54,412 research outputs found
Comparative Study of Different Methods in Vibration-Based Terrain Classification for Wheeled Robots with Shock Absorbers
open access articleAutonomous robots that operate in the field can enhance their security and efficiency by
accurate terrain classification, which can be realized by means of robot-terrain interaction-generated
vibration signals. In this paper, we explore the vibration-based terrain classification (VTC),
in particular for a wheeled robot with shock absorbers. Because the vibration sensors are
usually mounted on the main body of the robot, the vibration signals are dampened significantly,
which results in the vibration signals collected on different terrains being more difficult to
discriminate. Hence, the existing VTC methods applied to a robot with shock absorbers may degrade.
The contributions are two-fold: (1) Several experiments are conducted to exhibit the performance of
the existing feature-engineering and feature-learning classification methods; and (2) According to
the long short-term memory (LSTM) network, we propose a one-dimensional convolutional LSTM
(1DCL)-based VTC method to learn both spatial and temporal characteristics of the dampened
vibration signals. The experiment results demonstrate that: (1) The feature-engineering methods,
which are efficient in VTC of the robot without shock absorbers, are not so accurate in our project;
meanwhile, the feature-learning methods are better choices; and (2) The 1DCL-based VTC method
outperforms the conventional methods with an accuracy of 80.18%, which exceeds the second method
(LSTM) by 8.23%
A Leaf Recognition Algorithm for Plant Classification Using Probabilistic Neural Network
In this paper, we employ Probabilistic Neural Network (PNN) with image and
data processing techniques to implement a general purpose automated leaf
recognition algorithm. 12 leaf features are extracted and orthogonalized into 5
principal variables which consist the input vector of the PNN. The PNN is
trained by 1800 leaves to classify 32 kinds of plants with an accuracy greater
than 90%. Compared with other approaches, our algorithm is an accurate
artificial intelligence approach which is fast in execution and easy in
implementation.Comment: 6 pages, 3 figures, 2 table
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