Neural network

Robotic & Vision Lab RoVis

 Researches
• Visual servo
• Image Processing
• Impedance control
• Intelligent control
Le Duc Hanh, Phd • Robotics
Lecturer at Ho Chi Minh city University
of Technology

Email: ldhanh@hcmut.edu.vn

Robotic & Vision Lab RoVis

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 Feed-forward nets

Information flow is unidirectional

Data is presented to Input layer
Passed on to Hidden Layer
Passed on to Output layer

Information is distributed

Information processing is parallel

Internal representation (interpretation) of data

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• Feeding data through the net:

(1  0.25) + (0.5  (-1.5)) = 0.25 + (-0.75) = - 0.5

1
Squashing:  0.3775
1 e 0.5

Robotic & Vision Lab RoVis

• Data is presented to the network in the form of activations in the input
layer

• Examples
• Pixel intensity (for pictures)
• Molecule concentrations (for artificial nose)
• Share prices (for stock market prediction)

• Data usually requires preprocessing

• Analogous to senses in biology

• How to represent more abstract data, e.g. a name?

• Choose a pattern, e.g.
• 0-0-1 for “Chris”
• 0-1-0 for “Becky”

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Movie

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function Backprop
% Backpropagation
patterns = [0 0; 0 1; 1 0; 1 1]; % Input patterns - one row per
input pattern
desired_out = [ 0; 1; 1; 0]; % Desired outputs - one row per
output pattern
sse_rec = []; % Will hold a record of all sum-squared-errors
sse = inf; % A dummy initial sse
eta = 1; % Learning rate. eta = 1 is very large. For XOR, this
converges fast, but can get stuck in loc. mins.
alpha = 0.8; % Momentum term
patterns = [patterns ones(size(patterns,1),1) ]; % Add a
column of 1's to input patterns to make a bias node
num_pat = size(patterns, 2); % No. of input patterns
num_inp = size(patterns,2); % No. of input nodes (including
bias)
num_hid = 3; % No. of hidden nodes (including bias node)
num_out = size(desired_out, 2); % No. of output nodes
v = 0.5 * (2 * rand(num_inp, num_hid-1) - 1); % Small initial
weights for input to hidden layer - no weights to bias hidden
node
w = 0.5 * (2 * rand(num_hid, num_out) - 1); % Small initial
weights for hidden to output layer
dv_last = zeros(size(v)); % Last v change, set to a zero matrix
dw_last = zeros(size(w)); % Last w change, set to a zero matrix
epoch = 0; % Initialize count of training epochs
while sse > 0.01
sse = 0;
for pat = 1 : num_pat
a = patterns(pat, :) * v; % Pass patterns through weights
y = 1 ./ (1 + exp(-a)); % Sigmoid of weighted input
y(:, num_hid) = 1; % Add bias node
z = y * w; % Pass hidden acts through weights
o = 1 ./ (1 + exp(-z)); % Sigmoid of input to output
output_error = desired_out(pat, :) - o; % Error matrix
sse = sse + output_error * output_error'; % Sum sqr
error, matrix style
delta = -output_error .* (1 - o) .* o; % delta=dE/do *
do/dnet
dw = -eta * y' * delta + alpha * dw_last;
epsilon = y .* (1 - y) .* (delta * w');
epsilon = epsilon(:, 1:end-1); % Take out error signals for
bias node
dv = -eta * patterns(pat, :)' * epsilon + alpha * dv_last;
w = w + dw; v = v + dv; % Weight update
dw_last = dw; dv_last = dv; % Update momentum
records
end
sse_rec = [sse_rec sse];
epoch = epoch + 1;
if rem(epoch,50)==0
disp([' Epoch ' num2str(epoch) ' SSE ' num2str(sse)]);
end
end
close all; figure

Robotic & Vision Lab RoVis

plot(sse_rec); xlabel('Epoch'); ylabel('Sum squared error
(SSE)');
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.
 x  cosΦ 0 
.   v
 y    sinΦ 0  ω 
.  0   
Φ   
1
 

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 +
X
+ Rotating angle
Neural Control Mobile robot
Y +
+

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