Professional Documents
Culture Documents
Outputs
Inputs
Brain
Face Recognition
Mary, Peter
Face Recognition
Mary
Brain Mary
Car Driving
Present Position
Desired Position
Steering Angle
Acceleration
Car Driving
A Control Problem
Desired
Position Handling Present
Position
Driver Car
Accel
Artificial Neural Network Model
A Natural Neural Network
x1 y1
x2 y2
y = (x)
Face Recognition
Mary
Brain Mary
y = (x)
Function Estimation
y
x
y = ax + b
x
y = ax2 + bx + c
Function Estimation
y
y = ax + b
x
:
Input : Output
:
:
Input: Face
Output: Code for each face
Face Recognition
Reducing the size of images - Pixeling
Monocromatic
40 x 30
Gray Scale
1200 pixels
1826 x 1529
The face occupies the
Full Color most of the image
2808 x 2425
Neural Network for Face Recognition
Image Preprocessing - Pixeling
00000000000000000000
00000000011000000000
00000000111100000000
00000011111110000000
: : : : :
Matrix 40x30 : : : : :
00001011111110010000
00001000000000110000
00000000000000000000
1000000000
0100000000 0000000010
0010000000 0000000001
Neural Network for Face Recognition
vij wjk
:
1200 : 10
Inputs Outputs
:
:
vij wjk
:
1200 10
Inputs
: Outputs
: :
Cara de Cara de
entrenamiento validacin
0 0.1
0 0.1
1 0.9
0 0.1
0 0.3
0 0.1
0 0.2
0 0.1
0 0.3
0 0.1
Detection of Cardiac Anomalies
Normal
Anomaly 1
Anomaly 2
Anomaly 3
Training of Neural Network
1 0 0 0
600 0 1 0 0
Inputs 0 0 1 0
0 0 0 1
4 Outputs
Validation with Noisy Signals
Dynamic Neural Networks
Modeling of Dynamical Systems
Modeling of Dynamical Systems
xk uk xk+1
uk
System System
xk
xk = (uk)
xk+1 = (xk,uk)
t
Desired Ouput x xk+1 = (xk,uk)
x
x0 , u0 x1
x1 , u1 x2
x2 , u2 x3
t
: :
xN , uN xN
Modeling of Dynamical Systems
vij wjk
u(k) x1(k+1)
x2(k) x2(k+1)
xk+1 = (xk,uk)
Modeling of Dynamical Systems
u1 vij
Input u= u wjk
2 uk
u1 u2 xk+1
xk
t t
xk+1 = (xk,uk)
Desired Ouput x = x1
x 2
x1 x2
t t
Training of Dynamical Neural Networks
vij wjk
uk
xk+1
xk
k=N
S
xk Estado (Salida) de la red
J = 0.5 (x k- xk)2
k=1 xk Salida deseada (data)
Training of Dynamical Neural Networks
vij wjk
uk
xk+1
xk
x1
If x is a vector x= x
2
xk
vij = vij - h J
vij Total partial
derivatives
wjk = wjk - h J
wjk
Training of Dynamical Neural Networks
vij wjk
uk
xk+1
xk
k=N
Cost Function to be Minimized J = 0.5 S
k=1
(x k - x k) T (x - x )
k k
k=N
J
v
= S
k=1
(x k- xk)T xk
v Total partial
k=N derivative of xk
J
w
= S
k=1
(x k - x k) T xk
w
Training of Dynamic Neural Networks
vij wjk
uk
xk+1
xk
x0 x1 x2
.
x3 x99 x100
Training of Dynamical Neural Networks
vij = vij - h J
vij Total partial
derivatives
wjk = wjk - h J
wjk
Simple Derivative
z = 3y + 2x
z z
= = 2
y = 4x + 5r x x
r = 2x + 6s Total Derivative
z z z y z y r
= + +
x x y x y r x
Training of Dynamical Neural Networks
Computation of Total Partial Derivatives
u0 u1 u2
vij u99
wjk vij vij vij
wjk wjk wjk
x0 x1 x2
.
x3 x99 x100
x1 x1
=
v v
x2 x2 x2 x1
= +
v v x1 v
x3 x3 x3 x2
= +
v v x2 v
Dynamic Back Propagation
u0 u1 u2
vij u99
wjk vij vij vij
wjk wjk wjk
x0 x1 x2
.
x3 x99 x100
0.5
Output
Input Signal u 0.4 Signal x1
0.3
0.2
Input Signal u
0.1
1 0
0.8 -0.1
0.6 -0.2
0.4 -0.3
0.2 -0.4
0 -0.5
-0.2
0 1 2 3 4 5 6 7
-0.4 Time [sec]
-0.6
-0.8
0.2
-0.2
-0.6
-1
0 1 2 3 4 5 6 7
Time [sec]
Modeling of Nonlinear Dynamic System
Validation: Input-Output Signals
0.2
1
0.1
0.8 0
0.6 -0.1
0.4 -0.2
0.2 -0.3
0 -0.4
-0.2 -0.5
-0.4 0 1 2 3 4 5 6 7
Time [sec]
-0.6
-0.8
Output State Variable x2
-1 1
0 1 2 3 4 5 6 7
0.8 Output
Time [sec] 0.6
Signal x2
0.4
0.2
-0.2
-0.6
Model Output -0.8
-1
0 1 2 3 4 5 6 7
Time [sec]
Modeling of Nonlinear Dynamic System
Matlab Simulation
uk xk+1 x1
System x= x
xk 2
x3
Nonlinear system
xk = Axk + Buk + Gxkuk
Dynamic Neural Networks
Control of Dynamical Systems
Car Driving
A Control Problem
Desired
Position Handling Present
Position
Driver Car
Accel
Control of Dynamical Sytems
Stabilization
xk uk xk+1
Controller System
uk = W(xk)
Tracking
rk uk xk+1
Controller System
xk
uk = W(xk, rk)
Control of Dynamical Sytems
Stabilization
Controller
xk uk xk+1
System
Controller System
uk = W(xk) xk+1 = (xk,uk)
Represented by:
Neural Network
State Equation
Training of Neuro-Controller
v w v w v w
x0 u0 x1 u1 x2 u2
System System
x3
System
x0 x1 x2
x1
If x is a vector x= x
2
v w v w v w
x0 u0 x1 u1 x2 u2
System System
x3
System
x0 x1 x2
k=N
xk Estado (Salida)
J = 0.5 S
k=1
(x k - x k) 2
xk Salida deseada
Training of Neuro-Controller
v w v w v w
x0 u0 x1 u1 x2 u2
System System
x3
System
vij = vij - h J
vij Total partial
derivatives
wjk = wjk - h J
wjk
Training of Neuro-Controller
v w v w v w
x0 u0 x1 u1 x2 u2
System System
x3
System
k=N
Cost Function to be Minimized J = 0.5 S
k=1
(x k- xk)T (xk - xk)
k=N
J
v
= S
k=1
(x k- xk)T xk
v
Total partial
k=N derivative of xk
J
w
= S
k=1
(x k - x k) T xk
w
Dynamic Back Propagation
v w v w v w
x0 u0 x1 u1 x2 u2
System System
x3
System
xk+1
v
=
xk+1
uk
uk
v
+ ( xk+1
xk
+
xk+1
uk
uk
xk
) xk
v
v w v w v w
x0 u0 x1 u1 x2 u2
System System
x3
System
xk+1
v
=
xk+1
uk
uk
v
+ ( xk+1
xk
+
xk+1
uk
uk
xk
) xk
v
How to compute
steer angle d
yo
xo x* X
xo x* = 50
Initial yo d y* = 100 Desired
Position Position
fo f* = p/2
Robot Model
Front d
Wheels d x
Robot y
f f
L
y
Rear x(k+1) = x(k) + vDt cos(f(k))
Wheels
y(k+1) = y(k) + vDt sen(f(k))
x
f(k+1) = f(k) vDt /L tan(d(k))
Backward motion
Constant speed
No slipping No skidding
Positioning of Mobile Robot
Control Structure
Driver
x*
x
y* d Mobile y
f* Robot f
Positioning of Mobile Robot
Control Structure
Driver
x* x
-+ d Mobile y
f* Robot f
-+
Robot Model
x(k+1) = x(k) + vDt cos(f(k)) x(k)
xk = uk = tan(d(k))
f(k)
f(k+1) = f(k) vDt /L tan(d(k))
xk+1
v
=
xk+1
uk
uk
v
+ ( xk+1
xk
+
xk+1
uk
uk
xk
) xk
v
yo
Train the neural network for
xo x*=0 X
far away positions
x = -4 -4 4 4
f = -p/2 p/2 -p/2 p/2
x = -6 -6 6 6
f = -p/2 p/2 -p/2 p/2
Trajectories of Mobile Robot to Achieve
a Final Desired Position
Trajectories of Mobile Robot to Achieve
a Final Desired Position
Trajectories of Mobile Robot to Follow a Road
Fuzzy Neural Network
Integrates:
Knowledge IF -THEN Rules (Fuzzy)
Data Training (Neural Network)
Experimental Mobile Robot
Control of a Truck-Trailer Mobile Robot
Rear
wheels
Traction
wheels Trailer
Truck
Steering
wheels
Control of a Truck-Trailer Mobile Robot
Obstacle
Initial Position
Initial
Position
Desired
Final
Position
Position
Obstacle
Incremental Learning
Traction
wheels
Rear
wheels
Traction
wheels
Steering
wheels
Control of a Truck-Trailer Mobile Robot
Trailer (L 2)
q12 q2
q1
Truck (L 1)
X Axis
Control of a Truck-Trailer Mobile Robot
Initial Desired
Position Position
Initial
Position
Control of a Truck-Trailer Mobile Robot
Initial
Position
Thank you for your
attention!