Example:

3
4
Figure. Delta learning rule.

5
Example:
Learn the continuous type bipolar sigmoid neural network one epoch using Delta
learning rule. The set of input training vectors is as follows:

and the initial weight vector is:

the learning constant is c=0.1 and λ=1. The teacher’s desired responses for x1, x2, x3
are d1=-1, d2=-1, and d3=1 respectively. Draw the schematic diagram of this neural
network. Calculate the Root Mean Square (RMS) normalized error for this epoch.

Solution:
According to the size of the input training vectors (3*1, this means three inputs) and
the size of the desired output (1*1, this means one output), the schematic diagram of
this neural network is:

The bipolar sigmoid activation function is:

( ) -1,

Moreover, for linear activation function f(net)=1.

6
….
Note:
The training algorithm stops when either the number of required epochs reached or
the training error in each epoch reaches the required (minimum) error (Goal).

7
Artificial Intelligence in Robotics
(Lecture 5)

4thyear, Mechatronics and Robotics

Engineering
1st Semester

By:
Dr. Mohammed Y. Hassan

Control and Systems Engineering Department

University of Technology - Iraq

1
Thus, the RMS error for the previous example is (P=3, K=1):

√∑

(H.W. Calculate the second and third epochs for the previous example).

2
Delta Learning Rule for Multi Preceptron layer

3
4
and

Generalized Delta learning Rule:

5
6
7
Single-Layer Feedback Neural Networks:

Mathematical Foundations of Discrete Hopfield Networks

8
9
 Artificial Intelligence in Robotics
(Lecture 6)

4thyear, Mechatronics and Robotics

Engineering
1st Semester
By:
Dr. Mohammed Y. Hassan

Control and Systems Engineering Department

University of Technology - Iraq

1
Associative Memory:

2
Tutorials

3
 Artificial Intelligence in Robotics
(Lecture 7)

4thyear, Mechatronics and Robotics

Engineering
1st Semester
By:
Dr. Mohammed Y. Hassan

Control and Systems Engineering Department

University of Technology - Iraq

1
 Fuzzy Logic Control
Introduction:

2
3
Example: (surface of rules)

4
5
Types of Membership functions (MF):
The following represent some of the types of Membership functions;
there are other different shapes of membership functions:

6
7
8
 Artificial Intelligence in Robotics
(Lecture 8)

4thyear, Mechatronics and Robotics

Engineering
st
1 Semester

By:
Dr. Mohammed Y. Hassan

Control and Systems Engineering Department

University of Technology - Iraq

1
Fuzzy Logic Control

2
Example:

3
4
Example:

5
Example:
For the following implied Fuzzy set, calculate the defuzzified value using COG
method.

Solution:

6
 Example:
For the following implied Fuzzy set when the product is used to represent
the implication, calculate the defuzzified value using Center Of Average
(COA) method.

Solution:

7
Example:
For the previous example, calculate the defuzzified value using MAX
criterion method:

Solution:

8
 Artificial Intelligence in Robotics
(Lecture 9)

4thyear, Mechatronics and Robotics

Engineering
1st Semester

By:
Dr. Mohammed Y. Hassan

Control and Systems Engineering Department

University of Technology - Iraq

1
Fuzzy Logic Control

2
Fuzzy Logic Control

3
4
Types of Fuzzy Logic Controllers
The FLC can be used to design different types of con trollers as in the following:

P-Like Fuzzy Controller:

, Where Ku is the output scaling factor.

PD-Like Fuzzy Controller:

5
PI-Like Fuzzy Controller