• 로봇학회논문지
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• 제18권3호
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• pp.352-357
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• 2023

Since robotic assembly in an unstructured environment is very difficult with existing control methods, studies using artificial intelligence such as reinforcement learning have been conducted. However, since long-time operation of a robot for learning in the real environment adversely affects the robot, so a method to shorten the learning time is needed. To this end, a method based on a pre-trained neural network was proposed in this study. This method showed a learning speed about 3 times than the existing methods, and the stability of reward during learning was also increased. Furthermore, it can generate a more optimal policy than not using a pre-trained neural network. Using the proposed reinforcement learning-based assembly trajectory generator, 100 attempts were made to assemble the power connector within a random error of 4.53 mm in width and 3.13 mm in length, resulting in 100 successes.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2017년도 춘계학술대회
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• pp.335-338
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• 2017

현재 인공지능과 딥 러닝이 사회적인 이슈로 떠오르고 있는 추세이며, 다양한 분야에 이 기술들을 응용하고 있다. 인공지능 분야의 여러 알고리즘들 중에서 각광받는 방법 중 하나는 Convolutional Neural Network이다. Convolutional Neural Network는 일반적인 Neural Network 방법에 Convolution 연산을 하여 Feature를 추출하는 Convolution Layer를 추가한 형태이다. Convolutional Neural Network를 적은 양의 데이터에서 이용하거나, Layer의 구조가 복잡하지 않은 경우에는 학습시간이 길지 않아 속도에 크게 신경 쓰지 않아도 되지만, 학습 데이터의 크기가 크고, Layer의 구조가 복잡할수록 학습 시간이 상당히 오래 걸린다. 이로 인해 GPU를 이용하여 병렬처리를 하는 방법을 많이 사용하는데, 본 논문에서는 CUDA를 이용한 Convolutional Neural Network를 구현하였으며, CPU를 이용한 방법보다 학습 속도가 빨라지고 큰 데이터를 학습 시키는데 더욱 효율적으로 진행하도록 한다.

• 한국컴퓨터정보학회논문지
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• 제14권8호
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• pp.11-18
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• 2009

본 논문은 Levenberg-Marquardt 알고리즘에서 Jacobian 행렬의 주부분 행렬을 이용하여 학습속도를 개선하는 방법을 제안한다. Levenberg-Marquardt 학습은 오차함수에 대한 2차 도함수를 계산하기 위해 Hessian 행렬을 사용하는 대신 Jacobian 행렬을 이용한다. 이런 Jacobian 행렬을 가역행렬로 만들기 위해, Levenberg-Marquardt 학습은 ${\mu}$값을 증가시키거나 감소시키는 과정을 수행하고 ${\mu}$값의 변경에 따른 역행렬의 재계산이 필요하다. 따라서 본 논문에서는 ${\mu}$값의 설정을 위해 Jacobian 행렬의 주부분 행렬을 생성하고 주부분 행렬의 고유값 합을 이용하여 ${\mu}$값을 설정한다. 이와 같은 방법은 추가적인 역행렬 계산을 하지 않으므로 학습속도를 개선할 수 있다. 제안된 방법은 일반화된 XOR 문제와 필기체 숫자인식 문제를 대상으로 실험하여 학습속도의 향상을 검증하였다.

• 전기학회논문지P
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• 제58권3호
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• pp.249-256
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• 2009

The widely used control theory based design of PI family controllers fails to perform satisfactorily under parameter variation, nonlinear or load disturbance. In high performance applications, it is useful to automatically extract the complex relation that represent the drive behaviour. The use of learning through example algorithms can be a powerful tool for automatic modelling variable speed drives. They can automatically extract a functional relationship representative of the drive behavior. These methods present some advantages over the classical ones since they do not rely on the precise knowledge of mathematical models and parameters. The paper proposes high performance speed and current control of synchronous reluctance motor(SynRM) drive using adaptive learning mechanism-fuzzy neural network (ALM-FNN) and fuzzy logic control (FLC) controller. The proposed controller is developed to ensure accurate speed and current control of SynRM drive under system disturbances and estimation of speed using artificial neural network(ANN) controller. Also, this paper proposes the analysis results to verify the effectiveness of the ALM-FNN, FLC and ANN controller.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제12권3호
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• pp.1348-1375
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• 2018

Support Vector Machine (SVM) is a well-known machine learning classification algorithm, which has been widely applied to many data mining problems, with good accuracy. However, SVM classification speed decreases with increase in dataset size. Some applications, like video surveillance and intrusion detection, requires a classifier to be trained very quickly, and on large datasets. Hence, this paper introduces two filter-based instance selection techniques for optimizing SVM training speed. Fast classification is often achieved at the expense of classification accuracy, and some applications, such as phishing and spam email classifiers, are very sensitive to slight drop in classification accuracy. Hence, this paper also introduces two wrapper-based instance selection techniques for improving SVM predictive accuracy and training speed. The wrapper and filter based techniques are inspired by Cuckoo Search Algorithm and Bat Algorithm. The proposed techniques are validated on three popular e-fraud types: credit card fraud, spam email and phishing email. In addition, the proposed techniques are validated on 20 other datasets provided by UCI data repository. Moreover, statistical analysis is performed and experimental results reveals that the filter-based and wrapper-based techniques significantly improved SVM classification speed. Also, results reveal that the wrapper-based techniques improved SVM predictive accuracy in most cases.

• Journal of Power Electronics
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• 제12권3호
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• pp.468-476
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• 2012

The interior permanent magnet synchronous motor (IPMSM) has been widely used in electric vehicle applications due to its excellent power to weigh ratio. This paper proposes the maximum torque control of an IPMSM drive using an adaptive learning (AL) fuzzy neural network (FNN) and an artificial neural network (ANN). This control method is applicable over the entire speed range while taking into consideration the limits of the inverter's rated current and voltage. This maximum torque control is an executed control through an optimal d-axis current that is calculated according to the operating conditions. This paper proposes a novel technique for the high performance speed control of an IPMSM using AL-FNN and ANN. The AL-FNN is a control algorithm that is a combination of adaptive control and a FNN. This control algorithm has a powerful numerical processing capability and a high adaptability. In addition, this paper proposes the speed control of an IPMSM using an AL-FNN, the estimation of speed using an ANN and a maximum torque control using the optimal d-axis current according to the operating conditions. The proposed control algorithm is applied to an IPMSM drive system. This paper demonstrates the validity of the proposed algorithms through result analysis based on experiments under various operating conditions.

• 한국조명전기설비학회:학술대회논문집
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• 한국조명전기설비학회 2006년도 춘계학술대회 논문집
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• pp.309-314
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• 2006

Interior permanent magnet synchronous motor(IPMSM) has become a popular choice in electric vehicle applications, due to their excellent power to weight ratio. This paper proposes maximum torque control of IPMSM drive using adaptive learning fuzzy neural network and artificial neural network. This control method is applicable over the entire speed range which considered the limits of the inverter's current md voltage rated value. For each control mode, a condition that determines the optimal d-axis current $i_d$ for maximum torque operation is derived. This paper considers the design and implementation of novel technique of high performance speed control for IPMSM using adaptive teaming fuzzy neural network and artificial neural network. The hybrid combination of neural network and fuzzy control will produce a powerful representation flexibility and numerical processing capability. Also, this paper proposes speed control of IPMSM using adaptive teaming fuzzy neural network and estimation of speed using artificial neural network. The back propagation neural network technique is used to provide a real time adaptive estimation of the motor speed. The proposed control algorithm is applied to IPMSM drive system controlled adaptive teaming fuzzy neural network and artificial neural network, the operating characteristics controlled by maximum torque control are examined in detail. Also, this paper proposes the analysis results to verify the effectiveness of the adaptive teaming fuzzy neural network and artificial neural network.

• 전력전자학회논문지
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• 제3권3호
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• pp.173-183
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• 1998

본 논문은 신경회로망에 의한 퍼지제어기의 소속함수를 자동동조하는 방법을 제시하였다. 신경회로망 에뮬레이터는 퍼지제어기의 소속함수와 퍼지규칙을 재구성하는 경로를 제공하며, 재구성된 퍼지제어기는 유도전동기의 속도제어를 위해 사용한다. 따라서, 연산 시간과 시스템 성능의 관점에서 제안된 방법은 전동기 상수가 변동될 시에도 기존의 제어 방식보다 우수하다. 공간전압벡터 PWM 발생을 위한 고속연산을 수행하고 자기학습형 퍼지제어기 알고리즘을 구현하기 위해서 32비트 마이크로프로세서인 DSP(TMS320C31)을 사용하였다. 컴퓨터 시뮬레이션과 실험 결과를 통하여, 제안된 방식이 PI 제어기나 기존의 퍼지제어기보다 향상된 제어 성능을 보일 수 있음을 확인하였다.

• 전자공학회논문지B
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• 제32B권11호
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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.

• 대한조선학회논문집
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• 제58권2호
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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.