling nonlinear hybrid dynamic systems. Moreover, in order evaluate the intrinsic ability to transparently approximate hybrid dynamics, this deep neural network architecture is compared to a shallow multilayer layer perceptron framework, in which each structural configuration is independently approximated.Uma classe de sistemas não lineares que tem vindo a ganhar cada vez mais importância é a dos sistemas híbridos não-afins, em particular aqueles em que a dinâmica subjacente depende explicitamente de um sinal de comutação. Quando a complexidade inerente é tratável e os fenómenos que controlam a dinâmica do sistema são conhecidos, é possível obter-se um modelo implícito para descrever seu comportamento ao longo do tempo. Por outro lado, quando essas suposições não são cumpridas, a dinâmica do sistema pode ainda ser aproximada por técnicas baseadas em regressão, desde que um conjunto de dados contendo as entradas e as saídas do sistema esteja disponível. Uma abordagem para lidar com o problema de modelação experimental recorrendo a técnicas de inteligência computacional, na quais as redes neuronais artificiais se destacam como uma das classes proeminentes de aproximadores universais. Este trabalho tem como objetivo explorar as capacidades de redes neuronais convolutivas 1D, onde as entradas são representadas por regressores e parâmetros de configuração estrutural. Além disso, para avaliar a capacidade intrínseca para a aproximação de dinâmicas híbridas, esta arquitetura de rede neuronal profunda é comparada a uma estrutura neuronal proactivas multicamada, na qual cada configuração estrutural é independentemente aproximada

Adaptive dynamic programming with eligibility traces and complexity reduction of high-dimensional systems

This dissertation investigates the application of a variety of computational intelligence techniques, particularly clustering and adaptive dynamic programming (ADP) designs especially heuristic dynamic programming (HDP) and dual heuristic programming (DHP). Moreover, a one-step temporal-difference (TD(0)) and n-step TD (TD(λ)) with their gradients are utilized as learning algorithms to train and online-adapt the families of ADP. The dissertation is organized into seven papers. The first paper demonstrates the robustness of model order reduction (MOR) for simulating complex dynamical systems. Agglomerative hierarchical clustering based on performance evaluation is introduced for MOR. This method computes the reduced order denominator of the transfer function by clustering system poles in a hierarchical dendrogram. Several numerical examples of reducing techniques are taken from the literature to compare with our work. In the second paper, a HDP is combined with the Dyna algorithm for path planning. The third paper uses DHP with an eligibility trace parameter (λ) to track a reference trajectory under uncertainties for a nonholonomic mobile robot by using a first-order Sugeno fuzzy neural network structure for the critic and actor networks. In the fourth and fifth papers, a stability analysis for a model-free action-dependent HDP(λ) is demonstrated with batch- and online-implementation learning, respectively. The sixth work combines two different gradient prediction levels of critic networks. In this work, we provide a convergence proofs. The seventh paper develops a two-hybrid recurrent fuzzy neural network structures for both critic and actor networks. They use a novel n-step gradient temporal-difference (gradient of TD(λ)) of an advanced ADP algorithm called value-gradient learning (VGL(λ)), and convergence proofs are given. Furthermore, the seventh paper is the first to combine the single network adaptive critic with VGL(λ). --Abstract, page iv

Process Control and Efficiency Improvements of Industrial Boiler

The efficiency of improvement of the boiler is identified as the main priority of this project. This can be done by studying and suggest the ways to enhance the process control of the steam generating system and its instrumentation. Boiler with the closest specifications recommended is taken as the case study. Therefore, the suggested recommendation can be assumed as have been implemented. The recommendation is assumed to be implemented and efficiency calculations using mathematical programming approach has been done. The first phase of the project is the study on boiler in terms fuel characteristics, firing system and combustion control to enhance the efficiency calculation at the later stage. The suggestions on ways to improve have led to the installment of Air preheater (APH) unit at a small capacity refinery boiler. Energy savings calculation has been done and resulting output was satisfactory. Therefore, the first phase of the study has been successful. The second phase of the project is the mathematical programming approach to determine the efficiency of the boiler by assuming suggested improvements in fuel combustion has be implemented. The MATLAB program takes into account of the variation in gas constituents in fuel and gives the most accurate heating values and flue gas analysis based on the theoretical combustion. The efficiency of the boiler is determined to be above satisfactory level thus making the second phase of the project a major success