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Department of Information Management

National Yunlin University of Science & Technology


Master Thesis

Application an Artificial Neuromolecular System to


Simulating Robotic Arm of Actions Learning- A Case
Study of Badmintion

Hao-Ting Jhang

Advisor: Jong-Chen Chen

105 6
January 2015

(ANM)
V-REP

Abstract

In recent years, the exercise issue concerns people gradually, but traditional teaching
method may not guide people correct postures effectively. The study simulates the
postures, records the moving path for self learning through Artificial Neuromolecular
System as a learning mechanism and V-REP mechanical simulation software. The
objective of the study is to build new sports learning mechanism to help people learn
effectively and avoid sports injuries. The study controls four motors to present the serve
posture thourgh the robot arm. The results indicate that Artificial Neuromolecular
System can exactly use one goal path to calculate its time that the motors spend to
activate and the motors angles. Then, the system presents a curve which is similar to
the goal path.
Keywords: Exoskeleton

robot, Sport Learning, Artificial Neuromolecular System

ii


................................................................................................................................... i
Abstract ............................................................................................................................. ii
................................................................................................................................. iii

.................................................................................................................. 1
1.1 ........................................................................................................... 1
1.2 ........................................................................................................... 1

.......................................................................................................... 3
2.1 (Artificial Neuro Molecular System, ANM)........................... 3
2.2 ............................................................................................................ 4
2.3 ........................................................................................................ 4
...................................................................................................... 6
3.1 ............................................................................................................ 6
3.2 ........................................................................................................... 7
3.2.1 ................................................................................... 7
3.2.2 V-REP .................................................................................................... 8
3.2.3 .............................................................................................. 10
3.3 ............................................................................................. 11
3.4 ......................................................................................................... 12
3.5 ......................................................................................................... 15
3.6 ......................................................................................................... 16

................................................................................................................ 17
4.1 ................................................................................................. 18
4.1 ................................................................................................. 27
4.2 ..................................................................................................... 28
4.2 ................................................................................................. 32
4.3 ................................................................................................. 33
4.3 .................................................................................................. 37
........................................................................................................................ 38
5.1 ................................................................................................................. 38
5.2 ......................................................................................................... 39
........................................................................................................................ 40

iii

1 ANM ......................................................................................... 4
2 ................................................................................ 5
3 HULC ................................................................................... 5
4 ............................................................................................ 6
5 .................................................. !
6 V-REP .................................................................................... 9
7 Lua ......................................................................................... 9

8 .......................................................................................... 11
9 .......................................................................... 12
10 .................................................... !
11 3D-DTW ............................................... !
12 ........................................ !
13 ................................................ !

iv


1 ........................................................................................... 11

1.1

82.4%

1.2

V-rep
(ANM)

2.1 (Artificial Neuro Molecular System, ANM)


(Back-propagation Network
(Self-Organizing Map, SOM))

(Chen, 1998; Chen & Conrad, 1994a, 1994b)


Genetic Algorithm, GA

Reference Neurons
Cytoskeletal Neurons or Enzymatic Neurons
High-Level
Reference NeuronsLow-Level Reference Neurons
(receptor neurons)
(effector neurons)

ANM

2.2

2.3
Power Suit
1960
2 680

HULC(Human Universal Lord Carriwe)


3

Zero G4

HULC

3.1
(ANM)
V-REP

(ANM)-REP
(ANM)
4

3.2
3.2.1

(Artificial Neuro Molecular System, ANM) ANM


Cytoskeletal Neurons or Enzymatic Neurons
,Intraneuronal
Dynamics(receptor neurons)
(effector neurons)

(effector neurons)

3.2.2 V-REP
V-REPThe Virtual Robot Experimentation Platform
() (Coppelia.Robtics.Inc,2013)
V-REP Model browser
Scene heierarchy

ROBOTIS V-REP
( ) Lua
Regular API ( )

V-REP

Lua

3.2.3

AX-12+
V-REP

AX-12+


BioDigital (Producer). (2013, 2013/11/05).
BioDigital Human Explore the Body in 3D. Retrieved from
https://www.biodigitalhuman.com/
10

3.3

150 100

125

109

63

65

150

164

188

156

300

153

281

239

11

3.4
ANM

category 0
1category 2 2
(firing time) 2
category 1 0.89675
0.947990 category 1
0.051205

12


Sigmoid function ( & , 2010)
1
( 1)

1
2

( 2)

2 2
0.896785 0.947990
0.051205 2 2
-80 2 2 -29.296672

1
2
3
4

13

default angle

- 25

-80

-100

150

V-REP
50
XYZ

14

3.5
50

Dynamic Time Warping 3D-DTW



3D-DTW
0

3D-DTW

15

3.6

ANM

V-REP

1000 3D-DTW
:

16

V-rep

V-rep
AMM

17

4.1

1000

18

4.1.1 1

1000 3DTW 11.054518

19

4.1.1 2

1000 3DTW 13.723501

20

4.1.3 3
1000 3DTW 14.179121

21

4.1.4 4
1000 3DTW 17.794498

22

4.1.5 5
1000 3DTW 19.72831

23

4.1.6 6
1000 3DTW 18.904551

24

4.1.7 7
1000 3DTW 21.32873

25

4.1.8 8
1000 3DTW 23.67731

26

4.1
1000 3D-DTW 1000

1000 11.054518 23.67721

27

4.2

1000
DTW

4.2.1 1(3DTW 2.79986)

1000 3D-DTW 6.298001

28

4.2.2 2(3DTW 3.914501)

1000 3D-DTW 5.161315

4.2.3 3(3DTW 9.64728)

1000 3D-DTW 9.525064

29

4.2.4 4(3DTW 10.87652)

1000 3D-DTW 11.02341

30

4.2.5 5(3DTW 19.29317)

1000 3D-DTW 25.621277

4.2.6 6(3DTW 18.647089)

1000 3D-DTW 23.27236

31

4.2

4.2.5 4.2.6

32

4.3
:
1234 :23
46

4.3.1 1235

1235 1000 3DTW


41.93827

33

4.3.2 2356

2356 1000 3DTW


22.37586

4.3.3 2357

1235 1000 3DTW


62.728137

34


4.3.4 1245

1235 1000 3DTW


9.83792

35

4.3.5 2345

1235 1000 3DTW


13.42965

4.3.6 4567
1235 1000 3DTW
22.39812

36

4.3

4
4.4.4 1 2
1 2

4.3.4

37


5.1

1 1000
3D-DTW

4
3 7

1.

2.
3.

4. 4.3.4

38

5.2

39


Chen, J.-C and Conrad, M.( 1994)Learning synergy in a multilevel neuronal
architecture. Biosystems32(3)1994a, pp:111-142.
Chen, J.-C and Conrad, M. (1994)A multilevel neuromolecular architecture that uses
the extradimensional bypass principle to facilitate evolutionary learning. Physica
D: Nonlinear Phenomena75(1-3)1994b,pp: 417-437
Chen, J.-C.(1998) Problem Solving with a Perpetual Evolutionary Learning
Architecture. Applied Intelligence8(1), pp:53-71.
Coppelia.Robtics.Inc(2013).V-REP. Retrieved 12/10,2015,from
http://www.coppeliarobotics.com/features.html
Jiangcheng Chen, Xiaodong Zhang, Rui Li. (2013). A Novel Design Approach for
Lower Limb Rehabilitation Training Robot. Automation Science and Engineering
(CASE), 2013 IEEE International Conference.pp.554-557
From HULC to FORTIS: the Evolution of Lockheed Martin's Incredible Exosuit(2014)
http://www.dailytech.com/From+HULC+to+FORTIS+the+Evolution+of+Lockhee
d+Martins+Incredible+Exosuit/article36421.htm
Wikipedia. (2014/5/20). Powered exoskeleton Retrieved 12/08,2015 from
https://en.wikipedia.org/wiki/Powered_exoskeleton
(2010)-
,8,1-16
(2005)

1340002015
-2015(12)124-124
103 :
http://isports.sa.gov.tw/index.php?option=com_phocadownload&view=category&d
ownload=9:%E4%B8%AD%E8%8F%AF%E6%B0%91%E5%9C%8B103%E5%
B9%B4-%E9%81%8B%E5%8B%95%E5%9F%8E%E5%B8%82%E8%AA%BF
%E6%9F%A5&id=3:%E9%81%8B%E5%8B%95%E7%B5%B1%E8%A8%88%
E6%95%B8%E6%93%9A&Itemid=221

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