Search

This paper proposes a data-driven method-based fault diagnosis method using the deep convolutional neural network (DCNN). The DCNN is used to deal with sensor and actuator faults of robot joints, such as gain error, offset error, and malfunction for both sensors and actuators, and different fault types are diagnosed using the trained neural network. In order to achieve the above goal, the fused data of sensors and actuators are used, where both types of fault are described in one formulation. Then, the deep convolutional neural network is applied to learn characteristic features from the merged data to try to find discriminative information for each kind of fault. After that, the fully connected layer does prediction work based on learned features. In order to verify the effectiveness of the proposed deep convolutional neural network model, different fault diagnosis methods including support vector machine (SVM), artificial neural network (ANN), conventional neural network (CNN) using the LeNet-5 method, and long-term memory network (LTMN) are investigated and compared with DCNN method. The results show that the DCNN fault diagnosis method can realize high fault recognition accuracy while needing less model training time. [ABSTRACT FROM AUTHOR]

This paper proposes a deep convolutional neural network model with encoder-decoder architecture to extract road network from satellite images. We employ ResNet-18 and Atrous Spatial Pyramid Pooling technique to trade off between the extraction precision and running time. A modified cross entropy loss function is proposed to train our deep model. A PointRend algorithm is used to recover a smooth, clear and sharp road boundary. The augmentated DeepGlobe dataset is used to train our deep model and the asynchronous training method is applied to accelerate the training process. Five salellite images covering Xiaomu village are taken as input to evaluate our model. The proposed E-Road model has fewer number of parameters and shorter training time. The experiments show E-Road outperforms other state-of-the-art deep models with 5.84% to 59.09% improvement, and can give the accurate predictions for the images with complex environment. [ABSTRACT FROM AUTHOR]