基于神经网络的水下机器人推进器故障诊断

为提高水下机器人系统的总体可靠性,开展了推进器故障诊断研究。在三层BP神经网络的基础上,提出了一种改进的递归神经网络并推导了网络的训练算法。利用直航、转艏等试验对网络进行训练,将训练好的网络用于水下机器人运动建模,对比模型的输出与实际传感器测量值来获取残差,通过分析残差特性来提取故障诊断判据,进而进行推进器故障诊断。将提出的方法应用到仿真试验和海上试验中,得出了相应的试验结果。通过对试验结果的分析研究,验证了方法的有效性与可行性,同时也表明该方法在工程应用方面具有一定的参考意义。     

Online sequential extreme learning machine based multilayer perception with output self feedback for time series prediction

This study presents a time series prediction model with output self feedback which is implemented based on online sequential extreme learning machine. The output variables derived from multilayer perception can feedback to the network input layer to create a temporal relation between the current node inputs and the lagged node outputs while overcoming the limitation of memory which is a vital part for any time-series prediction application. The model can overcome the static prediction problem with most time series prediction models and can effectively cope with the dynamic properties of time series data. A linear and a nonlinear forecasting algorithms based on online extreme learning machine are proposed to implement the output feedback forecasting model. They are both recursive estimator and have two distinct phases: Predict and Update. The proposed model was tested against different kinds of time series data and the results indicate that the model outperforms the original static model without feedback.     

ENDPOINT DETECTOR OF NOISY SPEECH SIGNAL USING A RECURRENT NEURAL NETWORK

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