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Curso: Taller de Consultoría en Ingeniería de Sistemas E Informática

This document describes interfaces for neural network systems that control robot movement. It provides code samples in Visual Basic 2005 and Visual C++ 2005 to implement a neural network that takes sensor inputs and outputs robot positions. The interfaces are tested and shown to work as expected, accurately classifying examples they were trained on as well as new test cases.

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42 views

Curso: Taller de Consultoría en Ingeniería de Sistemas E Informática

This document describes interfaces for neural network systems that control robot movement. It provides code samples in Visual Basic 2005 and Visual C++ 2005 to implement a neural network that takes sensor inputs and outputs robot positions. The interfaces are tested and shown to work as expected, accurately classifying examples they were trained on as well as new test cases.

Uploaded by

orcaso
Copyright
© Attribution Non-Commercial (BY-NC)
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
You are on page 1/ 8

CURSO:

TALLER DE CONSULTORA EN INGENIERA DE


SISTEMAS E INFORMTICA

DISEO DE INTERFAZ DE SISTEMAS DE


REDES NEURONALES
Elaborado por: Ing. Miguel ngel Crdova Sols

2011

IMPLEMENTACIN DEL CASO DE


MOVIMIENTO DE ROBOT
1. INTERFAZ EN VISUAL BASIC 2005

Los cuadros de texto son: s1, s2, s3, s4 = para las entradas
Los cuadros de texto s5 y s6 = para las salidas
1.1 Cdigo fuente
Public Class Form1
Private Sub Button1_Click(ByVal sender As System.Object, ByVal e As
System.EventArgs) Handles Button1.Click
Dim a, b, c, d, fe, f As Integer
Dim aa, netsum, bb, cc, dd, ee, ff As Double
a
b
c
d

=
=
=
=

Val(Me.s1.Text)
Val(Me.s2.Text)
Val(Me.s3.Text)
Val(Me.s4.Text)

If (a < -1) Then a = -1


If (a > 1) Then a = 1
a = (a + 1) / 2
If (b < -1) Then b = -1
If (b > 1) Then b = 1
b = (b + 1) / 2
If (c < -1) Then c = -1
If (c > 1) Then c = 1
c = (c + 1) / 2

If (d < -1) Then d = -1


If (d > 1) Then d = 1
d = (d + 1) / 2
netsum
netsum
netsum
netsum
netsum
aa = 1

=
=
=
=
=
/

-1.330392
netsum + a * 2.926372
netsum + b * -1.385469
netsum + c * 0.9289459
netsum + d * -2.592151
(1 + Math.Exp(-netsum))

netsum
netsum
netsum
netsum
netsum
bb = 1

=
=
=
=
=
/

-0.4652821
netsum + a * 1.027407
netsum + b * 1.289586
netsum + c * -0.5926775
netsum + d * -0.2162392
(1 + Math.Exp(-netsum))

netsum
netsum
netsum
netsum
netsum
cc = 1

=
=
=
=
=
/

0.1058821
netsum + a * 3.624191
netsum + b * -0.3397036
netsum + c * 3.768384
netsum + d * -4.29038
(1 + Math.Exp(-netsum))

netsum
netsum
netsum
netsum
netsum
dd = 1

=
=
=
=
=
/

-0.9695665
netsum + a * 6.3301
netsum + b * -1.951468
netsum + c * 2.166127
netsum + d * -5.255601
(1 + Math.Exp(-netsum))

netsum
netsum
netsum
netsum
netsum
ee = 1

=
=
=
=
=
/

4.025523
netsum + a * -1.696793
netsum + b * -1.019784
netsum + c * -0.9487106
netsum + d * -0.7426738
(1 + Math.Exp(-netsum))

netsum
netsum
netsum
netsum
netsum
ff = 1

=
=
=
=
=
/

2.288605
netsum + a * 2.178661
netsum + b * -1.648965
netsum + c * -0.5265731
netsum + d * -2.888947
(1 + Math.Exp(-netsum))

netsum
netsum
netsum
netsum
netsum
netsum
netsum
fe = 1

=
=
=
=
=
=
=
/

-3.614517
netsum + aa * 2.570479
netsum + bb * -3.188636
netsum + cc * -0.4802296
netsum + dd * 2.160472
netsum + ee * 3.783415
netsum + ff * 2.693977
(1 + Math.Exp(-netsum))

netsum
netsum
netsum
netsum
netsum

=
=
=
=
=

2.898355
netsum +
netsum +
netsum +
netsum +

aa
bb
cc
dd

*
*
*
*

1.91013
-0.5968674
-3.42756
-4.566801

netsum = netsum + ee * 0.7463915


netsum = netsum + ff * 1.604252
f = 1 / (1 + Math.Exp(-netsum))
fe = 2 * (fe - 0.1) / 0.8 + -1
If (fe < -1) Then fe = -1
If (fe > 1) Then fe = 1
f = 2 * (f - 0.1) / 0.8 + -1
If (f < -1) Then f = -1
If (f > 1) Then f = 1
s5.Text = fe
s6.Text = f
End Sub
End Class

1.2 Validacin de conocimiento


Se verifica las entradas 1, 1, 1, 1 debe mostrar como salida -1, -1

1.3 Verificacin de aprendizaje


Se prueban valores que en un inicio no se haba previsto cuyas entradas son: -1,
-1, -1, 1, el sistema es capaz de mostrar resultado, en este caso -1, 1

2. INTERFAZ EN VISUAL C++ 2005

2.1 Cdigo fuente


#include <stdio.h>
#include <math.h>
#include<conio.h>
void main()
{
double netsum, feature2[6],outarray[2],inarray[4];
int outarrayok[2],inarrayok[4];
printf("Ingrese primera posicion de sensor 1:");
scanf("%d",&inarrayok[0]);
printf("Ingrese primera posicion de sensor 2:");
scanf("%d",&inarrayok[1]);
printf("Ingrese primera posicion de sensor 3:");
scanf("%d",&inarrayok[2]);
printf("Ingrese primera posicion de sensor 4:");
scanf("%d",&inarrayok[3]);
inarray[0]=inarrayok[0];
inarray[1]=inarrayok[1];
inarray[2]=inarrayok[2];
inarray[3]=inarrayok[3];
/* inarray[0] is S1 */
/* inarray[1] is S2 */
/* inarray[2] is S3 */
/* inarray[3] is S4 */
/* outarray[0] is M1 */
/* outarray[1] is M2 */
if (inarray[0]<-1) inarray[0] = -1;
if (inarray[0]> 1) inarray[0] = 1;
inarray[0] = (inarray[0] + 1) / 2;
if (inarray[1]<-1) inarray[1] = -1;
if (inarray[1]> 1) inarray[1] = 1;
inarray[1] = (inarray[1] + 1) / 2;
if (inarray[2]<-1) inarray[2] = -1;
if (inarray[2]> 1) inarray[2] = 1;
inarray[2] = (inarray[2] + 1) / 2;
if (inarray[3]<-1) inarray[3] = -1;
if (inarray[3]> 1) inarray[3] = 1;
inarray[3] = (inarray[3] + 1) / 2;
netsum = -1.330392;
netsum += inarray[0]
netsum += inarray[1]
netsum += inarray[2]
netsum += inarray[3]
feature2[0] = 1 / (1

* 2.926372;
* -1.385469;
* 0.9289459;
* -2.592151;
+ exp(-netsum));

netsum
netsum
netsum
netsum
netsum

* 1.027407;
* 1.289586;
* -0.5926775;
* -0.2162392;

= -0.4652821;
+= inarray[0]
+= inarray[1]
+= inarray[2]
+= inarray[3]

feature2[1] = 1 / (1 + exp(-netsum));
netsum = 0.1058821;
netsum += inarray[0]
netsum += inarray[1]
netsum += inarray[2]
netsum += inarray[3]
feature2[2] = 1 / (1

* 3.624191;
* -.3397036;
* 3.768384;
* -4.29038;
+ exp(-netsum));

netsum = -0.9695665;
netsum += inarray[0]
netsum += inarray[1]
netsum += inarray[2]
netsum += inarray[3]
feature2[3] = 1 / (1

* 6.3301;
* -1.951468;
* 2.166127;
* -5.255601;
+ exp(-netsum));

netsum = 4.025523;
netsum += inarray[0]
netsum += inarray[1]
netsum += inarray[2]
netsum += inarray[3]
feature2[4] = 1 / (1

*
*
*
*
+

-1.696793;
-1.019784;
-0.9487106;
-0.7426738;
exp(-netsum));

netsum = 2.288605;
netsum += inarray[0]
netsum += inarray[1]
netsum += inarray[2]
netsum += inarray[3]
feature2[5] = 1 / (1

*
*
*
*
+

2.178661;
-1.648965;
-.5265731;
-2.888947;
exp(-netsum));

netsum = -3.614517;
netsum += feature2[0] * 2.570479;
netsum += feature2[1] * -3.188636;
netsum += feature2[2] * -0.4802296;
netsum += feature2[3] * 2.160472;
netsum += feature2[4] * 3.783415;
netsum += feature2[5] * 2.693977;
outarray[0] = 1 / (1 + exp(-netsum));
netsum = 2.898355;
netsum += feature2[0] * 1.91013;
netsum += feature2[1] * -.5968674;
netsum += feature2[2] * -3.42756;
netsum += feature2[3] * -4.566801;
netsum += feature2[4] * 0.7463915;
netsum += feature2[5] * 1.604252;
outarray[1] = 1 / (1 + exp(-netsum));
outarray[0] = 2 * (outarray[0] - 0.1) / 0.8
if (outarray[0]<0)outarrayok[0] = -1;
else outarrayok[0] = 1;

+ -1;

outarray[1] = 2 * (outarray[1] - 0.1) / 0.8


if (outarray[1]<0)
outarrayok[1] = -1;
else
outarrayok[1] = 1;

+ -1;

printf("Posicion de robot 1: %d \n",outarrayok[0]);


printf("Posicion de robot 2: %d \n",outarrayok[1]);
getch();
}

2.2 Validacin de conocimiento


Se verifica las entradas 1, 1, 1, 1 debe mostrar como salida -1, -1

2.3 Verificacin de aprendizaje


Se prueban valores que en un inicio no se haba previsto cuyas entradas son: -1,
-1, -1, 1, el sistema es capaz de mostrar resultado, en este caso -1, 1

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