1. Technological Educational Institute Of Crete Department Of Applied Informatics and Multimedia Neural Networks Laboratory 1 Introduction To Neural Networks Part III Application To Robotics Prof. George Papadourakis, Ph.D.

2. Technological Educational Institute Of Crete Department Of Applied Informatics and Multimedia Neural Networks Laboratory Slide 2 Intelligent Autonomous Control Hierarchical Levels of operation Management Level Coordination Level Execution Level Human/ Other Systems Process / Hardware Sensory Data Robot manipulators Control Failure Identification Tuning, Scheduling, Path Planning Crisis Management User Interface Monitoring, Performance, Goal planning.

3. Technological Educational Institute Of Crete Department Of Applied Informatics and Multimedia Neural Networks Laboratory Slide 3 Case Study: Ship Steering Map of islands for an autonomous navigation ship. Controller Architecture for cargo Steering Neural Network

4. Technological Educational Institute Of Crete Department Of Applied Informatics and Multimedia Neural Networks Laboratory Slide 4 Why Neural Networks ? Non linearity Non linear models are difficult to build. Assuming linearity NN Flexibly maps almost any non-linear function. Multivariate nature. NN can map multiple cross input-output couplings. On line training for adaptive system identification. Parallel processing devices.

5. Technological Educational Institute Of Crete Department Of Applied Informatics and Multimedia Neural Networks Laboratory Slide 5 System Identification Illustration of control problem Neural network configuration for system identification a) Forward identification b)Inverse identification SYSTEM IDENTIFICATION: The formulation of a mathematical model of a system from experimental data.

6. Technological Educational Institute Of Crete Department Of Applied Informatics and Multimedia Neural Networks Laboratory Slide 6 Basic control architecture Feedforward control with plant inverse learning. Back propagation of errors thought time.

7. Technological Educational Institute Of Crete Department Of Applied Informatics and Multimedia Neural Networks Laboratory Slide 7 Control of a robotic manipulator Feed forward control of a Robotic Arm.

8. Technological Educational Institute Of Crete Department Of Applied Informatics and Multimedia Neural Networks Laboratory Slide 8 Path Planning and Obstacle avoidance a) Before training, b) 1, c) 5 training cycles Block diagram of the navigation system. Specialized NNs perform different tasks.