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Javier
Javier
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J. de la Cruz Alejo is with the School Tecnologico Nacional de Mexico of the Tecnologico de Estudios Superiores de Ecatepec, Mexico, (e-mail: jdelacruz@tese.edu.mx). J. Antonio Lobato-Cadena, M. Belem Arce-Vazquez and A. Mora-Ortega are
with the same School (e-mails: {202121831, mariaarce, amora}@tese.edu.mx).
* Corresponding author.
Abstract: En pequeñas industrias, uno de los grandes problemas es la clasificación de manzanas porque estas se realizan de forma manual, y esto no permite obtener un producto que cuente con una buena
calidad, por lo tanto, no se obtiene un producto con las características adecuadas para poderlas llevar al mercado y que sean de su consumo. En el siguiente trabajo de investigación se realizó el diseño de
una red neuronal artificial (NN) del tipo backpropagation, en la cual fue implementada y aplicada a un brazo robótico de 4 GDL, para determinar la calidad de la manzana, se utilizaran sensores de peso,
altura y color para realizar experimentación y determinar las características apropiadas que debe de tener una manzana determinando la calidad del producto, el control realizado a través de una red neuronal
artificial nos determinara la calidad nos determina en 3 rangos bueno, malo o regular aplicando a un brazo robótico el cual acomoda la manzana, clasificándolas según su calidad, sé utilizo una banda
transportadora de tipo cinta la cual nos permite transportar las manzanas imitando una línea de producción, permitiendo que nuestro sistema sea continuo y sistemático.
Keywords: control inteligente, clasificación de manzanas, brazo robótico, redes neuronales artificiales.
1. Introduction también utilizaremos una banda transportadora de tipo de cinta que nos permitirá trasladar
Actualmente los avances tecnológicos han emergido por la necesidad de optimizar ciertos la manzana de un lugar a otro imitando una línea de producción.
Er ( k ) error cuadrático Medio. mala(Ma), en la tabla 1 se muestran los valores obtenidos que serán implementados en las entradas
y salidas de nuestra red neuronal artificial.
n L numero de neuronas de la capa de salida de la red Corrige el diseño de tus tablas debe de ser como el que modifique de la tabla 1. Títulos en
neuronal. Negrita y K sin bordes adentro
Table 1 Data set
Para ajustar los pesos sinápticos a través del proceso de entrenamiento consiste en minimizar el
error entre las salidas con respecto a las salidas deseadas [18], con respecto al función (2.4). Inputs Outputs
P(gr) A(cm) M (%) B R Ma
(L) (L)
∂ Er(L) ∂ Er ∂ Y j ∂ I j 220 8 100 1 0 0
∇ Er = = (L) ∙ (L) ∙ 219 8 100 1 0 0
∂ W (L)
ji ∂ Y j ∂ I j ∂ W (L)
ji
218 8 100 1 0 0
(2.4)
217 8 100 1 0 0
Para el ajuste de los pesos debe hacerse en dirección contraria opuesta al gradiente para
215 8 100 1 0 0
minimizar el error (2.5,2.6). 214 8 100 1 0 0
∂ Er 213 8 100 1 0 0
W (jiL ) ( n+1 )=W (jiL )(n)−η ∙ ( L) (2.5) 212 8 100 1 0 0
∂ W ji
220 8 75 0 1 0
∂ Er 219 8 75 0 1 0
(L)
∇ W ji =−η ∙ ( L) (2.6) 218 8 75 0 1 0
∂ W ji 217 8 75 0 1 0
Donde: 216 8 75 0 1 0
215 8 75 0 0 1
n representa la tasade aprendizaje .
( L) 214 8 75 0 0 1
W ji ( n+1 ) representa los pesos a actualizar. 220 8 50 0 0 1
( L)
W ji (n) representa los pesos anteriores. 219 8 50 0 0 1
Para actualizar los pesos de la capa siguiente utilizando la regla de la cadena se utiliza la 218 8 50 0 0 1
siguiente ecuación (2.7). 217 8 50 0 0 1
n2 ( 2)
∂ Er ∂ Er ∂ I k
∑
Se realizaron pruebas con diferentes arquitecturas de red neuronal artificial con la mejor
= ∙ =B (2.7)
∂ W ji k=1 ∂ I (k2 ) ∂ Y (j1)
(1 ) opción que cumple con los requerimientos indicados para obtener buenos resultados fue la que
cuenta con una capa de entrada, una capa intermedia con 10 neuronas y una capa de salida como se
n2
∂ Er
B¿ ∑
muestra en figura 1, se menciona que entre más capas ocultas tenga la red neuronal artificial, mas
( 2)
∙ ∂¿ ¿ ¿ (2.8) es la información capaz de aprender, que depende del tipo de información a procesar, el costo es
k=1 ∂ I k
significativo ya que el algoritmo de entrenamiento suele converger demasiado lento, este
Para obtener los pesos de la última capa se representa de la siguiente manera: entrenamiento se realizó con la herramienta nntool del software Matlab® el cual se entrena la red
nL
A(jL )=⌊ ∑ A(jL ) ∙W (jiL ) ⌋ ∙ g' (I (JL ))
neuronal artificial ingresando lo datos obtenidos de manera experimental algunos de ellos se
(2.9) muestran en la tabla 1. Se utilizó el método feed-forward bacporopagation, utilizando la función
j=1
sigmoide que nos ayuda a mantener el valor de salida y suavizar el valor de la magnitud hasta un
cierto limite [19,20]. En la figura 2 podemos observar el tiempo en el que nuestro sistema
Al final de la ecuación obtenemos:
converge y las épocas que tardo para que el error alcance su valor mínimo. Cuano hables de Matlab
retropagacion en donde utilizamos las ecuaciones 2.4 obteniendo el resultado utilizando la regla de
la cadena y utilizando la ecuación 2.7, 2.10 y 2.11 para la actualización de nuestros pesos, que son
para nuestra capa oculta que está representado en la siguiente figura 5 donde podemos observar,
que la variable delta representa nuestro
Figureerror localpropagation.
4 direct que se va recorriendo hacia atrás realizando la
actualización de nuestros pesos.
después de
haber % Actualizacion: pesos sinagticos de la realizado
este primera capa de intermedia %
delta11=((delta21*w2ji11)+
(delta22*w2ji12)+(delta23*w2ji13))*(Y1j1*(1-
Figure 1 artificial neural network for apple classification. Y1j1));
delta12=((delta21*w2ji21)+
(delta22*w2ji22)+(delta23*w2ji23))*(Y1j2*(1-
Y1j2));
delta13=((delta21*w2ji31)+
(delta22*w2ji32)+(delta23*w2ji33))*(Y1j3*(1-
Y1j3));
w1ji11=w1ji11+(tpaso*delta11*valorX);
w1ji12=w1ji12+(tpaso*delta11*valorY);
w1ji13=w1ji13+(tpaso*delta11*valorZ);
umbralj11=umbralj11+(tpaso*delta11*x0);
w1ji21=w1ji21+(tpaso*delta12*valorX);
w1ji22=w1ji22+(tpaso*delta12*valorY);
Figure 5 regression propagation.
entrenamiento obtenemos valores deseados de los pesos, son con los que mejor se adaptan a
Figure 2 error determined with the nntool tool.
nuestro sistema, en la tabla 2 podemos observar los resultados que se obtuvieron de nuestra red
neuronal artificial con los valores obtenidos y la salida deseada.
Hay que corregir el formato de la fig 2 en negritas solo es el titulo, lo demás no lleva negritas y los
Table 2 data obtained..
números de la tabla igual hacerlos del mismo tamaño que la letra de los ejes
2.2 desarrollo y implementación de la red neuronal artificial Desired output Values obtained
Para poder implementar el control inteligente en nuestro Arduino mega 2560, se realizó el 1.00 0 0 0.997 0.003 0.000
entrenamiento con la herramienta de Matlab, en la cual se pueden observar los 3 errores de nuestra 1.00 0 0 0.997 0.003 0.000
salida de nuestra red neuronal artificial para el eje x representa las épocas en que tardo en aprender
1.00 0 0 0.997 0.002 0.000
nuestra red neuronal artificia,l que está conformada como se muestra en la figura 1, para el eje y
1.00 0 0 0.997 0.002 0.000
tenemos el error cuadrático medio. el cual está convergiendo gracias al algoritmo de entrenamiento
1.00 0 0 0.997 0.002 0.000
implementado como se observa en la figura 3, con el siguiente código de la figura 4 se realizó la
1.00 0 0 0.997 0.002 0.000
parte de la propagación directa donde se realiza el producto de la suma de los pesos hacia la
1.00 0 0 0.987 0.002 0.000
primera entrada utilizando la ecuación 2.1, despues se obtuvo el valor de la salida que es el valor de
0 1.00 0 0.001 1.000 0.001
la ecuación de 2..2 utilizando la función sigmoide y por ultimo utilizamos la ecuación 2.3 para
0 1.00 0 0.001 1.000 0.001 LoadCell.tareNoDelay(): permite realizar la calibración del sensor.
0 1.00 0 0.001 1.000 0.001 peso, para ajustar el sensor y así obtener el peso deseado.
0 1.00 0 0.001 1.000 0.001 LoadCell.getData(): se obtiene el valor de peso en unidades decimales.
0 1.00 0 0.001 1.000 0.001 Para poder determinar la altura de nuestra manzana para
0 1.00 0 0.001 1.000 0.001 nuestra segunda entrada de nuestra red neuronal artificial,
0 0 1.00 0.000 0.248 0.870 se utilizó el sensor ultrasónico que se encarga de medir la
0 0 1.00 0.000 0.011 0.990 distancia en cm, gracias alas ondas que emiten y que es
0 0 1.00 0.000 0.011 0.990
reflejado una vez que se retorna del objeto, para medir la
0 0 1.00 0.000 0.011 0.990
altura, de la manzana se colocara el sensor en una base
0 0 1.00 0.000 0.011 0.990
en la cual el sensor está posicionado en una altura de 10
0 0 1.00 0.000 0.011 0.990
cm, cuando la manzana este en posición para determinar
la altura , el sensor medirá la distancia que se encuentra
posicionado hasta la manzana, una vez que se realizó la
Se trabajo con nuestra tarjeta Arduino en el cual es compilado en el IDE , el lenguaje de
medición solo se restara la altura en donde esta
programación en el que se trabajo es el de C++, la frecuenci que nos proporción nuestro
posicionado el sensor y la distancia que se obtuvo hacia
controlador arduino mega es de 16 mhz la cual es de gran ventaja ya que los sensores que se
donde se encuentra la manzana, de esta forma
ocuparon tienen una resolución de 8 bits y trabajan a una menor frecuencia que la del el Arduino,
obtendremos el valor de la altura de la manzana, estos
en la figura 6 está representado nuestro diagrama de bloques donde podemos observar el
cálculos se realiza mediate el siguiente Código mostrado
funcionamiento de nuestro sistema como entradas tenemos nuestro sensor de peso, sensor
en la figura 8.
ultrasónico y el sensor de color, señales que el controlador Arduino se encargara de medir, también
se encargara de determinar la calidad de nuestra manzana clasificándola en buena, regular o mala
Pin Trigger: manda un pulso de ultrasonido.
con la ayuda de nuestra red neuronal artificial implementada en el controlador, por ultimo activara
Pin echo: se encarga de recibir el pulso una vez que fue rebotado.
nuestros actuadores (servomotores), para la realización de movimiento de nuestro brazo robótico y
PulseIn():devuelve la longitud en microsegundos o un valor cero dentro del tiempo
poder acomodar la manzana.
de espera
X− Xmin
x= (2.11)
Xmax− Xmin
entrada.
entrada.
valorX=(valorX-6)/(220-0);
valorZ: representa el valor del sensor de color.
valorY=(valorY-6)/(220-0);
valorZ=(valorZ-6)/(220-0);
Figure 10 normalized data.
I2j1=(w2ji11*Y1j1)+(w2ji21*Y1j2)+
(w2ji31*Y1j3)+(w2ji41*Y1j4)+(w2ji51*Y1j5)+
(w2ji61*Y1j6)+(w2ji71*Y1j7)+(w2ji81*Y1j8)+
(w2ji91*Y1j9)+(w2ji101*Y1j10)+(umbralj21*x0);
I2j2=(w2ji12*Y1j1)+(w2ji22*Y1j2)+
(w2ji32*Y1j3)+(w2ji42*Y1j4)+(w2ji52*Y1j5)+
(w2ji62*Y1j6)+(w2ji72*Y1j7)+(w2ji82*Y1j8)+
(w2ji92*Y1j9)+(w2ji102*Y1j10)+(umbralj22*x0);
I2j3=(w2ji13*Y1j1)+(w2ji23*Y1j2)+
(w2ji33*Y1j3)+(w2ji43*Y1j4)+(w2ji53*Y1j5)+
(w2ji63*Y1j6)+(w2ji73*Y1j7)+(w2ji83*Y1j8)+
(w2ji93*Y1j9)+(w2ji103*Y1j10)+(umbralj23*x0);
Y2j1=1/(1+exp(-I2j1)); //% Salida de la neurona 1
Y2j2=1/(1+exp(-I2j2)); //% Salida de la neurona 2
Y2j3=1/(1+exp(-I2j3)); // Salida de la neurona 3
Serial.println(Y2j1,4);
Serial.println(Y2j2,4);
Serial.println(Y2j3,4);
Table 3 shows a comparison of the controller in an experimental and implemented way, as well as
some data with its respective movement action. The implemented artificial neural network has a
very small error compared to the desired data, so we can say that the controller has already reached
system convergence.
Input data Desired data Artificial neuronal network from nntool Artificial neuronal network in Transtibial prosthesis
Arduino
E P1 P2 A S1 S2 A S1 S2 A S1 S2 Motion
40 0 0 -1 0 0 -1 0 0 -0.95 0 0 Dorsiflexión
60 0 0 -1 0 0 -1 0 0 -0.98 0 0 Dorsiflexión
Table 3. Comparison of nntool's artificial neural network and the artificial neural network implemented in Arduino.
1.
3. Transtibial prostheses
The design of the transtibial prosthesis was carried out under the SolidWorks software for
simulation, which is shown in figure 8. It is divided into three main components, socket, ankle and
prosthetic foot. Then, each component was manufactured with a 3d printer, carrying out a study of
different materials to guarantee that they support human weight without suffering the risk of
rupture, as well as to reduce the weight of the robotic-type prosthesis by working with different
types of plastic instead of stainless steel and aluminum.
3.1 Socket of the servomotors (4) connects the ankle with the foot of the transtibial prosthesis.
The prosthetic socket is in charge of joining the prosthesis with the amputee, as well as transmitting
the weight to the rest of the prosthesis. Inside, the adhesive electrodes of the myoelectric sensor
were placed to capture muscle stimulation. Figure 9 shows the three components of the socket, the
first is the prosthetic adapter that can be of different sizes, depending on the height of the amputee.
In addition, it joins the ankle with the prosthetic socket, the second joins the connector prosthetic
with the part number three, component three is the socket where the stump of the amputee is
placed.
Figure 11. Foot of transtibial prosthesis.
Maximum Displacement
Part name. Material Applied load
tension
a)
Figure 13. Simulation of the Prosthetics pieces.
weight of 2.16 kg and can support the weight of a 90 kg. without risk of rupture. Also, it can
generate enough driving force to lift the weight of a person, allowing to imitate the main stages of To prevent the electronic components from being damaged by water or dust, all the elements were
human locomotion, which is optimal because the part of the amputated leg corresponds to 5.9% of placed in a box made in 3d printing as shown in figure 16, which the amputee can transport in the
the weight of a person. bag of some article of clothing. In this way, damage caused by accidents is avoided and a longer
durability of the transtibial prosthesis is ensured.
Figure 14. Prototype of transtibial prosthesis Figure 16. Connection of transtibial prosthesis
b)
a)
Figure 18. Transtibial prosthesis in motion Input data Desired data
E P1 P2 A S1 S2
190 10 862 1 0 20
200 19 875 1 0 20
210 19 880 1 0 20
Myoelectric signal flexing the knee Myoelectric signal with hard on the leg
0.15 0.25
0.2
0.1
Output of sensor
Ouput of sensor
0.15
0.05
0.1
0
0.05
-0.05 0
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
Time (s) Time (s)
Myoelectric signal walking Myoelectric signal hopping
0.6 1
0.5
0.8
Output of sensor
Output of sensor
0.4
0.6
0.3
0.4
0.2
0.1 0.2
0 0
0 0.5 1 1.5 2 2.5 3 0 0.5 1 1.5 2 2.5 3
Time (s) Time (s)
Figure 19. Leg myoelectric signal
Table 7 shows a comparison between the proposal of this work with others found in the literature. number of inputs in the NN, the position of the prosthesis and stump can be analyzed with more
In it, the main characteristics of both operation and construction materials are shown. It also shows precision. This is because by increasing the number of actuators we can better imitate the gait
the contribution of intelligent control for prosthetic systems, since by working with a greater cycle.
Powered prosthesis with torque It works by means of an actuator which performs the bidirectional movements of the ankle, help reduce metabolic wear. All this through the use of Steel and aluminum
dense, low ratio actuation [23] gears, motors, stainless steel bearings, aluminum parts, which means that the prosthesis has a weight of 6.05 Kg and needs to input additional energy to
that of the person to carry out human locomotion.
Systems and methods for an ankle Transtibial prosthesis with an ankle load direction mechanism that, supported by an actuator, allows bidirectional movements of human locomotion, Steel
prosthesis [24] having a lighter weight that reduces fatigue problems.
Biomechanical design and The prototype generates dorsiflexion and plantar flexion movements, generating an angular ankle position of 27° and a lifting force of 1000 N by Carbon fiber and aluminum
prototyping of a powered ankle- means of an electric actuator, it is capable of lifting the weight of an individual of 80 Kg and through springs it cushions the human weight. The
foot prosthesis [25] prototype has a weight of 2.23 kg without the prosthetic socket.
Biomedical design of powered The prototype is an elastic spring prosthesis that works by means of a unidirectional spring and a controllable force actuator, this to imitate the gait Carbon fiber and steel
ankle-foot prosthesis [26] cycle. The controllable force actuator is made up of a DC motor, a mechanical transmission and a distribution gear, this to control the retribution force,
while the unidirectional spring prevents the movement of the prosthesis while it is in the balancing stage.
This work Using sensors, actuators and intelligent control to learn and adapt the position and trajectory of the prosthesis when walking, the prototype is capable ABS, PLA, TPU and Steel.
of raising the human weight by means of a linear actuator and performing lateral movements through direction labels controlled by servomotors. In
addition, it allows to imitate the main stages of human locomotion, dorsiflexion and plantar flexion. Its innovation is the ability to perform triplanar
movements, reducing the risk of falls and having a more comfortable and natural gait cycle. Also, by working with lightweight materials and providing
energy to the gait cycle through electronic actuators, metabolic wear is reduced. The prototype has a weight of 2.16 kg and supports a weight of 90 kg
without risk of breakage
5. Conclusions
The successful simulation and implementation of a transtibial prosthesis has been done by [2] Zhang, F., Li, X. C., Lim, C. P., Hua, Q., Dong, C. R., &
using a NN as controller. The designed prototype can be used for amputees that allows them to
Zhai, J. H. (2022). Deep emotional arousal network for
move without depending on another person, this helps them to perform basic tasks by themselves.
multimodal sentiment analysis and emotion
recognition. Information Fusion, 88, 296-304.
The transtibial prosthesis has an anthropometric design for the human foot, ankle and tibia fibula,
[3 Shi, H., Cao, G., Ma, G., Duan, J., Bai, J., & Meng, X.
this allows imitating the movements of enhanced flexion and dorsiflexion, which are the main
(2022). New progress in artificial intelligence algorithm
stages of human locomotion. By using the results of computational calculations of the design research based on big data processing of IOT systems on
parameters for the NN and the outcomes of the simulation, we have designed and implemented an intelligent production lines. Computational Intelligence and
intelligent control based on backpropagation algorithm applied to a transtibial prosthesis, which Neuroscience, 2022.
presents positive results By correctly imitating the movements of human locomotion. Also, the [4] Unay, D., & Gosselin, B. (2005, September). Artificial
control which have multiple inputs and outputs allows to analyze the movement of the human ankle neural network-based segmentation and apple grading by
and foot with a greater number of variables, determining its position and imitating its trajectory in a
machine vision. In IEEE International Conference on Image
Processing 2005 (Vol. 2, pp. II-630). IEEE.
better way by means of linear and rotary actuators that perform the gait and angular inclination
[5] Monsone, C., & Csapó, Á. B. (2019, October). Charting the
cycle.
state-of-the-art in the application of convolutional neural
Acknowledgements This work was supported by the Tecnologico Nacional de Mexico of the
networks to quality control in industry 4.0 and smart
Tecnologico de Estudios Superiores de Ecatepec. manufacturing. In 2019 10th IEEE International Conference on
Author contributions Experimental were from Lobato-Cadena and Arce-Vazquez. Data collection Cognitive Infocommunications (CogInfoCom) (pp. 463-468).
was performed by Mora-Ortega, de la Cruz-Alejo. Data analysis was performed by de la Cruz- IEEE.
Alejo and Lobato-Cadena. The frst draft was written by de la Cruz-Alejo and Lobato-Cadena, and [6] Nguyen, D. H., Sun, X., Tretiak, I., Valverde, M. A., &
Mora-Orrega reviewed and edited the draft. All authors commented on previous versions of the Kratz, J. (2023). Automatic process control of an automated
manuscript. All authors read and approved the fnal manuscript and agree with the order of
fibre placement machine. Composites Part A: Applied Science
and Manufacturing, 168, 107465.
presentation of the authors.
[7] Sun, G., Li, M., Wang, Y., Zhou, K., Hu, X., Guo, Z., &
Declarations Zhu, L. (2022). Temperature-compensated fiber-optic online
Competing interests The authors declare no competing interests. monitoring methodology for 3D shape and strain of near-space
airship envelope. Applied Optics, 61(31), 9279-9295.
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Using a Novel Two-Dimensional Deep Regression Neural renewable energy and the American Physics Society. His research interests are about energy system and energy
Network Trained via Remote Sensing. Sensors, 23(1), 489. renewable. ORCID: 0000-0001-5200-3527.: amora@tese.edu.mx
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