Estimation Algorithm of Machine Operational Intention by Bayes Filtering with Self-Organizing Map

Table 3

List of constants.

Symbols	Designation	Values in verification
𝛼	Threshold to discern intention modes	0.1 or 0.03
^𝑓𝜉𝑖	Reference vectors of the SOM𝑓 (𝑖=1,…,𝐿𝑓)	(Determined by the learning)
^𝑔𝜉𝑖	Reference vectors of the SOM𝑔 (𝑖=1,…,𝐿𝑔)	(Determined by the learning)
𝜎𝑖	Standard deviation of 𝑖th column sequence in {𝑠}	(Depend on data)
𝑛𝑠	Size of vector 𝑠	28
𝑛𝑧	Number of intention types	15
(𝑢dim,𝑣dim)	Sizes of the SOM lattice
𝐿𝑓	Number of all nodes of SOM𝑓	1250 (50×25)
𝐿𝑔	Number of all nodes of SOM𝑔	1600 (80×20)
2𝐿𝑟+1	Number of nodes of one side of a square-like area 𝐴𝑔𝑐𝑡[𝑚]	11
𝑀	Number of all particles	1000
𝑇	Total time of task (integer)	(Depend on trial)