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acoustic AE returns analysis application architecture Artificial Neural Networks backpropagation backpropagation neural networks binary calculated centroid CEOF coefficients Class classifiers cluster complex connections consists convergence correlation data set decoder defined described detection domain wall dynamics edge energy equation error estimation exemplars feature extraction feature vectors filter function gradient Gulf Stream hidden layers networks hidden units IEEE image processing imagery implementation initial input pattern input vector Iterative Atrophy leak location learning algorithm learning rate linear Linear Discriminant Analysis mapping matrix measure memory model fitting module neocognitron neurons nodes noise nonlinear object optimal parallel pattern recognition peak performance pixels problem regression regression analysis representation represented samples segment sensors shown in Figure side-scan sonar simulation space spatial statistical structure subnetworks surface target technique test set texture threshold tool wear training set unsupervised learning variables weights window