Arduino Neural Networks
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The document outlines a discussion about using Arduino and artificial neural networks (ANNs) in robotics. It covers the technical specifications of components like ultrasonic sensors and motor controllers, as well as considerations for using ANNs, such as hardware limitations and the effects of training. Specific examples, including the #probee robot project, are provided to illustrate practical applications of ANNs with Arduino.
Arduino Neural Networks
- 3. 16 MHz
- 4. 2 KB RAM 16 MHz
- 5. :-(
- 6. :’-(
- 8. ? ? ?
- 9. 7 + 8 + 4 = 19!
- 10. 7 + 8 + 4 = 19
- 11. 7 + 8 + 4 = 19 Input Hidden Output
- 12. 7 + 8 + 4 = 19 7 Segment Display to Binary
- 20. Input 2 Activation Function Output Input 1 0,2 0,8 0,43 0,18 0,37
- 26. Input Hidden Output Ultrasonic Sensor Gyroscope Wheel Encoder Left Motor Right Motor 20º = 20/180 = 0,111…
- 27. Input Hidden Output Ultrasonic Sensor Gyroscope Wheel Encoder Left Motor Right Motor 20º = 20/180 = 0,111…
- 28. Input Hidden Output Ultrasonic Sensor Gyroscope Wheel Encoder Left Motor Right Motor 20º = 20/180 = 0,111…
- 29. Input Hidden Output Ultrasonic Sensor Gyroscope Wheel Encoder Left Motor Right Motor 20º = 20/180 = 0,111… 0,345 = 34% power
- 30. Input Hidden Output Ultrasonic Sensor Gyroscope Wheel Encoder Left Motor Right Motor 20º = 20/180 = 0,111… 0,345 = 34% power 0,4 = 40% power
- 31. Input Hidden Output Ultrasonic Sensor Gyroscope Wheel Encoder Left Motor Right Motor 20º = 20/180 = 0,111… 0,345 = 34% power 0,4 = 40% power 0,4 - 0,345 = 0,055
- 32. Input Hidden Output Ultrasonic Sensor Gyroscope Wheel Encoder Left Motor Right Motor 20º = 20/180 = 0,111… 0,345 = 34% power 0,4 = 40% power 0,4 - 0,345 = 0,055
- 33. Input Hidden Output Ultrasonic Sensor Gyroscope Wheel Encoder Left Motor Right Motor 20º = 20/180 = 0,111… 0,345 = 34% power 0,4 = 40% power 0,4 - 0,345 = 0,055 W11 = 0,14 W12 = 0,65 W14 = 0,42 W13 = 0,26 W21 = 0,21 W22 = 0,37 W24 = 0,19 W23 = 0,46
- 34. Ultrasonic Sensor Gyroscope Wheel Encoder Left Motor Right Motor 20º = 20/180 = 0,111… 0,345 = 34% power 0,4 = 40% power 0,4 - 0,345 = 0,055 W11 = 0,14 W12 = 0,65 W14 = 0,42 W13 = 0,26 W21 = 0,21 W22 = 0,37 W24 = 0,19 W23 = 0,46 Backpropagation
- 35. Ultrasonic Sensor Gyroscope Wheel Encoder Left Motor Right Motor 20º = 20/180 = 0,111… 0,345 = 34% power 0,4 = 40% power 0,4 - 0,345 = 0,055 W11 = 0,14 W12 = 0,65 W14 = 0,42 W13 = 0,26 W21 = 0,21 W22 = 0,37 W24 = 0,19 W23 = 0,46 Backpropagation
- 36. Ultrasonic Sensor Gyroscope Wheel Encoder Left Motor Right Motor 20º = 20/180 = 0,111… 0,345 = 34% power 0,4 = 40% power 0,4 - 0,345 = 0,055 W11 = 0,14 W12 = 0,65 W14 = 0,42 W13 = 0,26 W21 = 0,21 W22 = 0,37 W24 = 0,19 W23 = 0,46 Backpropagation
- 37. Ultrasonic Sensor Gyroscope Wheel Encoder Left Motor Right Motor 20º = 20/180 = 0,111… 0,345 = 34% power 0,4 = 40% power 0,4 - 0,345 = 0,055 W11 = 0,14 W12 = 0,65 W14 = 0,42 W13 = 0,26 W21 = 0,21 W22 = 0,37 W24 = 0,19 W23 = 0,46 Backpropagation
- 38. When to use ANNs? It can learn and detect patterns
- 39. When to use ANNs? But beware local optimum!
- 40. When to use ANNs? To much training is bad!
- 41. When to use ANNs? To much training is bad! To few training is bad too!
- 42. And what about hardware?
- 43. How ANN stores data? FF ANN needs just a two dimensional array
- 44. How ANN stores data? FF ANN needs just a Feed-Forward Artificial Neural Net
- 45. Nice! So I can run it everywhere then, can I?
- 47. ANN on UNO? NOPE :-(
- 48. ANN on UNO? 2 KB RAM => 19 neurons effectively
- 49. ANN on UNO? Average ANN has >100 neurons
- 50. ANN on UNO? Interesting ANN has >2000 neurons
- 51. ANN on UNO? => No go on UNO …
- 53. ANN on Raspi? Yop, that is a start…
- 54. ANN on Raspi? Yop, that is a start… and I2C or UART will connect it with UNO…
- 55. ANN on Raspi? Yop, that is a start… and I2C or UART will connect it with UNO… but BEWARE theVOLTAGE!
- 56. Case Study
- 57. #Probee Robot
- 58. #Probee Robot 3x UltraSonic Sensor (Forward / Backward / Turret) 4x DC Motor 1x Motor Controller (Left / Right) 1x Arduino UNO (= brain) 1x Bluetooth Module 1x 2x16 I2C LCD (= status display)
- 59. #Probee Robot UNO ANN Hours to learn movement…
- 60. #Probee Robot UNO ANN Hours to learn movement… 15 minutes battery
- 61. #Probee Robot UNO ANN Hours to learn movement… 15 minutes battery Needs better HW preparation … =>
- 62. Interested? Build or Implement start today! You can start right now… …with any language… …or on Arduino!
- 63. Inspiration http://goo.gl/sKTfsd Blog post about ANN on UNO http://goo.gl/cuIUiH ANN controlling robot in video
- 64. Questions?
- 66. Photo Credits All photos used are CC from Flickr !