• The Journal of Korean Institute of Communications and Information Sciences
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• v.16 no.11
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• pp.1186-1193
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• 1991

This paper proposed a trajectory controlmethod for a robot manipulator by using neural networks. The total torque for a manipulator is a sum of the linear feedback controller torque and the neural network feedfoward controller torque. The proposed neural network is a multilayer neural network with time delay elements, and learns the inverse dynamics of manipulator by means of PD(propotional denvative)controller error torque. The error backpropagation (BP) learning neural network controller does not directly require manipulator dynamics information. Instead, it learns the information by training and stores the information and connection weights. The control effects of the proposed system are verified by computer simulation.

• Proceedings of the IEEK Conference
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• 1998.10a
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• pp.1285-1288
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• 1998

In this paper, we propose a new learning algorithm for multilayer neural networks. In the error backpropagation that is widely used for training multilayer neural networks, weights are adjusted to reduce the error function that is sum of squared error for all the neurons in the output layer of the network. In the proposed learning algorithm, we consider each output of the output layer as a function of weights and adjust the weights directly so that the output neurons produce the desired outputs. Experiments show that the proposed algorithm outperforms the backpropagation learning algorithm.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1993.10a
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• pp.482-487
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• 1993

A prediction method for determining the welding residual stress by artificial neural network is proposed. A three-dimensional transient thermomechanical analysis has been performed for the CO $_{2}$ Arc Welding using the finite element method. The validity of the above results is demonstrated by experimental elastic stress relief method which is called Holl Drilling Method. The first part of numarical analysis performs a three-dimensional transient heat transfer anslysis, and the second part then uses results of the first part and performs a three-dimensional transient thermo-clasto-plastic analysis to compute transient and residual stresses in the weld. Data from the finite element method were used to train a backpropagation neural network to predict residual stress. Architecturally, the finite element method were used to train a backpropagation voltage and the current, a hidden layer to accommodate failure mechanism mapping, and an output layer for residual stress. The trained network was then applied to the prediction of residual stress in the four specimens. The results of predicted residual stress have been very encouraging.

• Journal of the Korean Society of Marine Environment & Safety
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• v.28 no.1
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• pp.175-183
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• 2022

The collision between a ship and bridge across a waterway may result in extremely serious consequences that may endanger the safety of life and property. Therefore, factors affecting ship bridge collision must be investigated, and the impact force should be discussed based on various collision conditions. In this study, a finite element model of ship bridge collision is established, and the peak impact force of a ship bridge collision based on 50 operating conditions combined with three input parameters, i.e., ship loading condition, ship speed, and ship bridge collision angle, is calculated via numerical simulation. Using neural network models trained with the numerical simulation results, the prediction model of the peak impact force of ship bridge collision involving an extremely short calculation time on the order of milliseconds is established. The neural network models used in this study are the basic backpropagation neural network model and Elman neural network model, which can manage temporal information. The accuracy of the neural network models is verified using 10 test samples based on the operating conditions. Results of a verification test show that the Elman neural network model performs better than the backpropagation neural network model, with a mean relative error of 4.566% and relative errors of less than 5% in 8 among 10 test cases. The trained neural network can yield a reliable ship bridge collision force instantaneously only when the required parameters are specified and a nonlinear finite element solution process is not required. The proposed model can be used to predict whether a catastrophic collision will occur during ship navigation, and thus hence the safety of crew operating the ship.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.4
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• pp.201-208
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• 1996

This paper proposes an efficient method for improving the training performance of the neural network using a hybrid of backpropagation algorithm and dynamic tunneling system.The backpropagation algorithm, which is the fast gradient descent method, is applied for high-speed optimization. The dynamic tunneling system, which is the deterministic method iwth a tunneling phenomenone, is applied for blobal optimization. Converging to the local minima by using the backpropagation algorithm, the approximate initial point for escaping the local minima is estimated by the pattern classification, and the simulation results show that the performance of proposed method is superior th that of backpropagation algorithm with randomized initial point settings.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1730-1731
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• 2007

In this paper, we present a direct adaptive control method using neural networks for the control of nonlinear systems. The weights of neural networks are trained by an adaptive backpropagation algorithm based on Lyapunov stability theory. We develop the parameter update-laws using the neural network input and the error between the desired output and the output of nonlinear plant to update the weights of a neural network in the sense that Lyapunove stability theory. Beside the output tracking error is asymptotically converged to zero.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.996-1001
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• 1991

We consider the object recognition of industrial tools which have one degree of freedom. In the case of pliers, the shape varies as the jaw angle varies. Thus, a feature vector made from the boundary image also varies along with the jaw angle. But a pattern recognizer should have the ability of classifying objects without any regards to the angle variation. For a pattern recognizer we have utilized a backpropagation neural net. Feature vectors were made from Fourier descriptors of boundary images by truncating the high frequency components, and they were used as inputs to the neural net for training and recognition. In our experiments, backpropagation neural net outperforms the minimum distance rule which is widely used in the pattern recognition. The performance comparison also made under noisy environments.

• The Journal of Korea Robotics Society
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• v.6 no.4
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• pp.301-307
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• 2011

Based on the stability criteria of ZMP (Zero Moment Point), this paper proposes an adjusting algorithm that modifies walking trajectory of a bipedal robot for stable walking by analyzing ZMP trajectory of it. In order to maintain walking balance of the bipedal robot, ZMP should be located within a supporting polygon that is determined by the foot supporting area with stability margin. Initially tilting imposed to the trajectory of the upper body is proposed to transfer ZMP of the given walking trajectory into the stable region for the minimum stability. A neural network method is also proposed for the stable walking trajectory of the biped robot. It uses backpropagation learning with angles and angular velocities of all joints with tilting to get the improved walking trajectory. By applying the optimized walking trajectory that is obtained with the neural network model, the ZMP trajectory of the bipedal robot is certainly located within a stable area of the supporting polygon. Experimental results show that the optimally learned trajectory with neural network gives more stability even though the tilting of the pelvic joint has a great role for walking stability.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.1
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• pp.6-12
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• 2009

In this paper, we propose a system that extracts licence plate and recognizes numerals in the licence plate. The candidate area of licence plate is extracted using the improved IAFC(Integrated Adaptive Fuzzy Clustering) fuzzy neural network. And the morphological filters are used to reduce noise from the extracted licence plate. The extracted licence plate is standardized using Hough transform and geometric transform. Backpropagation neural network is used to recognize numerals that are separated using the projection technique.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.6
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• pp.539-546
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• 2006

The Air Quality Sensor(AQS), located near the fresh air inlet, serves to reduce the amount of pollution entering the vehicle cabin through the HVAC(heating, ventilating, and air conditioning) system by sending a signal to close the fresh air inlet door/ventilation flap when the vehicle enters a high pollution area. The sensor module which includes two independent sensing elements for responding to diesel and gasoline exhaust gases, and temperature sensor and humidity sensor was designed for intelligent AQS in automobile. With this sensor module, AVR microcontroller was designed with back propagation neural network to a powerful gas/vapor pattern recognition when the motor vehicles pass a pollution area. Momentum back propagation algorithm was used in this study instead of normal backpropagation to reduce the teaming time of neural network. The signal from neural network was modified to control the inlet of automobile and display the result or alarm the situation in this study. One chip microcontroller, ATmega 128L(ATmega Ltd., USA) was used for the control and display. And our developed system can intelligently reduce the malfunction of AQS from the dampness of air or dense fog with the backpropagation neural network and the input sensor module with four sensing elements such as reducing gas sensing element, oxidizing gas sensing element, temperature sensing element and humidity sensing element.