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This paper proposes a robust method to estimate sound direction for mobile robot interface. In contrast to other methods, the proposed method estimates sound direction at intervals of short time to deal with deterioration by movement of sound source or robot. The two methods, discrete Kalman filter and time delay of arrival (TDOA) using generalized cross-correlation (GCC), are combined by quantifying...
The variable projection (VP) method for separable nonlinear least squares (SNLLS) is presented and incorporated into the Levenberg-Marquardt optimization algorithm for training two-layered feedforward neural networks. It is shown that the Jacobian of variable projected networks can be computed by simple modification of the backpropagation algorithm. The suggested algorithm is efficient compared to...
In this paper, we experimented how the performance of compact genetic algorithms (cGAs) become different according to two competitive encoding schemes: binary encoding and gray encoding scheme. We apply two encoding schemes to original cGA in various numerical problems including continuous and multimodal problems as well as unimodal problems. Experimental results unexpectedly show that the binary...
An optimal solution for single hidden layered feedforward neural network (SLFN) is proposed. SLFN can be considered as separable nonlinear least squares problem and variable projection (VP) method gives the approximation of the Jacobian matrix of the problem. The Jacobian calculation of VP-SLFN is suggested with simplified form. Based on this simplification, Levenberg-Marquardt (LM) algorithm for...
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