FINAL PRESENTATION

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By: yogeshmanohar (124 month(s) ago)

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NEURAL NETWORK BASED ROBOT NAVIGATOR: 

NEURAL NETWORK BASED ROBOT NAVIGATOR BY, S.CHANDRASEKARAN H.JAIDEV S.KARTHIK

OBJECTIVE: 

OBJECTIVE To navigate from one place to another by avoiding the obstacles automatically without any human intervention

ANN : 

ANN A system Loosely modeled on human brain. Supervised learning. Needs both predictor and target variables The goal is to achieve the desired target. Unsupervised Learning. All variables are same. The goal is to look for patterns, clusters.

MLFN DIAGRAM: 

MLFN DIAGRAM

LAYERS OF MLFN: 

LAYERS OF MLFN Input layer Predictor variables. Hidden layer Values are multiplied by weights. Output layer Values are weighed and summed.

TRAINING MLFN: 

TRAINING MLFN • Selecting how many hidden layers to use in the network. • Deciding how many neurons to use in each hidden layer. • Finding a globally optimal solution that avoids local minima. • Converging to an optimal solution in a reasonable period of time. • Validating the neural network to test for over fitting.

BASIC BLOCK DIAGRAM: 

BASIC BLOCK DIAGRAM

AT89C51: 

AT89C51 40 Pins with 32 pins for parallel ports. Extendable Memory, 4 parallel ports. 4 kb of ROM 128 bytes of RAM 32 I/O Address lines, 16 Interrupts. 4V to 6V Operating range.

HARDWARE DETAILS: 

HARDWARE DETAILS Astable Multi vibrator generates square waves at 38.5 kHz. R = 370 k ohm, C = 100 pF.

THEORY OF OPERATION: 

THEORY OF OPERATION Non linear output from detectors. Angle varies with distance and hence voltage.

IR TRANSMITTER AND RECEIVER: 

IR TRANSMITTER AND RECEIVER From Multivibrator IR transmitter IR Receiver

TYPE OF LEVELS: 

TYPE OF LEVELS System level Application level Function level

Various Response Function : 

Various Response Function Jump Function Threshold Hyperbolic Tangent Logistic Function

COMPARISIONBETWEEN ALGORITHM: 

COMPARISION BETWEEN ALGORITHM

Goal Seeking Neuron: 

Goal Seeking Neuron Behavior Level Flexibility Decision making Response time

GSN MODULE: 

GSN MODULE

Boolean Expression Using GSN : 

Boolean Expression Using GSN

Error vs Distance : 

Error vs Distance

CHEMOTAXIS: 

CHEMOTAX I S

Slide20: 

THANK YOU

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