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Full-Text Articles in Computer Engineering
The Application Of Neural Networks To Optimal Robot Trajectory Planning, Daniel J. Simon
The Application Of Neural Networks To Optimal Robot Trajectory Planning, Daniel J. Simon
Electrical and Computer Engineering Faculty Publications
Interpolation of minimum jerk robot joint trajectories through an arbitrary number of knots is realized using a hardwired neural network. Minimum jerk joint trajectories are desirable for their similarity to human joint movements and their amenability to accurate tracking. The resultant trajectories are numerical rather than analytic functions of time. This application formulates the interpolation problem as a constrained quadratic minimization problem over a continuous joint angle domain and a discrete time domain. Time is discretized according to the robot controller rate. The neuron outputs define the joint angles (one neuron for each discrete value of time) and the Lagrange …
A Sign-To-Speech Translation System, Koka Veera Raghava Rao
A Sign-To-Speech Translation System, Koka Veera Raghava Rao
Department of Computer Science and Engineering: Dissertations, Theses, and Student Research
This thesis describes sign-to-speech translation using neural networks. Sign language translation is an interesting but difficult problem for which neural network techniques seem promising because of their ability to adjust to the user's hand movements, which is not possible to do by most other techniques. However, even using neural networks and artificial sign languages, the translation is hard, and the best-known system, that of Fels & Hinton (1993), is capable of translating only 66 root words and 203 words including their conjugations. This research improves their results to 790 root signs and 2718 words including their conjugations while preserving a …