Browsing by Author "Li, Jung-Che"

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Grey Neural Network-Based Forecasting System for Vision-Guided Robot Trajectory Tracking
(2011)
Yang, Shih-Hung
;
Chou, Chung-Hsien
;
Chung, Chen-Fang
;
Pai, Wen-Pang
;
Liu, Tse-Han
This paper presents a grey neural network-based forecasting system (GNNFS) in solving the prediction problem. GNNFS adopts a grey model to predict the signal and a neural network (NN) to forecast the prediction error of the grey model. A sequential batch learning (SBL) is developed to adjust the weights of the NN. The proposed GNNFS is applied to a binocular robot, called an Eye-Robot, for human-robot interaction which involved predicting the trajectory of a participant's hand and tracking the hand. By applying the SBL, the GNNFS can gradually learn to predict the trajectory of the hand and track it well. The experimental results show that the GNNFS can carry out the SBL in real-time for vision-guided robot trajectory tracking.
Integration of Grey Model and Neural Network for Robotic Application
(2011)
Yang, Shih-Hung
;
Li, Jung-Che
;
Chen, Yon-Ping
;
電控工程研究所
;
Institute of Electrical and Control Engineering
This paper proposes an intelligent forecasting system based on a feedforward neural network aided grey model (FNAGM), integrating a first-order single variable grey model (GM(1,1)) and a feedforward neural network. The system includes three phases: initialization phase, GM(1,1) prediction phase, and FNAGM prediction phase. A number of parameters required for the FNAGM are selected in the initialization phase. A one-step ahead predictive value is generated in the GM(1,1) prediction phase, followed by the implementation of a feedforward neural network used to determine the prediction error of the GM(1,1) and compensate for it in the FNAGM prediction phase. We also adopted on-line batch training to adjust the network according to the Levenberg-Marquardt algorithm in real-time. According to the experimental results of a robot, the proposed intelligent forecasting system can provide high accuracy for both trajectory prediction and target tracking.