NDLI: On-Line Incremental Learning for Unknown Conditions during Assembly Operations with Robots

Content Provider	IEEE Xplore Digital Library
Author	Navarro Gonzalez, J.L. Lopez Juarez, I. Ordaz Hernandez, K.
Copyright Year	2013
Description	Author affiliation: Centro de Investig. y de Estudios Av., IPN, Saltillo, Mexico (Navarro Gonzalez, J.L.; Lopez Juarez, I.; Ordaz Hernandez, K.)
Abstract	To be effective in real operations where the environment is continuously changing, robots have to perceive the environment and to adapt accordingly. Unfortunately, there are uncertainties due to ageing of mechanisms, isturbances, backlash, etc. that limit the usage of current control algorithms. In this paper we propose an on-line incremental learning technique using Fuzzy ARTMAP and a pattern selection criterion. The technique starts by training the ANN with a primitive knowledge base. In the presence of new patterns, the criterion-based on the success of the current action-decides autonomously if the pattern should be learned, if the ANN has to recall, or if a recovery action must be performed. The incremental learning approach is based on the online update of the neural network weights and the defined criterion decides should the new pattern be learned. The peg in hole operation (PIH) is selected as the study case in order to evaluate the performance of the technique, which is described in detail as well as the basics of the peg in hole operation. Promising results obtained with real operations with an industrial robot without over training/forgetting is presented that validate the approach.
Sponsorship	IEEE Syst., Man, Cybern. Soc.
Starting Page	28
Ending Page	33
File Size	610007
Page Count	6
File Format	PDF
ISBN	9780769551449
DOI	10.1109/ICMLA.2013.101
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-12-04
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Uncertainty Unknown Environments Incremental Learning Knowledge based systems Artificial neural networks Robot sensing systems Vectors Learning Criterion Assembly FuzzyARTMAP
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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