Full-state tracking control of a mobile robot using neural networks

In this paper a nonholonomic mobile robot with completely unknown dynamics is discussed. A mathematical model has been considered and an efficient neural network is developed, which ensures guaranteed tracking performance leading to stability of the system. The neural network assumes a single layer structure, by taking advantage of the robot regressor dynamics that expresses the highly nonlinear robot dynamics in a linear form in terms of the known and unknown robot dynamic parameters. No assumptions relating to the boundedness is placed on the unmodeled disturbances. It is capable of generating real-time smooth and continuous velocity control signals that drive the mobile robot to follow the desired trajectories. The proposed approach resolves speed jump problem existing in some previous tracking controllers. Further, this neural network does not require offline training procedures. Lyapunov theory has been used to prove system stability. The practicality and effectiveness of the proposed tracking controller are demonstrated by simulation and comparison results.     

Stability of dead zone bidirectional associative memory neural networks involving time delays

A mathematical model describing the dynamical interactions of bidirectional associative memory networks involving transmission delays is considered. The influence of a dead zone or a zone of noactivation on the global stability is investigated and various easily verifiable sets of sufficient conditions are established. The asymptotic nature of solutions when the given system of equations does not possess an equilibrium pattern is discussed.     

Resonant hopping of a robot controlled by an artificial neural oscillator

The bouncing gaits of terrestrial animals (hopping, running, trotting) can be modeled as a hybrid dynamic system, with spring-mass dynamics during stance and ballistic motion during the aerial phase. We used a simple hopping robot controlled by an artificial neural oscillator to test the ability of the neural oscillator to adaptively drive this hybrid dynamic system. The robot had a single joint, actuated by an artificial pneumatic muscle in series with a tendon spring. We examined how the oscillator-robot system responded to variation in two neural control parameters: descending neural drive and neuromuscular gain. We also tested the ability of the oscillator-robot system to adapt to variations in mechanical properties by changing the series and parallel spring stiffnesses. Across a 100-fold variation in both supraspinal gain and muscle gain, hopping frequency changed by less than 10%. The neural oscillator consistently drove the system at the resonant half-period for the stance phase, and adapted to a new resonant half-period when the muscle series and parallel stiffnesses were altered. Passive cycling of elastic energy in the tendon accounted for 70-79% of the mechanical work done during each hop cycle. Our results demonstrate that hopping dynamics were largely determined by the intrinsic properties of the mechanical system, not the specific choice of neural oscillator parameters. The findings provide the first evidence that an artificial neural oscillator will drive a hybrid dynamic system at partial resonance.     

Case study on a self-organizing spiking neural network for robot navigation

This paper presents a Spiking Neural Network (SNN) architecture for mobile robot navigation. The SNN contains 4 layers where dynamic synapses route information to the appropriate neurons in each layer and the neurons are modeled using the Leaky Integrate and Fire (LIF) model. The SNN learns by self-organizing its connectivity as new environmental conditions are experienced and consequently knowledge about its environment is stored in the connectivity. Also a novel feature of the proposed SNN architecture is that it uses working memory, where present and previous sensor states are stored. Results are presented for a wall following application.     

A discrete time neural network model with spiking neurons

We derive rigorous results describing the asymptotic dynamics of a discrete time model of spiking neurons introduced in Soula et al. (Neural Comput. 18, 1, 2006). Using symbolic dynamic techniques we show how the dynamics of membrane potential has a one to one correspondence with sequences of spikes patterns (“raster plots”). Moreover, though the dynamics is generically periodic, it has a weak form of initial conditions sensitivity due to the presence of a sharp threshold in the model definition. As a consequence, the model exhibits a dynamical regime indistinguishable from chaos in numerical experiments.      

Application of chaotic dynamics in a recurrent neural network to control: hardware implementation into a novel autonomous roving robot

Originating from a viewpoint that complex/chaotic dynamics would play an important role in biological system including brains, chaotic dynamics introduced in a recurrent neural network was applied to control. The results of computer experiment was successfully implemented into a novel autonomous roving robot, which can only catch rough target information with uncertainty by a few sensors. It was employed to solve practical two-dimensional mazes using adaptive neural dynamics generated by the recurrent neural network in which four prototype simple motions are embedded. Adaptive switching of a system parameter in the neural network results in stationary motion or chaotic motion depending on dynamical situations. The results of hardware implementation and practical experiment using it show that, in given two-dimensional mazes, the robot can successfully avoid obstacles and reach the target. Therefore, we believe that chaotic dynamics has novel potential capability in controlling, and could be utilized to practical engineering application.     

A spring model and equivalent neural network for arm posture control

A model is introduced for the motor program which controls final position. The first part of the model relates the biomechanical properties of the muscles to the EMG activities of the extensor and flexor muscles and thereby generates quatitative predictions for the relationships between the EMGs, final position, external forces, muscle stiffness, and muscle tension. To the extent that comparable data exist, the model is shown to give correct quantitative predictions. When only qualitative comparisons can be made, the model is consistent with the data in the literature. The model is complete and can be tested quantitatively in detail in the future. An equivalent circuit for the neural network that innervates the muscles is given. It is shown to have the advantages of making the programming of final position simple to either compute or lookup in a table. In addition, new situations, such as adapting to a force, or an unusual viewing angle, lead to very simple changes in the basic program in terms of the equivalent circuit.     

A prototype neural network supervised control system for Bacillus thuringiensis fermentations

This article discusses the development of a prototype neural network-based supervisory control system for Bacillus thuringiensis fermentations. The input pattern to the neural network included the type of inoculum, operation temperature, pH value, accumulated process time, optical density in fermentation medium, and change in optical density. The output from the neural network was the predicted optical density for the next sampling time. The control system has been implemented in both a computer simulation and a laboratory fermentation experiment with promising results. (c) 1994 John Wiley & Sons, Inc.     

Temporal patterns recognized by a network of coordinated time delays and coincidence detectors

A computational model of a neuronal network is described which performs a fundamental task of general perception: recognition of temporal patterns in continuous and uncued neuronal spike trains. The presented network is able to recognize each pattern element (100 ms interval composed of sets of 10, 20, 30 and 40 ms interspike intervals combined in linear order) as it arrives. Its operation is based upon biologically plausible filtering mechanisms and population neurodynamics.     

Periodicity of non-autonomous inertial neural networks involving proportional delays and non-reduced order method

This paper,mainly explores a class of non-autonomous inertial neural networks with proportional delays and time-varying coefficients.By combining Lyapunov function method with differential inequality approach,non-reduced order method is used to establish some novel assertions on the existence and generalized exponential stability of periodic solutions for the addressed model.In addition,an example and its numerical simulations are given to support the proposed approach.     

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.     

A path planning method based on the particle swarm optimization trained fuzzy neural network algorithm

Cluster Computing - The basic fuzzy neural network algorithm has slow convergence and large amount of calculation, so this paper designed a particle swarm optimization trained fuzzy neural network...     

Self-organization of spiking neural network that generates autonomous behavior in a real mobile robot

In this paper, we propose self-organization algorithm of spiking neural network (SNN) applicable to autonomous robot for generation of adoptive and goal-directed behavior. First, we formulated a SNN model whose inputs and outputs were analog and the hidden unites are interconnected each other. Next, we implemented it into a miniature mobile robot Khepera. In order to see whether or not a solution(s) for the given task(s) exists with the SNN, the robot was evolved with the genetic algorithm in the environment. The robot acquired the obstacle avoidance and navigation task successfully, exhibiting the presence of the solution. After that, a self-organization algorithm based on a use-dependent synaptic potentiation and depotentiation at synapses of input layer to hidden layer and of hidden layer to output layer was formulated and implemented into the robot. In the environment, the robot incrementally organized the network and the given tasks were successfully performed. The time needed to acquire the desired adoptive and goal-directed behavior using the proposed self-organization method was much less than that with the genetic evolution, approximately one fifth.     

Stochastic resonance in a pulse neural network with a propagational time delay

Stochastic resonance in a coupled FitzHugh-Nagumo equation with a propagational time delay is investigated. With an appropriate set of parameter values. i.e. the frequency of the periodic input, the propagational time delay, and the coupling strength, a deterministic firing induced by additive noise is observed, and its dependence on the number of neurons is examined. It is also found that a network composed of two assemblies shows a competitive behavior under control of the noise intensity.     

Emergence of functional hierarchy in a multiple timescale neural network model: a humanoid robot experiment

It is generally thought that skilled behavior in human beings results from a functional hierarchy of the motor control system, within which reusable motor primitives are flexibly integrated into various sensori-motor sequence patterns. The underlying neural mechanisms governing the way in which continuous sensori-motor flows are segmented into primitives and the way in which series of primitives are integrated into various behavior sequences have, however, not yet been clarified. In earlier studies, this functional hierarchy has been realized through the use of explicit hierarchical structure, with local modules representing motor primitives in the lower level and a higher module representing sequences of primitives switched via additional mechanisms such as gate-selecting. When sequences contain similarities and overlap, however, a conflict arises in such earlier models between generalization and segmentation, induced by this separated modular structure. To address this issue, we propose a different type of neural network model. The current model neither makes use of separate local modules to represent primitives nor introduces explicit hierarchical structure. Rather than forcing architectural hierarchy onto the system, functional hierarchy emerges through a form of self-organization that is based on two distinct types of neurons, each with different time properties ("multiple timescales"). Through the introduction of multiple timescales, continuous sequences of behavior are segmented into reusable primitives, and the primitives, in turn, are flexibly integrated into novel sequences. In experiments, the proposed network model, coordinating the physical body of a humanoid robot through high-dimensional sensori-motor control, also successfully situated itself within a physical environment. Our results suggest that it is not only the spatial connections between neurons but also the timescales of neural activity that act as important mechanisms leading to functional hierarchy in neural systems.     

Stability analysis of impulsive Cohen-Grossberg neural network with unbounded discrete time-varying delays

In this paper, the impulsive Cohen-Grossberg neural network with unbounded discrete time-varying delays is considered. By using the analysis method and inequality technique, several sufficient conditions are obtained to ensure the global exponential stability of the addressed neural network. These results generalize the existing relevant stability results. Two examples with simulations are given to show the effectiveness of the obtained results.     

Interpolation neural network constructed by the step path and its approximation performance

Cluster Computing - Traditional neural network is a nonlinear dynamic system formed by a large number of neurons connected to each other, it can be widely used in many research fields, such as data...     

Stability and synchronization analysis of inertial memristive neural networks with time delays

This paper is concerned with the problem of stability and pinning synchronization of a class of inertial memristive neural networks with time delay. In contrast to general inertial neural networks, inertial memristive neural networks is applied to exhibit the synchronization and stability behaviors due to the physical properties of memristors and the differential inclusion theory. By choosing an appropriate variable transmission, the original system can be transformed into first order differential equations. Then, several sufficient conditions for the stability of inertial memristive neural networks by using matrix measure and Halanay inequality are derived. These obtained criteria are capable of reducing computational burden in the theoretical part. In addition, the evaluation is done on pinning synchronization for an array of linearly coupled inertial memristive neural networks, to derive the condition using matrix measure strategy. Finally, the two numerical simulations are presented to show the effectiveness of acquired theoretical results.     

Deriving neural network controllers from neuro-biological data: implementation of a single-leg stick insect controller

This article presents modular recurrent neural network controllers for single legs of a biomimetic six-legged robot equipped with standard DC motors. Following arguments of Ekeberg et?al. (Arthropod Struct Dev 33:287?C300, 2004), completely decentralized and sensori-driven neuro-controllers were derived from neuro-biological data of stick-insects. Parameters of the controllers were either hand-tuned or optimized by an evolutionary algorithm. Employing identical controller structures, qualitatively similar behaviors were achieved for robot and for stick insect simulations. For a wide range of perturbing conditions, as for instance changing ground height or up- and downhill walking, swing as well as stance control were shown to be robust. Behavioral adaptations, like varying locomotion speeds, could be achieved by changes in neural parameters as well as by a mechanical coupling to the environment. To a large extent the simulated walking behavior matched biological data. For example, this was the case for body support force profiles and swing trajectories under varying ground heights. The results suggest that the single-leg controllers are suitable as modules for hexapod controllers, and they might therefore bridge morphological- and behavioral-based approaches to stick insect locomotion control.