• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.161.4-161
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• 2001

This paper presents adaptive control of robot manipulator using neuro-fuzzy controller Fuzzy logic is control incorrect system without correct mathematical modeling. And, neural network has learning ability, error interpolation ability of information distributed data processing, robustness for distortion and adaptive ability. To reduce the number of fuzzy rules of the FLS(fuzzy logic system), we consider the properties of robot dynamic. In fuzzy logic, speciality and optimization of rule-base creation using learning ability of neural network. This paper presents control of robot manipulator using neuro-fuzzy controller. In proposed controller, fuzzy input is trajectory following error and trajectory following error differential ...

• 한국가스학회지
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• 제7권3호
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• pp.24-31
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• 2003

화학공장은 수많은 장치들로 구성되어 있고 매우 복잡한 구조를 가지고 있다. 특히 분산 제어 시스템(Distributed Control System, DCS)이나 공정 정보 시스템(Process Information System, PIS) 등을 설치하여 매분 또는 매초 단위로 공정 데이터를 얻고 있다. 화학공장의 경우, 데이터들의 방대한 양 뿐 만 아니라 데이터들간의 상호 연관성이 크고 재순환이나 화학 반응 등으로 인하여 막대한 계산량 및 비선형성을 지니기 때문에 효과적 분석에 곤란한 점이 있다. 따라서 본 연구에서는 함수연결연상 신경망을 이용하여 입력변수들을 확장함으로써 신경망의 비선형성 표현능력과 학습능력이 뛰어난 프로그램의 개발에 주안점을 두고 있다. REFA (Real Time Fault Analyzer)는 실시간으로 공정정보를 입력받은 후 입력값을 PC로 매핑하고, 이를 다시 역으로 매핑하여 입력값을 예측하여 공정을 감시하는 시스템으로 개발되었으며, Tennessee Eastman 공정에 적용해 우수성을 입증하였다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제14권12호
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• pp.4664-4681
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• 2020

Modulation recognition (MR) plays a key role in cognitive radar, cognitive radio, and some other civilian and military fields. While existing methods can identify the signal modulation type by extracting the signal characteristics, the quality of feature extraction has a serious impact on the recognition results. In this paper, an end-to-end MR method based on long short-term memory (LSTM) and the gated recurrent unit (GRU) is put forward, which can directly predict the modulation type from a sampled signal. Additionally, the sliding window method is applied to fast-changing mixed-modulation signals for which the signal modulation type changes over time. The recognition accuracy on training datasets in different SNR ranges and the proportion of each modulation method in misclassified samples are analyzed, and it is found to be reasonable to select the evenly-distributed and full range of SNR data as the training data. With the improvement of the SNR, the recognition accuracy increases rapidly. When the length of the training dataset increases, the neural network recognition effect is better. The loss function value of the neural network decreases with the increase of the training dataset length, and then tends to be stable. Moreover, when the fast-changing period is less than 20ms, the error rate is as high as 50%. As the fast-changing period is increased to 30ms, the error rates of the GRU and LSTM neural networks are less than 5%.

• 인터넷정보학회논문지
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• 제5권5호
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• pp.69-77
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• 2004

인터넷이 널리 보급되면서 지능형 검색 에이전트들이 사용자의 요구를 만족시키기 위해 일반화되어 사용되고 있다. 그러나 이러한 지능형 멀티에이전트들은 서로 독립적으로 사용되어 멀티에이전트들 간의 분산된 정보를 원활하고 효율적으로 처리하기 위한 상호 협력 작용이 부족해 정보의 신뢰성이 낮고 동적으로 변화하는 분산 환경에 대처하기가 어렵다. 이런 문제를 해결하기 위해 본 논문에서는 멀티에이전트간의 효율적인 상호 협력과 빠른 정보처리를 위해 브로커 에이전트에 에이전시를 생성하고 신경망을 이용해 멀티에이전트들의 에이전시들을 분류하여 더욱 신속·정확한 정보를 사용자에게 제공하도록 한다. 또한 정보의 신뢰성을 위해서 에이전트 관리기법을 제안하여 기존의 검색 시스템이 가지고 있는 정보갱신문제를 향상시키고, 시뮬레이션을 통해 본 연구의 성능을 평가한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1281-1285
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• 2004

There are numerous emotions in the human world. Human expresses and recognizes their emotion using various channels. The example is an eye, nose and mouse. Particularly, in the emotion recognition from facial expression they can perform the very flexible and robust emotion recognition because of utilization of various channels. Hybrid-feature extraction algorithm is based on this human process. It uses the geometrical feature extraction and the color distributed histogram. And then, through the independently parallel learning of the neural-network, input emotion is classified. Also, for the natural classification of the emotion, advancing two-dimensional emotion space is introduced and used in this paper. Advancing twodimensional emotion space performs a flexible and smooth classification of emotion.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2023년도 추계학술발표대회
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• pp.442-445
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• 2023

최근 딥러닝 및 로봇기술의 발전으로 인해 대량의 데이터를 빠르게 수집하고 처리하는 연구 분야들로 확대되었다. 이와 관련된 한 가지 분야로써 다중 로봇을 이용한 분산학습 연구가 있으며, 이는 단일 에이전트를 이용할 때보다 대량의 데이터를 빠르게 수집 및 처리하는데 용이하다. 본 연구에서는 기존 Distributed Neural Network Optimization (DiNNO) 알고리즘에서 제안한 정적 분산 학습방법과 달리 단계적 분산학습 방법을 새롭게 제안하였으며, 모델 성능을 향상시키기 위해 원시 변수를 근사하는 단계수를 상수로 고정하는 기존의 방식에서 통신회차가 늘어남에 따라 점진적으로 근사 횟수를 높이는 방법을 고안하여 새로운 알고리즘을 제안하였다. 기존 알고리즘과 제안된 알고리즘의 정성 및 정량적 성능 평가를 수행하기 MNIST 분류와 2 차원 평면도 지도화 실험을 수행하였으며, 그 결과 제안된 알고리즘이 기존 DiNNO 알고리즘보다 동일한 통신회차에서 높은 정확도를 보임과 함께 전역 최적점으로 빠르게 수렴하는 것을 입증하였다.

• 제어로봇시스템학회논문지
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• 제22권6호
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• pp.477-482
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• 2016

This paper presents a simple approximation-based design approach for consensus tracking of heterogeneous second-order nonlinear systems under a directed network. All nonlinearities of followers are assumed to be unknown and non-identical. In the controller design procedure, graph-independent error surfaces are used and an unimplementable intermediate controller for each follower is designed at the first design step. Then, by adding and subtracting a graph-based term at the second step, the actual controller for each follower is designed by using one neural network employed to estimate a lumped and distributed nonlinearity. Therefore, the proposed local controller for each follower has a simpler structure than existing approximation-based consensus tracking controllers for multi-agent systems with unmatched nonlinearities.

• 전자공학회논문지B
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• 제28B권11호
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• pp.934-940
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• 1991

The multi-layer neural network that has broadly been utilized in designing the controller of robot manipulator possesses the desirable characteristics of learning capacity, by which the uncertain variation of the dynamic parameters of robot can be handled adaptively, and parallel distributed processing that makes it possible to control on real-time. However the error back propagation algorithm that has been utilized popularly in the learning of the multi-layer neural network has the problem of its slow convergencs speed. In this paper, an approach to improve the convergence speed is proposed using fuzzy logic that can effectively handle the uncertain and fuzzy informations by linguistic level. The effectiveness of the proposed algorithm is demonstrated by computer simulation of PUMA 560 robot manipulator.

• Imaging Science in Dentistry
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• 제49권1호
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• pp.19-26
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• 2019

Purpose: It has been proposed that using new prediction methods, such as neural networks based on dental data, could improve age estimation. This study aimed to assess the possibility of exploiting neural networks for estimating age by means of the pulp-to-tooth ratio in canines as a non-destructive, non-expensive, and accurate method. In addition, the predictive performance of neural networks was compared with that of a linear regression model. Materials and Methods: Three hundred subjects whose age ranged from 14 to 60 years and were well distributed among various age groups were included in the study. Two statistical software programs, SPSS 21 (IBM Corp., Armonk, NY, USA) and R, were used for statistical analyses. Results: The results indicated that the neural network model generally performed better than the regression model for estimation of age with pulp-to-tooth ratio data. The prediction errors of the developed neural network model were acceptable, with a root mean square error (RMSE) of 4.40 years and a mean absolute error (MAE) of 4.12 years for the unseen dataset. The prediction errors of the regression model were higher than those of the neural network, with an RMSE of 10.26 years and a MAE of 8.17 years for the test dataset. Conclusion: The neural network method showed relatively acceptable performance, with an MAE of 4.12 years. The application of neural networks creates new opportunities to obtain more accurate estimations of age in forensic research.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.69.2-69
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• 2001

This paper presents a new approach to the design of neural control system using digital signal processors in order to improve the precision and robustness. Robotic manipulators have become increasingly important in the field of flexible automation. High speed and high-precision trajectory tracking are indispensable capabilities for their versatile application. The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The TMS320C31 is used in implementing real time neural control to provide an enhanced motion control for robotic manipulators. In this control scheme, the networks introduced are neural nets with dynamic neurons, whose dynamics are distributed over all the network nodes.