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COURSEWORK ASSIGNMENT
Please refer to your student handbook for details about the grading schemes used by the School when
assessing your work. Guidance on assessment will also be given in the Module Guide.
Guidance on avoiding academic assessment offences such as plagiarism and collusion is given at this
URL: http://www.studynet.herts.ac.uk/ptl/common/LIS.nsf/lis/citing_menu
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UNIVERSITYOF HERTFORDSHIRE
School of Engineering and Computer Science
ASSIGNMENT BRIEF
Students, you should delete this section before submitting your work.
Assignment Brief:
Using the KiKS robot simulator software and the Matlab Deep Learning Toolbox, design, implement and
test a neural network which will enable a Khepera mobile robot to wander about its environment,
following a wall on its left side whilst avoiding collisions with obstacles.
Submission Requirements:
Submit on StudyNet by 23:59 Sunday 19th April 2020,
your report;
your trained neural network saved as a Matlab data file in the format of .mat
your modified NN_navigate.m
Date Work handed out: Date Work to be handed in: Target Date for the return of
the marked assignment:
24/03/2020 See Submission Requirements
above Four weeks after the submission
deadline
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UNIVERSITYOF HERTFORDSHIRE
School of Engineering and Computer Science
You have been given a working Fuzzy Inference System which performs the same task
and can therefore be used to generate training data for the neural network.
The trained neural network will be tested using the KiKs simulator in the same test
environments as in Coursework Assignment 1.
Report Requirements
You must submit a report that describes and evaluates the work you have done to meet
all the requirements of this assignment. The report should contain (at least) the
following:
a description of the data that you used to train your neural network, explaining
how the data was generated; (20%)
a full description of your final neural network architecture; (10%)
a description of the training process, including the training algorithm and the
method that you used to avoid overfitting; (20%)
explanations of any problems that you encountered and the design decisions that
you made to overcome these problems; (20%)
a brief discussion of the control performance of the trained network in
comparison to the given FIS and the suitability of a neural network for this
control application; (20%)
a printout from the KiKS simulator to show the path travelled by the robot
during a successful trial; (5%)
a listing of the final Matlab code for your control system. (5%).
The percentages above are intended to give an approximate guide to the weighting that
will be given to each component during assessment of the report. Marks will be awarded
for:
a clear, complete description of the software that you have developed;
a logical discussion the design decisions that you made;
a well-designed neural network;
a well-presented original report.
Your report should be approximately 2000 words in length and cover about six sides of
A4, not including appendices, cover abstract and contents page. Use 11 point Times New
Roman font for the main body of text. You may use illustrations and/or diagrams that
help you describe your work but any pictorial content must not amount to more than
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UNIVERSITYOF HERTFORDSHIRE
School of Engineering and Computer Science
20% of your report. If you wish to include more illustrations, then these must go in an
appendix. The structure and preparation of your report is important.
You must submit an individual piece of work. You may, of course, ask colleagues for help
and advice, but the finished system must be your own, unique solution to the problem.
Standard University procedures will be applied if there is evidence of plagiarism or
collusion.
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UNIVERSITYOF HERTFORDSHIRE
School of Engineering and Computer Science
Programming Tips
All the Matlab code and files that are necessary for a similar task of obstacle
avoidance have been provided on StudyNet as an example for this coursework.
These files are available under the Matlab Code folder.
The Matlab commands meshgrid and reshape may be useful to generate input
patterns for the training set. A simple example (meshgrid_demo.m) of the use
of these functions is included the navigate_example folder on StudyNet.
Training data can also be generated by running KiKS simulator with
FIS_navigate.m.
The command evalfis can take a matrix of input values as a parameter and
generate many target output values at once.
You can define, train and test your neural network either by using Matlab
commands directly at the command line or by using the graphical interface of
nntool.
You will need to use the Matlab commands load and sim to read the neural
network into NN_navigate.m and to calculate the running speed and turn rate.
If you had to “normalise” your training data, don't forget to "un-normalise" the
output of your neural network to get the desired turn rate for testing the
controller.
The inputs and outputs of your neural network must be identical to those of the
given FIS. Check the given FIS and the given FIS_navigate.m file to see what
they are and how they are generated.
Remember to choose the best neural network from a solution pool.
Has negative running speed be avoided in your design?
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