Pub Date : 2023-07-20DOI: 10.20965/jaciii.2023.p0609
Soichiro Matsumoto, M. Saito
In the future, considering the expansion of the autonomous driving society, autonomous driving systems that can drive safely and quickly will be required for the purpose of saving lives and transporting goods even on rough road such as snowy, icy, and unpaved roads. In such unknown environments, technologies that combine model-based control and artificial intelligence (AI) are attracting attention for the purpose of ensuring operational stability and reliability. The second author has proposed a vehicle driving model that is robust to road geometry and ever-changing environmental disturbances. This model is based on a two-wheel model, and expresses the error in the position of the center of gravity of the vehicle by the front wheel steering angle deviation, and adaptively estimates this deviation. However, this model has large modeling errors when driving at high velocity on slippery roads. In this study, we extend this model proposed in previous study, and propose a new vehicle driving model that can handle situations such as driving with large acceleration changes and steering on bad roads such as snowy and wet roads. Then, we demonstrate the usefulness of the proposed method in a simulation using vehicle motion analysis software.
{"title":"Adaptive Identification Method for Vehicle Driving Model Capable of Driving with Large Acceleration Changes and Steering","authors":"Soichiro Matsumoto, M. Saito","doi":"10.20965/jaciii.2023.p0609","DOIUrl":"https://doi.org/10.20965/jaciii.2023.p0609","url":null,"abstract":"In the future, considering the expansion of the autonomous driving society, autonomous driving systems that can drive safely and quickly will be required for the purpose of saving lives and transporting goods even on rough road such as snowy, icy, and unpaved roads. In such unknown environments, technologies that combine model-based control and artificial intelligence (AI) are attracting attention for the purpose of ensuring operational stability and reliability. The second author has proposed a vehicle driving model that is robust to road geometry and ever-changing environmental disturbances. This model is based on a two-wheel model, and expresses the error in the position of the center of gravity of the vehicle by the front wheel steering angle deviation, and adaptively estimates this deviation. However, this model has large modeling errors when driving at high velocity on slippery roads. In this study, we extend this model proposed in previous study, and propose a new vehicle driving model that can handle situations such as driving with large acceleration changes and steering on bad roads such as snowy and wet roads. Then, we demonstrate the usefulness of the proposed method in a simulation using vehicle motion analysis software.","PeriodicalId":45921,"journal":{"name":"Journal of Advanced Computational Intelligence and Intelligent Informatics","volume":"46 1","pages":"609-615"},"PeriodicalIF":0.7,"publicationDate":"2023-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80829556","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-20DOI: 10.20965/jaciii.2023.p0649
A. B. Greeni, S. Jancy
Chemical graph theory is a field related to Chemistry which is used to predict the behavior of chemical structures. The current trend in Chemical graph theory is evaluating topological indices. They are the numerical descriptors of the molecular structures derived from their corresponding molecular graph. These indices are studied and used in drugs, pharmaceutical research, and other fields. In this paper, the eccentric connectivity index is computed for nanosheets and nanotubes of SiO2.
{"title":"Eccentric Connectivity Index of Nanosheets and Nanotube of SiO2","authors":"A. B. Greeni, S. Jancy","doi":"10.20965/jaciii.2023.p0649","DOIUrl":"https://doi.org/10.20965/jaciii.2023.p0649","url":null,"abstract":"Chemical graph theory is a field related to Chemistry which is used to predict the behavior of chemical structures. The current trend in Chemical graph theory is evaluating topological indices. They are the numerical descriptors of the molecular structures derived from their corresponding molecular graph. These indices are studied and used in drugs, pharmaceutical research, and other fields. In this paper, the eccentric connectivity index is computed for nanosheets and nanotubes of SiO2.","PeriodicalId":45921,"journal":{"name":"Journal of Advanced Computational Intelligence and Intelligent Informatics","volume":"2 1","pages":"649-654"},"PeriodicalIF":0.7,"publicationDate":"2023-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"85733417","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-20DOI: 10.20965/jaciii.2023.p0645
A. B. Greeni, P. L. Joshwa
This study considers the exact wirelength of embedding complete bipartite graphs into wheel related graphs such as wheel graphs, gear graphs, and helm graphs.
本研究考虑将完全二部图嵌入车轮相关图(如车轮图、齿轮图和舵图)的确切长度。
{"title":"Embedding Complete Bipartite Graphs into Wheel Related Graphs","authors":"A. B. Greeni, P. L. Joshwa","doi":"10.20965/jaciii.2023.p0645","DOIUrl":"https://doi.org/10.20965/jaciii.2023.p0645","url":null,"abstract":"This study considers the exact wirelength of embedding complete bipartite graphs into wheel related graphs such as wheel graphs, gear graphs, and helm graphs.","PeriodicalId":45921,"journal":{"name":"Journal of Advanced Computational Intelligence and Intelligent Informatics","volume":"27 1","pages":"645-648"},"PeriodicalIF":0.7,"publicationDate":"2023-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72547860","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-20DOI: 10.20965/jaciii.2023.p0683
Meng Liu, Yong He, Lin Jiang
This article examines the stability problem of systems with interval time-varying delays. In the derivation of Lyapunov–Krasovskii functional (LKF), non-convex higher-degree polynomials may arise with respect to interval time-varying delays, making it difficult to determine the negative definiteness of LKF’s derivative. This study was conducted to obtain stability conditions that can be described as linear matrix inequalities (LMIs). By considering the idea of matrix transition and introducing the delay-dependent augmented vector, a novel higher-degree polynomial inequality is proposed under the condition that the lower bound of the polynomial function variable is non-zero, which encompasses the existing lemmas as its special cases. Then, benefiting from this inequality, a stability criterion is derived in terms of LMIs. Finally, several typical examples are presented to verify the availability and strength of the stability condition.
{"title":"A Sufficient Condition on Polynomial Inequalities and its Application to Interval Time-Varying Delay Systems","authors":"Meng Liu, Yong He, Lin Jiang","doi":"10.20965/jaciii.2023.p0683","DOIUrl":"https://doi.org/10.20965/jaciii.2023.p0683","url":null,"abstract":"This article examines the stability problem of systems with interval time-varying delays. In the derivation of Lyapunov–Krasovskii functional (LKF), non-convex higher-degree polynomials may arise with respect to interval time-varying delays, making it difficult to determine the negative definiteness of LKF’s derivative. This study was conducted to obtain stability conditions that can be described as linear matrix inequalities (LMIs). By considering the idea of matrix transition and introducing the delay-dependent augmented vector, a novel higher-degree polynomial inequality is proposed under the condition that the lower bound of the polynomial function variable is non-zero, which encompasses the existing lemmas as its special cases. Then, benefiting from this inequality, a stability criterion is derived in terms of LMIs. Finally, several typical examples are presented to verify the availability and strength of the stability condition.","PeriodicalId":45921,"journal":{"name":"Journal of Advanced Computational Intelligence and Intelligent Informatics","volume":"20 1","pages":"683-690"},"PeriodicalIF":0.7,"publicationDate":"2023-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"87490625","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-20DOI: 10.20965/jaciii.2023.p0554
J. Cynthia, M. Ramya, S. Prabhu
Let G(V,E) be a graph with a set of vertices V and a set of edges E. Then, a minimum subset Wl of V is said to be a local metric basis of G if for any two adjacent vertices u,v∈V∖Wl there exists a vertex w∈Wl such that d(u,w) ≠ d(v,w). The cardinality of a local metric basis is referred to as the local metric dimension of the graph G denoted by βl(G). In this paper, we investigate the local metric dimensions of certain circulant-related architectures such as Harary graphs Hk,n with even k or n, Toeplitz networks, and ILLIAC networks.
{"title":"Local Metric Dimension of Certain Classes of Circulant Networks","authors":"J. Cynthia, M. Ramya, S. Prabhu","doi":"10.20965/jaciii.2023.p0554","DOIUrl":"https://doi.org/10.20965/jaciii.2023.p0554","url":null,"abstract":"Let G(V,E) be a graph with a set of vertices V and a set of edges E. Then, a minimum subset Wl of V is said to be a local metric basis of G if for any two adjacent vertices u,v∈V∖Wl there exists a vertex w∈Wl such that d(u,w) ≠ d(v,w). The cardinality of a local metric basis is referred to as the local metric dimension of the graph G denoted by βl(G). In this paper, we investigate the local metric dimensions of certain circulant-related architectures such as Harary graphs Hk,n with even k or n, Toeplitz networks, and ILLIAC networks.","PeriodicalId":45921,"journal":{"name":"Journal of Advanced Computational Intelligence and Intelligent Informatics","volume":"71 1","pages":"554-560"},"PeriodicalIF":0.7,"publicationDate":"2023-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"83343433","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-20DOI: 10.20965/jaciii.2023.p0655
Kazuki Hokari, Makoto Ikarashi, J. A. Pramudita, Kazuya Okada, Masato Ito, Yuji Tanabe
Gripping comfort evaluation was crucial for designing a product with good gripping comfort. In this study, a novel evaluation method using gripping posture image was constructed based on convolutional neural network (CNN). Human subject experiment was conducted to acquire gripping comfort scores and gripping posture images while gripping seven objects with simple shape and eleven manufactured products. The scores and the images were used as training set and validation set for CNN. Classification problem was employed to classify gripping posture images as comfort or discomfort. As a result, accuracies were 91.4% for simple shape objects and 76.2% for manufactured products. Regression problem was utilized to predict gripping comfort scores from gripping posture images while gripping cylindrical object. Gripping posture images of radial and dorsal sides in direction of hand were used to investigate effect of direction of hand on prediction accuracy. Consequently, mean absolute errors (MAE) of gripping comfort scores were 0.132 for radial side and 0.157 for dorsal side in direction of hand. In both problems, the results indicated that these evaluation methods were useful to evaluate gripping comfort. The evaluation methods help designers to evaluate products and enhance gripping comfort.
{"title":"Application of Convolutional Neural Network to Gripping Comfort Evaluation Using Gripping Posture Image","authors":"Kazuki Hokari, Makoto Ikarashi, J. A. Pramudita, Kazuya Okada, Masato Ito, Yuji Tanabe","doi":"10.20965/jaciii.2023.p0655","DOIUrl":"https://doi.org/10.20965/jaciii.2023.p0655","url":null,"abstract":"Gripping comfort evaluation was crucial for designing a product with good gripping comfort. In this study, a novel evaluation method using gripping posture image was constructed based on convolutional neural network (CNN). Human subject experiment was conducted to acquire gripping comfort scores and gripping posture images while gripping seven objects with simple shape and eleven manufactured products. The scores and the images were used as training set and validation set for CNN. Classification problem was employed to classify gripping posture images as comfort or discomfort. As a result, accuracies were 91.4% for simple shape objects and 76.2% for manufactured products. Regression problem was utilized to predict gripping comfort scores from gripping posture images while gripping cylindrical object. Gripping posture images of radial and dorsal sides in direction of hand were used to investigate effect of direction of hand on prediction accuracy. Consequently, mean absolute errors (MAE) of gripping comfort scores were 0.132 for radial side and 0.157 for dorsal side in direction of hand. In both problems, the results indicated that these evaluation methods were useful to evaluate gripping comfort. The evaluation methods help designers to evaluate products and enhance gripping comfort.","PeriodicalId":45921,"journal":{"name":"Journal of Advanced Computational Intelligence and Intelligent Informatics","volume":"75 1","pages":"655-663"},"PeriodicalIF":0.7,"publicationDate":"2023-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"80899081","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-20DOI: 10.20965/jaciii.2023.p0664
Lihua Li, Zhihong Peng, Chengxin Wen, Peiqiao Shang, Jinqiang Cui
In the communication-constrained operating environment, a unmanned aerial vehicle (UAV) needs to plan a feasible path from the starting point to the endpoint while planning the node deployment location for multi-hop communication to establish an information pathway. In this study, a new algorithm was designed for joint path and multi-hop communication node location planning in cluttered environments based on rapidly-exploring random trees star (RRT*) algorithm. The maximum communication distance constraint between nodes was obtained based on the signal-free propagation model, whereas the communication node loss and path loss were established as joint optimization objectives. In bidirectional random tree growth, the structure of the trees was optimized according to the value of the loss function, and optimal path and node location planning were finally achieved through continuous growth and iteration. When tested in different complexity-barrier environments and compared to RRT*, Informed-RRT*, and IB-RRT* algorithms, the paths in the planning results of the new algorithm are close to those of the comparison algorithms; however, the number of nodes decreases significantly, which proves the effectiveness of the newly proposed algorithm.
{"title":"Joint Path and Multi-Hop Communication Node Location Planning in Cluttered Environment","authors":"Lihua Li, Zhihong Peng, Chengxin Wen, Peiqiao Shang, Jinqiang Cui","doi":"10.20965/jaciii.2023.p0664","DOIUrl":"https://doi.org/10.20965/jaciii.2023.p0664","url":null,"abstract":"In the communication-constrained operating environment, a unmanned aerial vehicle (UAV) needs to plan a feasible path from the starting point to the endpoint while planning the node deployment location for multi-hop communication to establish an information pathway. In this study, a new algorithm was designed for joint path and multi-hop communication node location planning in cluttered environments based on rapidly-exploring random trees star (RRT*) algorithm. The maximum communication distance constraint between nodes was obtained based on the signal-free propagation model, whereas the communication node loss and path loss were established as joint optimization objectives. In bidirectional random tree growth, the structure of the trees was optimized according to the value of the loss function, and optimal path and node location planning were finally achieved through continuous growth and iteration. When tested in different complexity-barrier environments and compared to RRT*, Informed-RRT*, and IB-RRT* algorithms, the paths in the planning results of the new algorithm are close to those of the comparison algorithms; however, the number of nodes decreases significantly, which proves the effectiveness of the newly proposed algorithm.","PeriodicalId":45921,"journal":{"name":"Journal of Advanced Computational Intelligence and Intelligent Informatics","volume":"74 1","pages":"664-672"},"PeriodicalIF":0.7,"publicationDate":"2023-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"74079439","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-20DOI: 10.20965/jaciii.2023.p0691
Li Jiang, Juan Zhao, Feng Wang, Yujian Zhou, Wangyang Ge, Jinhua She
Rehabilitation evaluation is an important part of rehabilitation training. It is closely related to the robot-assisted training effect. Different rehabilitation robots need different methods to evaluate patients. Rehabilitation training is a long process, and the patient’s performance scores will continue to change. A lower-limb rehabilitation robot needs a dynamic performance score to evaluate rehabilitation’s effects. This study used an analytic hierarchy process and fuzzy comprehensive evaluation methods to establish a rehabilitation evaluation system for lower-limb rehabilitation robots. A multi-scale personalized rehabilitation plan is conceived, based on the evaluation system and the combination of objective factors. This method dynamically adjusts the plan according to the rehabilitation situation of patients, which is beneficial to the improvement of the efficiency and initiative of training.
{"title":"Rehabilitation Evaluation System for Lower-Limb Rehabilitation Robot","authors":"Li Jiang, Juan Zhao, Feng Wang, Yujian Zhou, Wangyang Ge, Jinhua She","doi":"10.20965/jaciii.2023.p0691","DOIUrl":"https://doi.org/10.20965/jaciii.2023.p0691","url":null,"abstract":"Rehabilitation evaluation is an important part of rehabilitation training. It is closely related to the robot-assisted training effect. Different rehabilitation robots need different methods to evaluate patients. Rehabilitation training is a long process, and the patient’s performance scores will continue to change. A lower-limb rehabilitation robot needs a dynamic performance score to evaluate rehabilitation’s effects. This study used an analytic hierarchy process and fuzzy comprehensive evaluation methods to establish a rehabilitation evaluation system for lower-limb rehabilitation robots. A multi-scale personalized rehabilitation plan is conceived, based on the evaluation system and the combination of objective factors. This method dynamically adjusts the plan according to the rehabilitation situation of patients, which is beneficial to the improvement of the efficiency and initiative of training.","PeriodicalId":45921,"journal":{"name":"Journal of Advanced Computational Intelligence and Intelligent Informatics","volume":"40 1","pages":"691-699"},"PeriodicalIF":0.7,"publicationDate":"2023-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"72468405","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-20DOI: 10.20965/jaciii.2023.p0567
Yingna Zhong, Kauthar Mohd Daud, Ain Najiha Binti Mohamad Nor, R. Ikuesan, Kohbalan Moorthy
Given the presence of handwritten documents in human transactions, including email sorting, bank checks, and automating procedures, handwritten characters recognition (HCR) of documents has been invaluable to society. Handwritten Chinese characters (HCC) can be divided into offline and online categories. Online HCC recognition (HCCR) involves the trajectory movement of the pen tip for expressing linguistic content. In contrast, offline HCCR involves analyzing and categorizing the sample binary or grayscale images of characters. As recognition technology develops, academics’ interest in Chinese character recognition has continuously increased, as it significantly affects social and economic development. Recent development in this area is promising. However, the recognition accuracy of offline HCCR is still a sophisticated challenge owing to their complexity and variety of writing styles. With the advancement of deep learning, convolutional neural network (CNN)-based algorithms have demonstrated distinct benefits in offline HCCR and have achieved outstanding results. In this review, we aim to show the different HCCR methods for tackling the complexity and variability of offline HCC writing styles. This paper also reviews different activation functions used in offline HCCR and provides valuable assistance to new researchers in offline Chinese handwriting recognition by providing a succinct study of various methods for recognizing offline HCC.
{"title":"Offline Handwritten Chinese Character Using Convolutional Neural Network: State-of-the-Art Methods","authors":"Yingna Zhong, Kauthar Mohd Daud, Ain Najiha Binti Mohamad Nor, R. Ikuesan, Kohbalan Moorthy","doi":"10.20965/jaciii.2023.p0567","DOIUrl":"https://doi.org/10.20965/jaciii.2023.p0567","url":null,"abstract":"Given the presence of handwritten documents in human transactions, including email sorting, bank checks, and automating procedures, handwritten characters recognition (HCR) of documents has been invaluable to society. Handwritten Chinese characters (HCC) can be divided into offline and online categories. Online HCC recognition (HCCR) involves the trajectory movement of the pen tip for expressing linguistic content. In contrast, offline HCCR involves analyzing and categorizing the sample binary or grayscale images of characters. As recognition technology develops, academics’ interest in Chinese character recognition has continuously increased, as it significantly affects social and economic development. Recent development in this area is promising. However, the recognition accuracy of offline HCCR is still a sophisticated challenge owing to their complexity and variety of writing styles. With the advancement of deep learning, convolutional neural network (CNN)-based algorithms have demonstrated distinct benefits in offline HCCR and have achieved outstanding results. In this review, we aim to show the different HCCR methods for tackling the complexity and variability of offline HCC writing styles. This paper also reviews different activation functions used in offline HCCR and provides valuable assistance to new researchers in offline Chinese handwriting recognition by providing a succinct study of various methods for recognizing offline HCC.","PeriodicalId":45921,"journal":{"name":"Journal of Advanced Computational Intelligence and Intelligent Informatics","volume":"45 1","pages":"567-575"},"PeriodicalIF":0.7,"publicationDate":"2023-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88527668","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2023-07-20DOI: 10.20965/jaciii.2023.p0537
Takanori Hashimoto, N. Matsui, N. Kamiura, T. Isokawa
In this study, we investigate model structures for neural ODEs to improve the data efficiency in learning the dynamics of control systems. We introduce two model structures and compare them with a typical baseline structure. The first structure considers the relationship between the coordinates and velocities of the control system, while the second structure adds linearity with respect to the control term to the first structure. Both of these structures can be easily implemented without requiring additional computation. In numerical experiments, we evaluate these structure on simulated simple pendulum and CartPole systems and show that incorporating these characteristics into the model structure leads to accurate learning with a smaller amount of training data compared to the baseline structure.
{"title":"Exploring Model Structures to Reduce Data Requirements for Neural ODE Learning in Control Systems","authors":"Takanori Hashimoto, N. Matsui, N. Kamiura, T. Isokawa","doi":"10.20965/jaciii.2023.p0537","DOIUrl":"https://doi.org/10.20965/jaciii.2023.p0537","url":null,"abstract":"In this study, we investigate model structures for neural ODEs to improve the data efficiency in learning the dynamics of control systems. We introduce two model structures and compare them with a typical baseline structure. The first structure considers the relationship between the coordinates and velocities of the control system, while the second structure adds linearity with respect to the control term to the first structure. Both of these structures can be easily implemented without requiring additional computation. In numerical experiments, we evaluate these structure on simulated simple pendulum and CartPole systems and show that incorporating these characteristics into the model structure leads to accurate learning with a smaller amount of training data compared to the baseline structure.","PeriodicalId":45921,"journal":{"name":"Journal of Advanced Computational Intelligence and Intelligent Informatics","volume":"84 1","pages":"537-542"},"PeriodicalIF":0.7,"publicationDate":"2023-07-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"88533672","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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