• Journal of the Korea Society of Computer and Information
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• v.4 no.4
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• pp.86-93
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• 1999

This paper proposes the multi-modular neural network and compensative input algorithm. The former is to reduce convergence speed which is one of the neural network's inveterate problems, and the latter is to improve the recognition performance of the neural network. This paper consists of two major parts and a simulation. First, it shows the structure of mu1ti-modular neural network, which is applied to the recognition of Korean, English characters and numbers. Second, it describes the compensative input algorithm and shows the steps that determine the compensative input. The proposed algorithm was tested and compared with the existing neural networks in the recognition of Korean and English characters and numbers. The convergence speed is three times or more faster than the existing neural network. In the case that compensative input was applied to neural network, the recognition rate was improved more than 10%.

• Advances in robotics research
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• v.1 no.1
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• pp.101-126
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• 2014

In this article we present modular neural control for a leg-wheel hybrid robot consisting of three legs with omnidirectional wheels. This neural control has four main modules having their functional origin in biological neural systems. A minimal recurrent control (MRC) module is for sensory signal processing and state memorization. Its outputs drive two front wheels while the rear wheel is controlled through a velocity regulating network (VRN) module. In parallel, a neural oscillator network module serves as a central pattern generator (CPG) controls leg movements for sidestepping. Stepping directions are achieved by a phase switching network (PSN) module. The combination of these modules generates various locomotion patterns and a reactive obstacle avoidance behavior. The behavior is driven by sensor inputs, to which additional neural preprocessing networks are applied. The complete neural circuitry is developed and tested using a physics simulation environment. This study verifies that the neural modules can serve a general purpose regardless of the robot's specific embodiment. We also believe that our neural modules can be important components for locomotion generation in other complex robotic systems or they can serve as useful modules for other module-based neural control applications.

• Journal of KIISE
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• v.44 no.11
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• pp.1149-1155
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• 2017

Recently, with the development of communication technology, it has become possible to collect various sensor data that indicate the environmental stimuli within a space. In this paper, we propose a group emotion prediction system using a modular Bayesian network that was designed considering the psychological impact of environmental stimuli. A Bayesian network can compensate for the uncertain and incomplete characteristics of the sensor data by the probabilistic consideration of the evidence for reasoning. Also, modularizing the Bayesian network has enabled flexible response and efficient reasoning of environmental stimulus fluctuations within the space. To verify the performance of the system, we predict public emotion based on the brightness, volume, temperature, humidity, color temperature, sound, smell, and group emotion data collected in a kindergarten. Experimental results show that the accuracy of the proposed method is 85% greater than that of other classification methods. Using quantitative and qualitative analyses, we explore the possibilities and limitations of probabilistic methodology for predicting group emotion.

• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.1
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• pp.6-11
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• 2003

Recently, the modular network was proposed in a way to keep the size of the neural network small. The modular network solves the problem by splitting it into sub-problems. In this aspect, fuzzy systems act in a similar way. However, in a fuzzy system, there must be an expert rule which separates the input space. To overcome this, fuzzy-neural network has been used. However, the number of fuzzy rules grows exponentially as the number of input variables grow. In this paper, we would like to solve the size problem of neural networks using modular network with the hierarchic structure. In the hierarchic structure, the output of precedent module affects only the THEN part of the rule. Finally, the rules become shorter being compared to the rule of fuzzy-neural system. Also, the relations between input and output could be understood more easily in the Proposed modular network and that makes design easier.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.5
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• pp.550-557
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• 1999

This paper describes a road-following controller using the proposed neural network for autonomous vehicle. Road-following with visual sensor like camera requires intelligent control algorithm because analysis of relation from road image to steering control is complex. The proposed neural network, relative similarity modular network(RSMN), is composed of some learning networks and a partitioniing network. The partitioning network divides input space into multiple sections by similarity of input data. Because divided section has simlar input patterns, RSMN can learn nonlinear relation such as road-following with visual control easily. Visual control uses two criteria on road image from camera; one is position of vanishing point of road, the other is slope of vanishing line of road. The controller using neural network has input of two criteria and output of steering angle. To confirm performance of the proposed neural network controller, a software is developed to simulate vehicle dynamics, camera image generation, visual control, and road-following. Also, prototype autonomous electric vehicle is developed, and usefulness of the controller is verified by physical driving test.

• Journal of the Korean Society of Industry Convergence
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• v.27 no.1
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• pp.87-95
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• 2024

This study is on modulo scheduling algorithms for multicore processor in machine learning applications. Machine learning algorithms are designed to perform a large amount of operations such as vectors and matrices in order to quickly process large amounts of data stream. To support such large amounts of computations, processor architectures to support applications such as artificial intelligence, neural networks, and machine learning are designed in the form of parallel processing such as multicore. To effectively utilize these multi-core hardware resources, various compiler techniques are being used and studied. In this study, among these compiler techniques, we analyzed the modular scheduler, which is especially important in one core's computation pipeline. This paper looked at and compared the iterative modular scheduler and the swing modular scheduler, which are the most widely used and studied. As a result, both schedulers provided similar performance results, and when measuring register pressure as an indicator, it was confirmed that the swing modulo scheduler provided slightly better performance. In this study, a technique that divides recurrence edge is proposed to improve the minimum initiation interval of the modulo schedulers.

• Journal of Communications and Networks
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• v.2 no.1
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• pp.46-57
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• 2000

Ongoing standardization effort on 3G cellular system in 3GPP (UNTS) is based on GPRS core network and promises a global standard for systems capable of offering ubiquitous access to internet for mobile users. Considered radio access systems(FDD CDMA, TDD CDMA, and EDGE) are optimized for robust mobile use. However, there are alternative relatively high-rate radio interfaces being standardized for WLAN (IEEE802.11 and HIPER-LAN/2) which are capable of delivering significantly higher data rates to static or semi-static terminals with much less overhead. Also WPANs(BLUETOOTH, IEEE802.15), which will be present in virtually every mobile handset in the near future, are offering low cast and considerable access data rate and thus are very attractive for interworking scenarios. The prospect of using these interfaces as alternative RANs inthe modular UMTS architecture is very promising. Additionally, the recent inclusion of M-IP in the UMTS R99 standard opens the way for IP-level interfacing to the core network. This article offers an overview into WLAN-Cellular interworking. A brief overview of GPRS, UMTS cellular architectures and relevant WLAN standards is given. Possible interworking architectures are presented.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.4 no.5
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• pp.937-942
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• 2000

This paper describes for applications of neural networks in the field of arc welding. Conventional, automated process generally involves sophisticated sensing and control techniques applied to various processing parameters. Welding parameters affecting quality include the arc voltage, the welding current and the torch travel speed. The relationship between the welding parameters and weld quality is not a direct one, and in addition, the effect of the weld parameter variables are not independent of the each other - changing the welding current will affect the arc voltage, and so on. Finally, a suitable proposal to improve the construction of the model has also been presented in the paper.

• The Journal of Korea Robotics Society
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• v.6 no.2
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• pp.156-164
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• 2011

This paper propose a localization system of indoor mobile robots. The localization system includes camera and artificial landmarks for global positioning, and encoders and gyro sensors for local positioning. The Kalman filter is applied to take into account the stochastic errors of all sensors. Also we develop a dead reckoning system to estimate the global position when the robot moves the blind spots where it cannot see artificial landmarks, The learning engine using modular networks is designed to improve the performance of the dead reckoning system. Experimental results are then presented to verify the usefulness of the proposed localization system.

• Journal of Korean Society of Transportation
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• v.12 no.3
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• pp.49-64
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• 1994

The development of a mathematical modular framework based on Petri Network theory to model a traffic network is the subject of this paper. Traffic intersections are the primitive elements of a transportation network and are characterized as event driven and asynchronous systems. Petri network have been utilized to model these discrete event systems; further analysis of their structure can reveal information relevant to the concurrency, parallelism, synchronization, and deadlock avoidance issuse. The Petri-net based model of a generic traffic junction is presented. These modular networks are effective in synchronizing their components and can be used for modeling purposes of an asynchronous large scale transportation system. The derived model is suitable for simulations on a multiprocessor computer since its program execution safety is secured. The software pseudocode for simulating a transportation network model on a multiprocessor system is presented.