Browse
Submit Data
Databases
API
Help

Dataset Information

15 Views

0 Connections

0 Citations

0 Reanalyses

0 Downloads

Omics score: 0

Unscented Kalman Filter-Trained Neural Networks for Slip Model Prediction.

ABSTRACT: The purpose of this work is to investigate the accurate trajectory tracking control of a wheeled mobile robot (WMR) based on the slip model prediction. Generally, a nonholonomic WMR may increase the slippage risk, when traveling on outdoor unstructured terrain (such as longitudinal and lateral slippage of wheels). In order to control a WMR stably and accurately under the effect of slippage, an unscented Kalman filter and neural networks (NNs) are applied to estimate the slip model in real time. This method exploits the model approximating capabilities of nonlinear state-space NN, and the unscented Kalman filter is used to train NN's weights online. The slip parameters can be estimated and used to predict the time series of deviation velocity, which can be used to compensate control inputs of a WMR. The results of numerical simulation show that the desired trajectory tracking control can be performed by predicting the nonlinear slip model.

SUBMITTER: Li Z

PROVIDER: S-EPMC4965072 | biostudies-literature | 2016

REPOSITORIES: biostudies-literature

ACCESS DATA

Json Xml

Publications

Unscented Kalman Filter-Trained Neural Networks for Slip Model Prediction.

Li Zhencai Z Wang Yang Y Liu Zhen Z

PloS one 20160728 7

The purpose of this work is to investigate the accurate trajectory tracking control of a wheeled mobile robot (WMR) based on the slip model prediction. Generally, a nonholonomic WMR may increase the slippage risk, when traveling on outdoor unstructured terrain (such as longitudinal and lateral slippage of wheels). In order to control a WMR stably and accurately under the effect of slippage, an unscented Kalman filter and neural networks (NNs) are applied to estimate the slip model in real time. ...[more]

PMID: 27467703

Similar Datasets

Unscented Kalman filter for brain-machine interfaces.

Project description:Brain machine interfaces (BMIs) are devices that convert neural signals into commands to directly control artificial actuators, such as limb prostheses. Previous real-time methods applied to decoding behavioral commands from the activity of populations of neurons have generally relied upon linear models of neural tuning and were limited in the way they used the abundant statistical information contained in the movement profiles of motor tasks. Here, we propose an n-th order unscented Kalman filter which implements two key features: (1) use of a non-linear (quadratic) model of neural tuning which describes neural activity significantly better than commonly-used linear tuning models, and (2) augmentation of the movement state variables with a history of n-1 recent states, which improves prediction of the desired command even before incorporating neural activity information and allows the tuning model to capture relationships between neural activity and movement at multiple time offsets simultaneously. This new filter was tested in BMI experiments in which rhesus monkeys used their cortical activity, recorded through chronically implanted multielectrode arrays, to directly control computer cursors. The 10th order unscented Kalman filter outperformed the standard Kalman filter and the Wiener filter in both off-line reconstruction of movement trajectories and real-time, closed-loop BMI operation.

| S-EPMC2705792 | biostudies-literature

Unscented Kalman filter for airship model uncertainties and wind disturbance estimation.

Project description:An airship is lighter than an air vehicle with enormous potential in applications such as communication, aerial inspection, border surveillance, and precision agriculture. An airship model is made up of dynamic, aerodynamic, aerostatic, and propulsive forces. However, the computation of aerodynamic forces remained a challenge. In addition to aerodynamic model deficiencies, airship mass matrix suffers from parameter variations. Moreover, due to the lighter-than-air nature, it is also susceptible to wind disturbances. These modeling issues are the key challenges in developing an efficient autonomous flight controller for an airship. This article proposes a unified estimation method for airship states, model uncertainties, and wind disturbance estimation using Unscented Kalman Filter (UKF). The proposed method is based on a lumped model uncertainty vector that unifies model uncertainties and wind disturbances in a single vector. The airship model is extended by incorporating six auxiliary state variables into the lumped model uncertainty vector. The performance of the proposed methodology is evaluated using a nonlinear simulation model of a custom-developed UETT airship and is validated by conducting a kind of error analysis. For comparative studies, EKF estimator is also developed. The results show the performance superiority of the proposed estimator over EKF; however, the proposed estimator is a bit expensive on computational grounds. However, as per the requirements of the current application, the proposed estimator can be a preferred choice.

| S-EPMC8570505 | biostudies-literature

An Improved Unscented Kalman Filter Based Decoder for Cortical Brain-Machine Interfaces.

Project description:Brain-machine interfaces (BMIs) seek to connect brains with machines or computers directly, for application in areas such as prosthesis control. For this application, the accuracy of the decoding of movement intentions is crucial. We aim to improve accuracy by designing a better encoding model of primary motor cortical activity during hand movements and combining this with decoder engineering refinements, resulting in a new unscented Kalman filter based decoder, UKF2, which improves upon our previous unscented Kalman filter decoder, UKF1. The new encoding model includes novel acceleration magnitude, position-velocity interaction, and target-cursor-distance features (the decoder does not require target position as input, it is decoded). We add a novel probabilistic velocity threshold to better determine the user's intent to move. We combine these improvements with several other refinements suggested by others in the field. Data from two Rhesus monkeys indicate that the UKF2 generates offline reconstructions of hand movements (mean CC 0.851) significantly more accurately than the UKF1 (0.833) and the popular position-velocity Kalman filter (0.812). The encoding model of the UKF2 could predict the instantaneous firing rate of neurons (mean CC 0.210), given kinematic variables and past spiking, better than the encoding models of these two decoders (UKF1: 0.138, p-v Kalman: 0.098). In closed-loop experiments where each monkey controlled a computer cursor with each decoder in turn, the UKF2 facilitated faster task completion (mean 1.56 s vs. 2.05 s) and higher Fitts's Law bit rate (mean 0.738 bit/s vs. 0.584 bit/s) than the UKF1. These results suggest that the modeling and decoder engineering refinements of the UKF2 improve decoding performance. We believe they can be used to enhance other decoders as well.

| S-EPMC5177654 | biostudies-literature

MaskUKF: An Instance Segmentation Aided Unscented Kalman Filter for 6D Object Pose and Velocity Tracking.

Project description:Tracking the 6D pose and velocity of objects represents a fundamental requirement for modern robotics manipulation tasks. This paper proposes a 6D object pose tracking algorithm, called MaskUKF, that combines deep object segmentation networks and depth information with a serial Unscented Kalman Filter to track the pose and the velocity of an object in real-time. MaskUKF achieves and in most cases surpasses state-of-the-art performance on the YCB-Video pose estimation benchmark without the need for expensive ground truth pose annotations at training time. Closed loop control experiments on the iCub humanoid platform in simulation show that joint pose and velocity tracking helps achieving higher precision and reliability than with one-shot deep pose estimation networks. A video of the experiments is available as Supplementary Material.

| S-EPMC8114180 | biostudies-literature

Unscented Kalman filter with parameter identifiability analysis for the estimation of multiple parameters in kinetic models.

Project description:In systems biology, experimentally measured parameters are not always available, necessitating the use of computationally based parameter estimation. In order to rely on estimated parameters, it is critical to first determine which parameters can be estimated for a given model and measurement set. This is done with parameter identifiability analysis. A kinetic model of the sucrose accumulation in the sugar cane culm tissue developed by Rohwer et al. was taken as a test case model. What differentiates this approach is the integration of an orthogonal-based local identifiability method into the unscented Kalman filter (UKF), rather than using the more common observability-based method which has inherent limitations. It also introduces a variable step size based on the system uncertainty of the UKF during the sensitivity calculation. This method identified 10 out of 12 parameters as identifiable. These ten parameters were estimated using the UKF, which was run 97 times. Throughout the repetitions the UKF proved to be more consistent than the estimation algorithms used for comparison.

| S-EPMC3224596 | biostudies-literature

Exoskeleton robot control for synchronous walking assistance in repetitive manual handling works based on dual unscented Kalman filter.

Project description:Prolong walking is a notable risk factor for work-related lower-limb disorders (WRLLD) in industries such as agriculture, construction, service profession, healthcare and retail works. It is one of the common causes of lower limb fatigue or muscular exhaustion leading to poor balance and fall. Exoskeleton technology is seen as a modern strategy to assist worker's in these professions to minimize or eliminate the risk of WRLLDs. Exoskeleton has potentials to benefit workers in prolong walking (amongst others) by augmenting their strength, increasing their endurance, and minimizing high muscular activation, resulting in overall work efficiency and productivity. Controlling exoskeleton to achieve this purpose for able-bodied personnel without impeding their natural movement is, however, challenging. In this study, we propose a control strategy that integrates a Dual Unscented Kalman Filter (DUKF) for trajectory generation/prediction of the spatio-temporal features of human walking (i.e. joint position, and velocity, and acceleration) and an impedance cum supervisory controller to enable the exoskeleton to follow this trajectory to synchronize with the human walking. Experiment is conducted with four subjects carrying a load and walking at their normal speed- a typical scenario in industries. EMG signals taken at two muscles: Right Vastus Intermedius (on the thigh) and Right Gastrocnemius (on the calf) indicated reduction in muscular activation during the experiment. The results also show the ability of the control system to predict spatio-temporal features of the pilots' walking and to enable the exoskeleton to move in concert with the pilot.

| S-EPMC6042736 | biostudies-literature

Illusory Motion Reproduced by Deep Neural Networks Trained for Prediction.

Project description:The cerebral cortex predicts visual motion to adapt human behavior to surrounding objects moving in real time. Although the underlying mechanisms are still unknown, predictive coding is one of the leading theories. Predictive coding assumes that the brain's internal models (which are acquired through learning) predict the visual world at all times and that errors between the prediction and the actual sensory input further refine the internal models. In the past year, deep neural networks based on predictive coding were reported for a video prediction machine called PredNet. If the theory substantially reproduces the visual information processing of the cerebral cortex, then PredNet can be expected to represent the human visual perception of motion. In this study, PredNet was trained with natural scene videos of the self-motion of the viewer, and the motion prediction ability of the obtained computer model was verified using unlearned videos. We found that the computer model accurately predicted the magnitude and direction of motion of a rotating propeller in unlearned videos. Surprisingly, it also represented the rotational motion for illusion images that were not moving physically, much like human visual perception. While the trained network accurately reproduced the direction of illusory rotation, it did not detect motion components in negative control pictures wherein people do not perceive illusory motion. This research supports the exciting idea that the mechanism assumed by the predictive coding theory is one of basis of motion illusion generation. Using sensory illusions as indicators of human perception, deep neural networks are expected to contribute significantly to the development of brain research.

| S-EPMC5863044 | biostudies-literature

Modeling time-varying brain networks with a self-tuning optimized Kalman filter.

Project description:Brain networks are complex dynamical systems in which directed interactions between different areas evolve at the sub-second scale of sensory, cognitive and motor processes. Due to the highly non-stationary nature of neural signals and their unknown noise components, however, modeling dynamic brain networks has remained one of the major challenges in contemporary neuroscience. Here, we present a new algorithm based on an innovative formulation of the Kalman filter that is optimized for tracking rapidly evolving patterns of directed functional connectivity under unknown noise conditions. The Self-Tuning Optimized Kalman filter (STOK) is a novel adaptive filter that embeds a self-tuning memory decay and a recursive regularization to guarantee high network tracking accuracy, temporal precision and robustness to noise. To validate the proposed algorithm, we performed an extensive comparison against the classical Kalman filter, in both realistic surrogate networks and real electroencephalography (EEG) data. In both simulations and real data, we show that the STOK filter estimates time-frequency patterns of directed connectivity with significantly superior performance. The advantages of the STOK filter were even clearer in real EEG data, where the algorithm recovered latent structures of dynamic connectivity from epicranial EEG recordings in rats and human visual evoked potentials, in excellent agreement with known physiology. These results establish the STOK filter as a powerful tool for modeling dynamic network structures in biological systems, with the potential to yield new insights into the rapid evolution of network states from which brain functions emerge.

| S-EPMC7451990 | biostudies-literature

Kalman filter control of a model of spatiotemporal cortical dynamics.

Project description:Recent advances in Kalman filtering to estimate system state and parameters in nonlinear systems have offered the potential to apply such approaches to spatiotemporal nonlinear systems. We here adapt the nonlinear method of unscented Kalman filtering to observe the state and estimate parameters in a computational spatiotemporal excitable system that serves as a model for cerebral cortex. We demonstrate the ability to track spiral wave dynamics, and to use an observer system to calculate control signals delivered through applied electrical fields. We demonstrate how this strategy can control the frequency of such a system, or quench the wave patterns, while minimizing the energy required for such results. These findings are readily testable in experimental applications, and have the potential to be applied to the treatment of human disease.

| S-EPMC2276637 | biostudies-literature

Neural network assisted Kalman filter for INS/UWB integrated seamless quadrotor localization.

Project description:Due to some harsh indoor environments, the signal of the ultra wide band (UWB) may be lost, which makes the data fusion filter can not work. For overcoming this problem, the neural network (NN) assisted Kalman filter (KF) for fusing the UWB and the inertial navigation system (INS) data seamlessly is present in this work. In this approach, when the UWB data is available, both the UWB and the INS are able to provide the position information of the quadrotor, and thus, the KF is used to provide the localization information by the fusion of position difference between the INS and the UWB, meanwhile, the KF can provide the estimation of the INS position error, which is able to assist the NN to build the mapping between the state vector and the measurement vector off-line. The NN can estimate the KF's measurement when the UWB data is unavailable. For confirming the effectiveness of the proposed method, one real test has been done. The test's results demonstrate that the proposed NN assisted KF is effective to the fusion of INS and UWB data seamlessly, which shows obvious improvement of localization accuracy. Compared with the LS-SVM assisted KF, the proposed NN assisted KF is able to reduce the localization error by about 54.34%.

| S-EPMC8293925 | biostudies-literature

OmicsDI is part of the ELIXIR infrastructure

OmicsDI is an Elixir interoperability service. Learn more ›

OmicsDI Databases

PRIDE
PeptideAtlas
MassIVE
JPOST Repository
Physiome Model Repository

EGA
EVA
ENA
LINCS
PAXDB
Cell Collective

MetaboLights
Metabolomics Workbench
MetabolomeExpress
GNPS
BioModels
FAIRDOMHub

ArrayExpress
dbGaP
ExpressionAtlas
GEO
NODE

Information

Databases
Help
API
Contact us
Code on GitHub
Terms of use
Submit Data