• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2000.05a
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• pp.228-231
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• 2000

A hybrid fuzzy controller by means of the genetic algorithms is presented. The control input for the system in the HFC is a convex combination of the FLC's output in transient state and PlD's output in steady state by a fuzzy variable. The HFC combined a PID controller with a fuzzy controller concurrently produces the better output performance than any other controller. A auto-tuning algorithms is presented to automatically improve the performance of hybrid fuzzy controller using genetic algorithms. The algorithms estimates automatical Iy the optimal values of scaling factors, PID parameters and membership function parameters of fuzzy control rules. Especially, in order to auto-tune scaling factors and PID parameters of HFC using GA three kinds of estimation modes are effectively utilized. The HFCs are applied to the second process with time-delay. Computer simulations are conducted at step input and the performances of systems are evaluated and also discussed in ITAE(Integral of the Time multiplied by the Absolute value of Error ) and other ways.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.215-219
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• 2003

In this paper, we generate a trajectory minimized the energy gait of a biped robot for walking a staircase using genetic algorithms and apply to the computed torque controller for the stable dynamic biped locomotion. In the saggital plane, a 6 degree of freedom biped robot that model consists of seven links is used. In order to minimize the total energy efficiency, the Real-Coded Genetic Algorithm (RCGA) is used. Operators of genetic algorithms are composed of a reproduction, crossover and mutation. In order to approximate the walking gait, the each joint angle is defined as a 4-th order polynomial of which coefficients are chromosomes. Constraints are divided into equality and inequality. Firstly, equality constraints consist of position conditions at the end of stride period and each joint angle and angular velocity condition for periodic walking. On the other hand, inequality constraints include the knee joint conditions, the zero moment point conditions for the x-direction and the tip conditions of swing leg during the period of a stride for walking a staircase.

• Journal of the Korean Operations Research and Management Science Society
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• v.13 no.1
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• pp.97-97
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• 1988

Genetic Algorithms have been successfully applied to various problems (for example, engineering design problems with a mix of continuous, integer and discrete design variables) that could not have been readily solved with traditional computational techniques. But, several problems for which conventional Genetic Algorithms are ill defined are premature convergence of solution and application of exterior penalty function. Therefore, we developed an Improved Genetic Algorithms (IGAs) to solve above two problems. As a case study, IGAs is applied to several nonlinear optimization problems and it is proved that this algorithm is very useful and efficient in comparison with traditional methods and conventional Genetic Algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.737-741
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• 1994

We show an application of a genetic algorithm to, control systems including neural networks. Genetic algorithms are getting more popular nowadays because of their simplicity and robustness. Genetic algorithms are global search techniques for optimization and many other problems. A feed-forward neural network which is widely used in control applications usually learns by error back propagation algorithm(EBP). But, when there exist certain constraints, EBP can not be applied. We apply a modified genetic algorithm to such a case. We show simulation examples of two cart-pole nonlinear systems: single pole and double pole.

• 제어로봇시스템학회:학술대회논문집
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• 1999.10a
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• pp.292-297
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• 1999

Evolving in artificial agent is an extremely difficult problem, but on the other hand, a challenging task. At present the studies mainly centered on single agent learning problem. In our case, we use simulated soccer to investigate multi-agent cooperative learning. Consider the fundamental differences in learning mechanism, existing reinforcement learning algorithms can be roughly classified into two types-that based on evaluation functions and that of searching policy space directly. Genetic Programming developed from Genetic Algorithms is one of the most well known approaches belonging to the latter. In this paper, we give detailed algorithm description as well as data construction that are necessary for learning single agent strategies at first. In following step moreover, we will extend developed methods into multiple robot domains. game. We investigate and contrast two different methods-simple team learning and sub-group loaming and conclude the paper with some experimental results.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.7
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• pp.876-882
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• 1999

It is difficult to determine the feeding rate of coagulant in the water treatment process, due to nonlinearity, multivariables and slow response characteristics, etc. To deal with this difficulty, the genetic-fuzzy system was used in determining the feeding rate of the coagulant. The genetic algorithms are excellently robust in complex optimization problems. Since it uses randomized operators and searches for the best chromosome without auxiliary informations from a population consists of codings of parameter set. To apply this algorithms, we made the lookup table and membership function from the actual operation data of the water treatment process. We determined optimum dosages of coagulant(LAS) by the fuzzy operation, and compared it with the feeding rate of the actual operation data.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.12
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• pp.1210-1218
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• 2011

GA (Genetic Algorithms) are efficient for searching for global optima but may have some problems such as premature convergence, convergence to local extremum and divergence. These phenomena are related to the evolutionary operators. As population diversity converges to low value, the search ability of a GA decreases and premature convergence or converging to local extremum may occur but population diversity converges to high value, then genetic algorithm may diverge. To guarantee that genetic algorithms converge to the global optima, the genetic operators should be chosen properly. In this paper, we analyze the effects of the selection operator, crossover operator, and mutation operator on convergence properties, and propose the sweeping method of mutation probability and elitist propagation rate to maintain the diversity of the GA's population for getting out of the premature convergence. Results of simulation studies verify the feasibility of using these sweeping operators to avoid premature convergence and convergence to local extrema.

• Architectural research
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• v.8 no.2
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• pp.43-48
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• 2006

The appropriate fleet estimation of the excavation equipment is a major factor in the determination of the cost and time requirements of a project. But the decision of what kind of equipment selected is often based on heuristic methods or trial and error in Korea. Thus, this study proposes a prototype model that uses genetic algorithms to select fleet estimation of loaders (backhoe) and trucks used in excavation work. To verify the applicability of this model, the case study was performed. And the result of the genetic model was compared with that of the trial & error method. The use of the genetic model suggested this study required 44days, 2 units of backhoes, 7 units of trucks, and a total cost of 171,839,756 won. With the estimated fleet number of equipment, the minimum cost of excavation work can be calculated, taking account of the time-cost trade-off. By utilizing this prototype model, the efficiency of excavation work can be improved.

• Journal of the Korean Operations Research and Management Science Society
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• v.23 no.3
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• pp.1-15
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• 1998

Genetic algorithms(GAs) are suited for solving structural design problems, since they handle the design variables efficiently. This ability of GAs considers then as a good choice for optimization problems. Nevertheless, there are many situations that the conventional genetic algorithms do not perform particularly well, and so various methods of hybridization have been proposed. Thus. this paper develops a hybrid genetic algorithm(HGA) to incorporate a local convergence method and precision search method around optimum in the genetic algorithms. In case study. it is showed that HGA is able consistently to provide efficient, fine quality solutions and provide a significant capability for solving structural design problems.

• Proceedings of the KIEE Conference
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• 1996.11a
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• pp.172-174
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• 1996

This paper presents a new approach on genetic algorithms to economic dispatch problem for valve point discontinuities. Although it has been already shown that genetic algorithm was more powerful to economic dispatch problem for valve point discontinuities than other optimization algorithms, proposed approach in this paper on genetic algorithms improves the performance to solve economic dispatch problem for valve point discontinuities through combination in penalty function with death penalty, generation-apart elitism and heuristic crossover. Numerical results on an actural utility system consisted of 13 thermal units show that the proposed approach is faster and robuster than the classical genetic algorithm.