10,660 research outputs found
Improvement of flight simulator feeling using adaptive fuzzy backlash compensation
In this paper we addressed the problem of improving the control of DC motors used for the specific application of a 3 degrees of freedom moving base flight simulator. Indeed the presence of backlash in DC motors gearboxes induces shocks and naturally limits the flight feeling. In this paper, dynamic inversion with Fuzzy Logic is used to design an adaptive backlash compensator. The classification property of fuzzy logic techniques makes them a natural candidate for the rejection of errors induced by the backlash. A tuning algorithm is given for the fuzzy logic parameters, so that the output backlash compensation scheme becomes adaptive. The fuzzy backlash compensator is first validated using a realistic model of the mechanical system and is actually tested on the real flight simulator
Computational neural learning formalisms for manipulator inverse kinematics
An efficient, adaptive neural learning paradigm for addressing the inverse kinematics of redundant manipulators is presented. The proposed methodology exploits the infinite local stability of terminal attractors - a new class of mathematical constructs which provide unique information processing capabilities to artificial neural systems. For robotic applications, synaptic elements of such networks can rapidly acquire the kinematic invariances embedded within the presented samples. Subsequently, joint-space configurations, required to follow arbitrary end-effector trajectories, can readily be computed. In a significant departure from prior neuromorphic learning algorithms, this methodology provides mechanisms for incorporating an in-training skew to handle kinematics and environmental constraints
Ensemble Kalman filter for neural network based one-shot inversion
We study the use of novel techniques arising in machine learning for inverse
problems. Our approach replaces the complex forward model by a neural network,
which is trained simultaneously in a one-shot sense when estimating the unknown
parameters from data, i.e. the neural network is trained only for the unknown
parameter. By establishing a link to the Bayesian approach to inverse problems,
an algorithmic framework is developed which ensures the feasibility of the
parameter estimate w.r. to the forward model. We propose an efficient,
derivative-free optimization method based on variants of the ensemble Kalman
inversion. Numerical experiments show that the ensemble Kalman filter for
neural network based one-shot inversion is a promising direction combining
optimization and machine learning techniques for inverse problems
Inversion using a new low-dimensional representation of complex binary geological media based on a deep neural network
Efficient and high-fidelity prior sampling and inversion for complex
geological media is still a largely unsolved challenge. Here, we use a deep
neural network of the variational autoencoder type to construct a parametric
low-dimensional base model parameterization of complex binary geological media.
For inversion purposes, it has the attractive feature that random draws from an
uncorrelated standard normal distribution yield model realizations with spatial
characteristics that are in agreement with the training set. In comparison with
the most commonly used parametric representations in probabilistic inversion,
we find that our dimensionality reduction (DR) approach outperforms principle
component analysis (PCA), optimization-PCA (OPCA) and discrete cosine transform
(DCT) DR techniques for unconditional geostatistical simulation of a
channelized prior model. For the considered examples, important compression
ratios (200 - 500) are achieved. Given that the construction of our
parameterization requires a training set of several tens of thousands of prior
model realizations, our DR approach is more suited for probabilistic (or
deterministic) inversion than for unconditional (or point-conditioned)
geostatistical simulation. Probabilistic inversions of 2D steady-state and 3D
transient hydraulic tomography data are used to demonstrate the DR-based
inversion. For the 2D case study, the performance is superior compared to
current state-of-the-art multiple-point statistics inversion by sequential
geostatistical resampling (SGR). Inversion results for the 3D application are
also encouraging
Recommended from our members
Estimation of physical variables from multichannel remotely sensed imagery using a neural network: Application to rainfall estimation
Satellite-based remotely sensed data have the potential to provide hydrologically relevant information about spatially and temporally varying physical variables. A methodology for estimating such variables from multichannel remotely sensed data is presented; the approach is based on a modified counterpropagation neural network (MCPN) and is both effective and efficient at building complex nonlinear input-output function mappings from large amounts of data. An application to high-resolution estimation of the spatial and temporal variation of surface rainfall using geostationary satellite infrared and visible imagery is presented. Test results also indicate that spatially and temporally sparse ground-based observations can be assimilated via an adaptive implementation of the MCPN method, thereby allowing on-line improvement of the estimates
Spatio-temporal learning with the online finite and infinite echo-state Gaussian processes
Successful biological systems adapt to change. In this paper, we are principally concerned with adaptive systems that operate in environments where data arrives sequentially and is multivariate in nature, for example, sensory streams in robotic systems. We contribute two reservoir inspired methods: 1) the online echostate Gaussian process (OESGP) and 2) its infinite variant, the online infinite echostate Gaussian process (OIESGP) Both algorithms are iterative fixed-budget methods that learn from noisy time series. In particular, the OESGP combines the echo-state network with Bayesian online learning for Gaussian processes. Extending this to infinite reservoirs yields the OIESGP, which uses a novel recursive kernel with automatic relevance determination that enables spatial and temporal feature weighting. When fused with stochastic natural gradient descent, the kernel hyperparameters are iteratively adapted to better model the target system. Furthermore, insights into the underlying system can be gleamed from inspection of the resulting hyperparameters. Experiments on noisy benchmark problems (one-step prediction and system identification) demonstrate that our methods yield high accuracies relative to state-of-the-art methods, and standard kernels with sliding windows, particularly on problems with irrelevant dimensions. In addition, we describe two case studies in robotic learning-by-demonstration involving the Nao humanoid robot and the Assistive Robot Transport for Youngsters (ARTY) smart wheelchair
Optimization Methods for Inverse Problems
Optimization plays an important role in solving many inverse problems.
Indeed, the task of inversion often either involves or is fully cast as a
solution of an optimization problem. In this light, the mere non-linear,
non-convex, and large-scale nature of many of these inversions gives rise to
some very challenging optimization problems. The inverse problem community has
long been developing various techniques for solving such optimization tasks.
However, other, seemingly disjoint communities, such as that of machine
learning, have developed, almost in parallel, interesting alternative methods
which might have stayed under the radar of the inverse problem community. In
this survey, we aim to change that. In doing so, we first discuss current
state-of-the-art optimization methods widely used in inverse problems. We then
survey recent related advances in addressing similar challenges in problems
faced by the machine learning community, and discuss their potential advantages
for solving inverse problems. By highlighting the similarities among the
optimization challenges faced by the inverse problem and the machine learning
communities, we hope that this survey can serve as a bridge in bringing
together these two communities and encourage cross fertilization of ideas.Comment: 13 page
- âŠ