• 한국컴퓨터산업학회논문지
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• 제8권3호
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• pp.147-154
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• 2007

각 급 학교에서는 학습이 끝난 후에 실시하는 총괄평가의 결과만으로 학습평가를 하고 있는데 이러한 평가 방식은 학습자의 학습능력의 형성과정을 고려하지 않는 결과위주의 학습평가로 볼 수 있다. 또 기존의 학습평가는 학습 수행능력을 판정하기 위한 진단평가와 학습능력의 향상 정도를 측정하기 위한 형성평가를 각기 개별적으로 수행하여 평가하기 때문에 학습 수행능력을 보다 명확하게 처리하기 곤란한 점이 있다. 따라서 본 논문에서는 학습자의 능력을 보다 객관적으로 평가하기 위한 방안으로 퍼지 추론을 이용하여 진단평가와 형성평가를 통합 평가할 수 있는 학습평가 방법을 제안한다.

• 한국공작기계학회논문집
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• 제11권4호
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• pp.62-67
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• 2002

This paper presents a new approach to the design of cruise control system of a mobile robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy-neural network and back propagation algorithm to train the fuzzy-neural network controller in the framework of the specialized loaming architecture. It is Proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tucking of the speed and azimuth of a mobile robot driven by two independent wheels.

• 제어로봇시스템학회논문지
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• 제8권4호
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• pp.338-344
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• 2002

In this paper, neural network force tracking control is proposed. The conventional impedance function is reformulated to have direct farce tracking capability. Neural network is used to compensate for all the uncertainties such as unknown robot dynamics, unknown environment stiffness, and unknown environment position. On line training signal of farce error for neural network is formulated. A large x-y table is built as a test-bed and neural network loaming algorithm is implemented on a DSP board mounted in a PC. Experimental studies of farce tracking on unknown environment for x-y table robot are presented to confirm the performance of the proposed technique.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2003년도 춘계학술대회 논문집
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• pp.305-311
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• 2003

We propose a new technique of adaptive-neuro controller design to implement real-time control of robot manipulator, Unlike the well-established theory for the adaptive control of linear systems, there exists relatively little general theory for the adaptive control of nonlinear systems. Adaptive control technique is essential for providing a stable and robust performance for application of robot control. The proposed neuro control algorithm is one of loaming a model based error back-propagation scheme using Lyapunov stability analysis method. Through simulation, the proposed adaptive-neuro control scheme is proved to be a efficient control technique for real time control of robot system using DSPs(TMS320C50)

• 제어로봇시스템학회논문지
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• 제6권4호
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• pp.305-312
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• 2000

This paper presents a new control scheme using a sliding mode controller with a multilayer neural network for the robot manipulator operating under the sea which has large uncertainties such as the buoyancy and the added mass/moment of inertia. The multilayer neural network using the error back propagation loaming algorithm acts as a compensator of the conventional sliding mode controller to improve the control performance when the initial assumptions of uncertainty bounds are not valid. Computer simulation results show that the proposed control scheme gives an effective path way to cope with the unexpected large uncertainties in the underwater robot manipulator.

• 한국정밀공학회지
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• 제23권9호
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• pp.84-91
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• 2006

The synthesis of optimal controllers for multivariable systems usually requires an accurate linear model of the plant dynamics. Real systems, however, contain nonlinearities and high-order dynamics that may be difficult to model using conventional techniques. This paper presents a novel loaming method for the synthesis of LQR controllers that doesn't require explicit modeling of the plant dynamics. This method utilizes the sign of Jacobian and gradient descent techniques to iteratively reduce the LQR objective function. It becomes easier and more convenient because it is relatively very easy to get the sign of Jacobian instead of its Jacobian. Simulations involving an overhead crane and a hydrofoil catamaran show that the proposed LQR-LC algorithm improves controller performance, even when the Jacobian information is estimated from input-output data.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.16-16
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• 2000

This paper describes a new structure re create a pseudo Gaussian function network (PGFN). The activation function of hidden layer does not necessarily have to be symmetric with respect to center. To give the flexibility of the network, the deviation of pseudo Gaussian function is changed according to a direction of given input. This property helps that given function can be described effectively with a minimum number of center by PGFN, The distribution of deviation is represented by level set method and also the loaming of deviation is adjusted based on it. To demonstrate the performance of the proposed network, general problem of function estimation is treated here. The representation problem of continuous functions defined over two-dimensional input space is solved.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.346-346
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• 2000

We proposed a method of second-order iterative learning control with feedback, which shows an enhancement of convergence speed and robustness to the disturbances in our previous study. In this paper, we show that the proposed second-order iterative learning control algorithm with feedback is more effective and has better convergence performance than the algorithm without feedback in the case of the existence of initial condition errors. And the convergence woof of the proposed algorithm in the case of the existence of initial condition error is given in detail, and the effectiveness of the Proposed algorithm is shown by simulation results.

• 한국수학교육학회지시리즈C:초등수학교육
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• 제6권2호
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• pp.55-64
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• 2002

According to changing the society rapidly in the 21s1 century, the self-regulated learning ability is considered as an ability of which people should carry on their lives. The purpose of this study was to investigate prospective elementary school teachers in mathematics teaching method class in terms of the following areas: (1) the degree of their abilities shown the lower level factors of motivated strategies for learning such as self-efficacy, intrinsic value, anxiety, cognitive strategy use, and self-regulation (2) relations between factors of motivated strategies for loaming and performance of prospective elementary school teachers The results show that the prospective elementary school teachers showed above the mean value of the motivated strategies for learning and there are positive relations among lower level factors of motivated strategies fur learning except anxiety, positive relation between motivated strategies for learning and achievement. In order to help the prospective elementary school teacher to improve their motivated strategies fur learning in their elementary mathematics teaching method lecture, several methods such as mathematical connections to real world problem, history of mathematics and interview with mathematicians and application of feller's ARCS model to elementary mathematics education are suggested.

• 한국정밀공학회지
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• 제21권5호
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• pp.64-72
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• 2004

An extension of interaction matrix formulation to the problem of system and disturbance identification for a plant that is corrupted by both process and output disturbances is presented. The teaming control develops controllers that learn to improve their performance at executing a given task, based on experience performing this task. The simplest forms of loaming control are based on the same concept as integral control, but operating in the domain of the repetitions of the task. This paper studies the use of such controllers in a decentralized system, such as a robot moving on the vertical plane with the controller for each link acting independently. The basic result of the paper is to show that stability and iterative precision of the learning controllers for all subsystems when the coupling between subsystems is turned off, assures stability of the decentralized teaming in the coupled system, provided that the sample time in the digital teaming controller is sufficiently short. The methods of teaming system are shown up for the iterative precision of each link.