• Journal of the Korean Institute of Telematics and Electronics B
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• v.32B no.11
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• pp.1527-1535
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• 1995

This paper introduces an isolated word recognition system realized on a neurocomputer called E-MIND II, which is a 2-D torus wavefront array processor consisting of 256 DNP IIs. The DNP II is an all digital VLSI unit processor for the EMIND II featuring the emulation capability of more than thousands of neurons, the 40 MHz clock speed, and the on-chip learning. Built by these PEs in 2-D toroidal mesh architecture, the E- MIND II can be accelerated over 2 Gcps computation speed. In this light, the advantages of the E-MIND II in its capability of computing speed, scalability, computer interface, and learning are especially suitable for real time application such as speech recognition. We show how to map a TDNN structure on this array and how to code the learning and recognition algorithms for a user independent isolated word recognition. Through hardware simulation, we show that recognition rate of this system is about 97% for 30 command words for a robot control.

• Journal of the Society of Naval Architects of Korea
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• v.58 no.2
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• pp.105-111
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• 2021

The main source of underwater radiated noise of ships is cavitation generated by propeller blades. After the Cavitation Inception Speed (CIS), noise level at all frequencies increases severely. In determining the CIS, it is based on the results observed with the naked eye during the model test, however accuracy and consistency of CIS values are becoming practical issues. This study was carried out with the aim of developing a technology that can automatically recognize cavitation images using deep learning technique based on a Convolutional Neural Network (CNN). Model tests on a three-dimensional hydrofoil were conducted at a cavitation tunnel, and tip vortex cavitation was strictly observed using a high-speed camera to obtain analysis data. The results show that this technique can be used to quantitatively evaluate not only the CIS, but also the amount and rate of cavitation from recorded images.

• The Journal of Korea Robotics Society
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• v.18 no.2
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• pp.182-188
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• 2023

Due to the acceleration of an aging society, the need for lower limb exoskeletons to assist gait is increasing. And for use in daily life, it is essential to have technology that can accurately estimate gait phase even in the walking environment and walking speed of the wearer that changes frequently. In this paper, we implement an LSTM-based gait phase estimation learning model by collecting gait data according to changes in gait speed in outdoor level ground and stair environments. In addition, the results of the gait phase estimation error for each walking environment were compared after learning for both max hip extension (MHE) and max hip flexion (MHF), which are ground truth criteria in gait phase divided in previous studies. As a result, the average error rate of all walking environments using MHF reference data and MHE reference data was 2.97% and 4.36%, respectively, and the result of using MHF reference data was 1.39% lower than the result of using MHE reference data.

• Journal of information and communication convergence engineering
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• v.1 no.3
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• pp.104-108
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• 2003

A biologically inspired fuzzy multilayer perceptron is proposed in this paper. The proposed algorithm is established under consideration of biological neuronal structure as well as fuzzy logic operation. We applied this suggested learning algorithm to benchmark problem in neural network such as exclusive OR and 3-bit parity, and to digit image recognition problems. For the comparison between the existing and proposed neural networks, the convergence speed is measured. The result of our simulation indicates that the convergence speed of the proposed learning algorithm is much faster than that of conventional backpropagation algorithm. Furthermore, in the image recognition task, the recognition rate of our learning algorithm is higher than of conventional backpropagation algorithm.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.31B no.3
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• pp.115-122
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• 1994

The problems in back-propagation(BP) generally are learning speed and misclassification due to lacal minimum. In this paper, to solve these problems, the classical modified methods of BP are reviewed and an extension of the BP to compensate the sigmoide-prime function around the extremity where the actual output of a unit is close to zero or one is proposed. The proposed method is not onlu faster than the conventional methods in learning speed but has an advantage of setting variables easily because it shows good classification results over the vast and uncharted space about the variations of learning rate, etc.. And it is simple for hardware implementation.

• Journal of Power System Engineering
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• v.2 no.3
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• pp.74-82
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• 1998

This paper presents a new approach to the design of speed and azimuth control of a mobile robot with two drive wheels. The proposed control scheme uses a Gaussian function as a unit function in the neural-fuzzy network and back propagation algorithm to train the neural-fuzzy network controller in the framework of the specialized learning architecture. It is proposed to a learned controller with two neural-fuzzy networks based on an independent reasoning and a connection net with fixed weights to simplify the neural-fuzzy network. The performance of the proposed controller can be seen by the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.5
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• pp.608-615
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• 1998

In this paper a second-order iterative learning control algorithm with feedback is proposed for the trajectory-tracking control of nonlinear dynamic systems with unidentified parameters. In contrast to other known methods, the proposed teaming control scheme utilize more than one past error history contained in the trajectories generated at prior iterations, and a feedback term is added in the learning control scheme for the enhancement of convergence speed and robustness to disturbances or system parameter variations. The convergence proof of the proposed algorithm is given in detail, and the sufficient condition for the convergence of the algorithm is provided. We also discuss the convergence performance of the algorithm when the initial condition at the beginning of each iteration differs from the previous value of the initial condition. The effectiveness of the proposed algorithm is shown by computer simulation result. It is shown that, by adding a feedback term in teaming control algorithm, convergence speed, robustness to disturbances and robustness to unmatched initial conditions can be improved.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.50 no.3
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• pp.107-113
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• 2001

This paper deals with speed control of DC servo motor using a PID controller with a gain tuning based on a Back-Propagation(BP) Learning Algorithm. Conventionally a PID controller has been used in the industrial control. But a PID controller should produce suitable parameters for each system. Also, variables of the PID controller should be changed according to environments, disturbances and loads. In this paper described by a experiment that contained a method using a PID controller with a gain tuning based on a Back-Propagation(BP) Learning Algorithm, we developed speed characteristics of a DC servo motor on variable loads. The parameters of the controller are determined by neural network performed on on-line system after training the neural network on off-line system.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.32B no.9
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• pp.1137-1153
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• 1995

It is not yet possible to solve the optimal number of neurons in hidden layer at neural networks. However, it has been proposed and proved by experiments that there is a limit in increasing the number of neuron in hidden layer, because too much incrememt will cause instability,local minima and large error. This paper proposes a module neural controller with pattern recognition ability to solve the above trade-off problems and to obtain fast learning convergence speed. The proposed neural controller is composed of several module having Multi-layer Perrceptron(MLP). Each module have the less neurons in hidden layer, because it learns only input patterns having a similar learning directions. Experiments with six joint robot manipulator have shown the effectiveness and the feasibility of the proposed the parallel module neural controller with pattern recognition perceptron.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.51 no.12
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• pp.691-696
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• 2002

This paper presents a neural network based self-tuning fuzzy PID control scheme with variable learning rate for induction motor speed control. When induction motor is continuously used long time, its electrical and mechanical Parameters will change, which degrade the Performance of PID controller considerably. This Paper re-analyzes the fuzzy controller as conventional PID controller structure, introduces a single neuron with a back-propagation learning algorithm to tune the control parameters, and proposes a variable learning rate to improve the control performance. Proposed scheme is simple in structure and computational burden is small. The simulation using Matlab/Simulink and the experiment using dSPACE(DS1102) board are performed to verify the effectiveness of the proposed scheme.