Adaptive control of mobile robots using a neural network

A Neural Network - based control approach for mobile robot is proposed. The weight adaptation is made on-line, without previous learning. Several possible situations in robot navigation are considered, including uncertainties in the model and presence of disturbance. Weight adaptation laws are presented as well as simulation results.     

Classification of epileptic seizures using wavelet packet log energy and norm entropies with recurrent Elman neural network classifier

Electroencephalogram shortly termed as EEG is considered as the fundamental segment for the assessment of the neural activities in the brain. In cognitive neuroscience domain, EEG-based assessment method is found to be superior due to its non-invasive ability to detect deep brain structure while exhibiting superior spatial resolutions. Especially for studying the neurodynamic behavior of epileptic seizures, EEG recordings reflect the neuronal activity of the brain and thus provide required clinical diagnostic information for the neurologist. This specific proposed study makes use of wavelet packet based log and norm entropies with a recurrent Elman neural network (REN) for the automated detection of epileptic seizures. Three conditions, normal, pre-ictal and epileptic EEG recordings were considered for the proposed study. An adaptive Weiner filter was initially applied to remove the power line noise of 50 Hz from raw EEG recordings. Raw EEGs were segmented into 1 s patterns to ensure stationarity of the signal. Then wavelet packet using Haar wavelet with a five level decomposition was introduced and two entropies, log and norm were estimated and were applied to REN classifier to perform binary classification. The non-linear Wilcoxon statistical test was applied to observe the variation in the features under these conditions. The effect of log energy entropy (without wavelets) was also studied. It was found from the simulation results that the wavelet packet log entropy with REN classifier yielded a classification accuracy of 99.70 % for normal-pre-ictal, 99.70 % for normal-epileptic and 99.85 % for pre-ictal-epileptic.     

Dynamic output feedback stabilization for nonlinear systems based on standard neural network models

A neural-model-based control design for some nonlinear systems is addressed. The design approach is to approximate the nonlinear systems with neural networks of which the activation functions satisfy the sector conditions. A novel neural network model termed standard neural network model (SNNM) is advanced for describing this class of approximating neural networks. Full-order dynamic output feedback control laws are then designed for the SNNMs with inputs and outputs to stabilize the closed-loop systems. The control design equations are shown to be a set of linear matrix inequalities (LMIs) which can be easily solved by various convex optimization algorithms to determine the control signals. It is shown that most neural-network-based nonlinear systems can be transformed into input-output SNNMs to be stabilization synthesized in a unified way. Finally, some application examples are presented to illustrate the control design procedures.     

Software reliability prediction using recurrent neural network with Bayesian regularization

A recurrent neural network modeling approach for software reliability prediction with respect to cumulative failure time is proposed. Our proposed network structure has the capability of learning and recognizing the inherent internal temporal property of cumulative failure time sequence. Further, by adding a penalty term of sum of network connection weights, Bayesian regularization is applied to our network training scheme to improve the generalization capability and lower the susceptibility of overfitting. The performance of our proposed approach has been tested using four real-time control and flight dynamic application data sets. Numerical results show that our proposed approach is robust across different software projects, and has a better performance with respect to both goodness-of-fit and next-step-predictability compared to existing neural network models for failure time prediction.     

Improvement of image classification using wavelet coefficients with structured-based neural network

Image classification is a challenging problem in organizing a large image database. However, an effective method for such an objective is still under investigation. A method based on wavelet analysis to extract features for image classification is presented in this paper. After an image is decomposed by wavelet, the statistics of its features can be obtained by the distribution of histograms of wavelet coefficients, which are respectively projected onto two orthogonal axes, i.e., x and y directions. Therefore, the nodes of tree representation of images can be represented by the distribution. The high level features are described in low dimensional space including 16 attributes so that the computational complexity is significantly decreased. 2,800 images derived from seven categories are used in experiments. Half of the images were used for training neural network and the other images used for testing. The features extracted by wavelet analysis and the conventional features are used in the experiments to prove the efficacy of the proposed method. The classification rate on the training data set with wavelet analysis is up to 91%, and the classification rate on the testing data set reaches 89%. Experimental results show that our proposed approach for image classification is more effective.     

Delay-dependent robust exponential stability for uncertain recurrent neural networks with time-varying delays

This paper considers the problem of robust exponential stability for a class of recurrent neural networks with time-varying delays and parameter uncertainties. The time delays are not necessarily differentiable and the uncertainties are assumed to be time-varying but norm-bounded. Sufficient conditions, which guarantee that the concerned uncertain delayed neural network is robustly, globally, exponentially stable for all admissible parameter uncertainties, are obtained under a weak assumption on the neuron activation functions. These conditions are dependent on the size of the time delay and expressed in terms of linear matrix inequalities. Numerical examples are provided to demonstrate the effectiveness and less conservatism of the proposed stability results.     

Adaptive fuzzy control with output feedback for H infinity tracking of SISO nonlinear systems

Observer-based adaptive fuzzy H(infinity) control is proposed to achieve H(infinity) tracking performance for a class of nonlinear systems, which are subject to model uncertainty and external disturbances and in which only a measurement of the output is available. The key ideas in the design of the proposed controller are (i) to transform the nonlinear control problem into a regulation problem through suitable output feedback, (ii) to design a state observer for the estimation of the non-measurable elements of the system's state vector, (iii) to design neuro-fuzzy approximators that receive as inputs the parameters of the reconstructed state vector and give as output an estimation of the system's unknown dynamics, (iv) to use an H(infinity) control term for the compensation of external disturbances and modelling errors, (v) to use Lyapunov stability analysis in order to find the learning law for the neuro-fuzzy approximators, and a supervisory control term for disturbance and modelling error rejection. The control scheme is tested in the cart-pole balancing problem and in a DC-motor model.     

Prediction of continuous B-cell epitopes in an antigen using recurrent neural network

B-cell epitopes play a vital role in the development of peptide vaccines, in diagnosis of diseases, and also for allergy research. Experimental methods used for characterizing epitopes are time consuming and demand large resources. The availability of epitope prediction method(s) can rapidly aid experimenters in simplifying this problem. The standard feed-forward (FNN) and recurrent neural network (RNN) have been used in this study for predicting B-cell epitopes in an antigenic sequence. The networks have been trained and tested on a clean data set, which consists of 700 non-redundant B-cell epitopes obtained from Bcipep database and equal number of non-epitopes obtained randomly from Swiss-Prot database. The networks have been trained and tested at different input window length and hidden units. Maximum accuracy has been obtained using recurrent neural network (Jordan network) with a single hidden layer of 35 hidden units for window length of 16. The final network yields an overall prediction accuracy of 65.93% when tested by fivefold cross-validation. The corresponding sensitivity, specificity, and positive prediction values are 67.14, 64.71, and 65.61%, respectively. It has been observed that RNN (JE) was more successful than FNN in the prediction of B-cell epitopes. The length of the peptide is also important in the prediction of B-cell epitopes from antigenic sequences. The webserver ABCpred is freely available at www.imtech.res.in/raghava/abcpred/.     

On a recurrent neural network producing oscillations

A recurrent two-node neural network producing oscillations is analyzed. The network has no true inputs and the outputs from the network exhibit a circular phase portrait. The weight configuration of the network is investigated, resulting in analytical weight expressions, which are compared with numerical weight estimates obtained by training the network on the desired trajectories. The values predicted by the analytical expressions agree well with the findings from the numerical study, and can also explain the asymptotic properties of the networks studied.     

Gene regulatory network from microarray data of colon cancer patients using TSK-type recurrent neural fuzzy network

In this work we applied a TSK-type recurrent neural fuzzy approach to extract regulatory relationship among genes and reconstruct gene regulatory network from microarray data. The identified signature has captured the regulatory relationship among 27 differentially expressed genes from microarray dataset. We applied three different methods viz., feed forward neural fuzzy, modified genetic algorithm and recurrent neural fuzzy, on the same data set for the inference of GRNs and the results obtained are almost comparable. In all tested cases, TRNFN identified more biologically meaningful relations. We found that 87.8% of the total interactions extracted by TRNFN are correct in accordance with the biological knowledge. Our analysis resulted in 2 major outcomes. First, upregulated genes are regulated by more genes than downregulated genes. Second, tumor activators activate other tumor activators and suppress tumor suppressers strongly in the disease environment. These findings will help to elucidate the common molecular mechanism of colon cancer, and provide new insights into cancer diagnostics, prognostics and therapy.     

Efficient nonlinear predictive control of a biochemical reactor using neural models

This paper describes the application of artificial neural networks to modelling and control of a continuous fermentor. A computationally efficient nonlinear model predictive control (MPC) algorithm with nonlinear prediction and linearisation (MPC-NPL) which needs solving on-line a quadratic programming problem is developed. It is demonstrated that the algorithm results in closed-loop control performance similar to that obtained in nonlinear MPC, which hinges on full on-line non-convex optimisation. The computational complexity of the MPC-NPL algorithm is shown, control accuracy and robustness are also demonstrated in the case of noisy measurements and disturbances affecting the process.     

Formalism for the neural network of visual systems

A formalism to describe neural interrelations is developed on the exemplary case of the fly visual system. Absolute and relative indices are employed to identify the position of neural elements within the lattices of the visual ganglia. Illustrative applications as the projection of fly retinual cell axons into the lamina are discussed as well as the general feasibility of the formalism to other visual systems.     

Abstractive morphological learning with a recurrent neural network

In traditional word-and-paradigm models of morphology, an inflectional system is represented via a set of exemplary paradigms. Novel wordforms are produced by analogy with previously encountered forms. This paper describes a recurrent neural network which can use this strategy to learn the paradigms of a morphologically complex language based on incomplete and randomized input. Results are given which show good performance for a range of typologically diverse languages.     

Inference of genetic regulatory networks with recurrent neural network models using particle swarm optimization

Genetic regulatory network inference is critically important for revealing fundamental cellular processes, investigating gene functions, and understanding their relations. The availability of time series gene expression data makes it possible to investigate the gene activities of whole genomes, rather than those of only a pair of genes or among several genes. However, current computational methods do not sufficiently consider the temporal behavior of this type of data and lack the capability to capture the complex nonlinear system dynamics. We propose a recurrent neural network (RNN) and particle swarm optimization (PSO) approach to infer genetic regulatory networks from time series gene expression data. Under this framework, gene interaction is explained through a connection weight matrix. Based on the fact that the measured time points are limited and the assumption that the genetic networks are usually sparsely connected, we present a PSO-based search algorithm to unveil potential genetic network constructions that fit well with the time series data and explore possible gene interactions. Furthermore, PSO is used to train the RNN and determine the network parameters. Our approach has been applied to both synthetic and real data sets. The results demonstrate that the RNN/PSO can provide meaningful insights in understanding the nonlinear dynamics of the gene expression time series and revealing potential regulatory interactions between genes.     

Training simultaneous recurrent neural network with resilient propagation for static optimization

This paper proposes a non-recurrent training algorithm, resilient propagation, for the Simultaneous Recurrent Neural network operating in relaxation-mode for computing high quality solutions of static optimization problems. Implementation details related to adaptation of the recurrent neural network weights through the non-recurrent training algorithm, resilient backpropagation, are formulated through an algebraic approach. Performance of the proposed neuro-optimizer on a well-known static combinatorial optimization problem, the Traveling Salesman Problem, is evaluated on the basis of computational complexity measures and, subsequently, compared to performance of the Simultaneous Recurrent Neural network trained with the standard backpropagation, and recurrent backpropagation for the same static optimization problem. Simulation results indicate that the Simultaneous Recurrent Neural network trained with the resilient backpropagation algorithm is able to locate superior quality solutions through comparable amount of computational effort for the Traveling Salesman Problem.     

Sparse-view CT reconstruction based on multi-level wavelet convolution neural network

Sparse-view computed tomography (CT) is a recent approach to reducing the radiation dose in patients and speeding up the data acquisition. Consequently, sparse-view CT has been of particular interest among researchers within the CT community. Advanced reconstruction algorithms for sparse-view CT, such as iterative algorithms with total-variation (TV), have been studied along with the problem of increasing computational burden and the blurring of artifacts in the reconstructed images. Studies on deep-learning-based approaches applying U-NET have recently achieved remarkable outcomes in various domains including low-dose CT. In this study, we propose a new method for sparse-view CT reconstruction based on a multi-level wavelet convolutional neural network (MWCNN). First, a filtered backprojection (FBP) was used to reconstruct a sparsely sampled sinogram from 60, 120, and 180 projections. Subsequently, the sparse-view data obtained from FBP were fed to a deep-learning network, i.e., the MWCNN. Our network architecture combines a wavelet transform and modified U-NET without pooling. By replacing the pooling function with the wavelet transform, the receptive field is enlarged to improve the performance. We qualitatively and quantitatively evaluated the interpolation, iterative TV method, and standard U-NET in terms of a reduction in the streaking artifacts and a preservation of the anatomical structures. When compared with other methods, the proposed method showed the highest performance based on various evaluation parameters such as the structural similarity, root mean square error, and resolution. These results indicate that the MWCNN possesses a powerful potential for achieving a sparse-view CT reconstruction.     

Novel tracking function of moving target using chaotic dynamics in a recurrent neural network model

Chaotic dynamics introduced in a recurrent neural network model is applied to controlling an object to track a moving target in two-dimensional space, which is set as an ill-posed problem. The motion increments of the object are determined by a group of motion functions calculated in real time with firing states of the neurons in the network. Several cyclic memory attractors that correspond to several simple motions of the object in two-dimensional space are embedded. Chaotic dynamics introduced in the network causes corresponding complex motions of the object in two-dimensional space. Adaptively real-time switching of control parameter results in constrained chaos (chaotic itinerancy) in the state space of the network and enables the object to track a moving target along a certain trajectory successfully. The performance of tracking is evaluated by calculating the success rate over 100 trials with respect to nine kinds of trajectories along which the target moves respectively. Computer experiments show that chaotic dynamics is useful to track a moving target. To understand the relations between these cases and chaotic dynamics, dynamical structure of chaotic dynamics is investigated from dynamical viewpoint.     

Optimizing control of a continuous stirred tank fermenter using a neural network

Feedforward neural networks are a general class of nonlinear models that can be used advantageously to model dynamic processes. In this investigation, a neural network was used to model the dynamic behaviour of a continuous stirred tank fermenter in view of using this model for predictive control. In this system, the control setpoint is not known explicitly but it is calculated in such a way to optimize an objective criterion. The results presented show that neural networks can model very accurately the dynamics of a continuous stirred tank fermenter and, the neural model, when used recursively, can predict the state variables over a long prediction horizon with sufficient accuracy. In addition, neural networks can adapt rapidly to changes in fermentation dynamics.List of Symbols F Dimensionless flow rate (F/ V₀) - F m³/h Flow rate - F ₀ m³/h Inlet flow rate - J Objective cost function - K _i Dimensionless constant in Eq. (3) (k _i /s₀) - k _i kg/m³ Substrate inhibition constant in Haldane model - k _m Dimensionless constant in Eq. (3) (k _s /s₀) - k _m kg/m³ Substrate inhibition constant in Haldane model - n prediction horizon - S Dimensionless substrate concentration (s/s₀) - s kg/m³ Substrate concentration - t h Time - v Dimensionless volume (V/V₀) - V m³ Liquid volume in fermenter - W _ij , W _jk Weight matrices in neural network - X Dimensionless biomass concentration - x kg/m³ Biomass concentration - Y Biomass/substrate yield coefficient - Weighting factor in Eq. (4) - Dimensionless specific growth rate (/ ) - 1/h Maximum specific growth rate - 1/h Specific growth rate - Dimensionless time ( t)