Fuzzy neural networks for control of dynamic systems

This thesis provides a unified and comprehensive treatment of the fuzzy neural networks as the intelligent controllers. This work has been motivated by a need to develop the solid control methodologies capable of coping with the complexity, the nonlinearity, the interactions, and the time variance of the processes under control. In addition, the dynamic behavior of such processes is strongly influenced by the disturbances and the noise, and such processes are characterized by a large degree of uncertainty. Therefore, it is important to integrate an intelligent component to increase the control system ability to extract the functional relationships from the process and to change such relationships to improve the control precision, that is, to display the learning and the reasoning abilities. The objective of this thesis was to develop a self-organizing learning controller for above processes by using a combination of the fuzzy logic and the neural networks. An on-line, direct fuzzy neural controller using the process input-output measurement data and the reference model with both structural and parameter tuning has been developed to fulfill the above objective. A number of practical issues were considered. This includes the dynamic construction of the controller in order to alleviate the bias/variance dilemma, the universal approximation property, and the requirements of the locality and the linearity in the parameters. Several important issues in the intelligent control were also considered such as the overall control scheme, the requirement of the persistency of excitation and the bounded learning rates of the controller for the overall closed loop stability. Other important issues considered in this thesis include the dependence of the generalization ability and the optimization methods on the data distribution, and the requirements for the on-line learning and the feedback structure of the controller. Fuzzy inference specific issues such as the influence of the choice of the defuzzification method, T-norm operator and the membership function on the overall performance of the controller were also discussed. In addition, the e-completeness requirement and the use of the fuzzy similarity measure were also investigated. Main emphasis of the thesis has been on the applications to the real-world problems such as the industrial process control. The applicability of the proposed method has been demonstrated through the empirical studies on several real-world control problems of industrial complexity. This includes the temperature and the number-average molecular weight control in the continuous stirred tank polymerization reactor, and the torsional vibration, the eccentricity, the hardness and the thickness control in the cold rolling mills. Compared to the traditional linear controllers and the dynamically constructed neural network, the proposed fuzzy neural controller shows the highest promise as an effective approach to such nonlinear multi-variable control problems with the strong influence of the disturbances and the noise on the dynamic process behavior. In addition, the applicability of the proposed method beyond the strictly control area has also been investigated, in particular to the data mining and the knowledge elicitation. When compared to the decision tree method and the pruned neural network method for the data mining, the proposed fuzzy neural network is able to achieve a comparable accuracy with a more compact set of rules. In addition, the performance of the proposed fuzzy neural network is much better for the classes with the low occurrences in the data set compared to the decision tree method. Thus, the proposed fuzzy neural network may be very useful in situations where the important information is contained in a small fraction of the available data

A multi-wavelet based technique for calculating dense 2D disparity maps from stereo

A vision based approach for calculating accurate 3D models of the objects is presented. Generally industrial visual inspection systems capable of accurate 3D depth estimation rely on extra hardware tools like laser scanners or light pattern projectors. These tools improve the accuracy of depth estimation but also make the vision system costly and cumbersome. In the proposed algorithm, depth and dimensional accuracy of the produced 3D depth model depends on the existing reference model instead of the information from extra hardware tools. The proposed algorithm is a simple and cost effective software based approach to achieve accurate 3D depth estimation with minimal hardware involvement. The matching process uses the well-known coarse to fine strategy, involving the calculation of matching points at the coarsest level with consequent refinement up to the finest level. Vector coefficients of the wavelet transform-modulus are used as matching features, where wavelet transform-modulus maxima defines the shift invariant high-level features with phase pointing to the normal of the feature surface. The technique addresses the estimation of optimal corresponding points and the corresponding 2D disparity maps leading to the creation of accurate depth perception model. <br /

Modelling of porosity defects in high pressure die casting with a neural network

High Pressure Die Casting (HPDC) is a complex process that results in casting defects if configured improperly. However, finding out the optimal configuration is a non-trivial task as eliminating one of the casting defects (for example, porosity) can result in occurrence of other casting defects. The industry generally tries to eliminate the defects by trial and error which is an expensive and error -prone process. This paper aims to improve current modelling and understanding of defects formation in HPDC machines. We have conducted conventional die casting tests with a neural network model of HPDC machine and compared the obtained results with the current understanding of formation of porosity. While most of our findings correspond well to established knowledge in the field, some of our findings are in conflict with the previous studies of die casting.<br /

Improving the quality of die castings by using artificial neural networks for porosity defect modelling

The aim of this work is to improve the quality of castings by minimizing defects and scrap through the analysis of the data generated by High Pressure Die Casting (HPDC) Machines using computational intelligence techniques. Casting is a complex process that is affected by the interdependence of die casting process parameters on each other such that changes in one parameter results in changes in other parameters. Computational intelligence techniques have the potential to model accurately this complex relationship. The project has the potential to generate optimal configurations for HPDC Machines and explain the relationships between die casting process parameters.<br /

Mixed transfer function neural networks for knowledge acquistition

Modeling helps to understand and predict the outcome of complex systems. Inductive modeling methodologies are beneficial for modeling the systems where the uncertainties involved in the system do not permit to obtain an accurate physical model. However inductive models, like artificial neural networks (ANNs), may suffer from a few drawbacks involving over-fitting and the difficulty to easily understand the model itself. This can result in user reluctance to accept the model or even complete rejection of the modeling results. Thus, it becomes highly desirable to make such inductive models more comprehensible and to automatically determine the model complexity to avoid over-fitting. In this paper, we propose a novel type of ANN, a mixed transfer function artificial neural network (MTFANN), which aims to improve the complexity fitting and comprehensibility of the most popular type of ANN (MLP - a Multilayer Perceptron).<br /

Press shop machine analysis and trending

Historically downtime data collection and reporting systems in many automotive body panel press shops has been somewhat adhoc. The impetus for this study stems from frustration in respect of how this data is collected, assessed for trends and presented. Ideally this data should be used to identify costly repetitious faults for actioning of maintenance work and for feedback to tool design for consideration when designing new parts.Presently this data is stored largely in the form of tacit knowledge by press shop operators; the encumbrance of transferring such information being that there is very often only limited channels to quantify it into something more tangible. Findings show that there tend to be two related obstacles to plant data recording. The first is that automation of down time data collection alone cannot determine fault causes as the majority of press shop events are initiated primarily from operator observation. The second is that excessive subjective operator input can often result in confusion and end up taking greater time in recording than remedying the actual fault.This Paper presents the development of a system that through press mounted touchscreens encourages basic subjective operator input and relates this with basic objective data such as timekeeping. In this way all responses for a given press line become valuable and can be trended and placed in a hierarchy based on their percentage contribution to downtime or statistical importance. This then is capable of statistically alerting maintenance, line flow and/or toolbuild areas as to what issues require their most urgent attention.<br /

Optimal mapping of joint faults into healthy joint velocity space for fault-tolerant redundant manipulators

redundant manipulator

A loop-shaping approach to intelligent control

In this paper, we propose a loop-shaping approach to in telligent control with dynamically constructed neurocon troller. In the proposed control scheme, the process uncer tainly is reduced in the controller rather than in the process, without explicit identification of the process under control. The inherent noise/distrurbances in the process are utilized to satisfy persistency of excitation condition. The use of a reference model in form of a filter allow the frequency response of the closed-loop to be adapted in line with the changes in frequency response of the filter. The approach is evaluated on the example of control of polymerization reactor with promising results.<br /