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This paper addresses the issue of workspace trajectory tracking control of flexible robot manipulators. A control strategy integrated with computed-torque-like control scheme, link vibration suppressing control scheme, and learning control scheme is proposed. Dynamics of a virtual rigid robot and vision feedback are used to construct the computed torque like controller. The learning controller is...
Recently, we have proposed a general adaptation scheme for deep neural network based on discriminant condition codes and applied it to supervised speaker adaptation in speech recognition based on either frame-level cross-entropy or sequence-level maximum mutual information training criterion [1, 2, 3, 4]. In this case, each condition code is associated with one speaker in data, which is thus called...
Recently, the hybrid deep neural network (DNN)-hidden Markov model (HMM) has been shown to significantly improve speech recognition performance over the conventional Gaussian mixture model (GMM)-HMM. The performance improvement is partially attributed to the ability of the DNN to model complex correlations in speech features. In this paper, we show that further error rate reduction can be obtained...
Recently, it has been reported that context-dependent deep neural network (DNN) has achieved some unprecedented gains in many challenging ASR tasks, including the well-known Switchboard task. In this paper, we first investigate DNN for several large vocabulary speech recognition tasks. Our results have confirmed that DNN can consistently achieve about 25–30% relative error reduction over the best...
Convolutional Neural Networks (CNN) have showed success in achieving translation invariance for many image processing tasks. The success is largely attributed to the use of local filtering and max-pooling in the CNN architecture. In this paper, we propose to apply CNN to speech recognition within the framework of hybrid NN-HMM model. We propose to use local filtering and max-pooling in frequency domain...
This paper addresses the issue of trajectory tracking control based on a neural network controller for industrial manipulators. A new control scheme is proposed based on neural network technology and linear feedback approach for tracking a planned trajectory. The control system is established with two parallel subsystems designed separately. One is a linear controller based on state feedback with...
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