Escolar Documentos
Profissional Documentos
Cultura Documentos
2
Autonomous Robots
Features of an Autonomous Robot
▸ Deal with its environment on its own.
▸ Work for extended periods of time
without human intervention.
▸ Often have sophisticated features
that can help them to understand
their physical environment. NASA JPL RoboSimian
5
Literature review cont’d
How proposed system improves the concept
6
Methodology
Summary of the algorithm
7
Methodology cont’d
Data model and signal processing
Incident signal
▸ The tri-axial velocity sensor outputs
•
Array manifold • Additive noise
• Spatiotemporally
uncorrelated.
▸ The sample autocovariance matrix
where
8
Methodology cont’d
Data model and signal processing cont’d
Principal eigenvalue
since
9
Methodology cont’d
Network Training
Bayesian Regularized
Multilayered Perceptron
each in step of 1° .
10
Network Training
Signal and Network Parameters
12
Results and discussion
Testing Trained Network
13
Results and discussion
Testing the Robustness of the Bayesian Regularized MLP
14
Summary
▸ Using the Tri-axial velocity sensor reduces the input dimension
of the ANN.
15
THANK YOU
16