• Journal of the Korean Institute of Intelligent Systems
• /
• v.8 no.2
• /
• pp.50-59
• /
• 1998

This paper presents stabilization and adaptive control of flexible single link robot manipulator system by self-recurrent neural networks that is one of the neural networks and is effective in nonlinear control. The architecture of neural networks is a modified model of self-recurrent structure which has a hidden layer. The self-recurrent neural networks can be used to approximate any continuous function to any desired degree of accuracy and the weights are updated by feedback-error learning algorithm. When a flexible manipulator is rotated by a motor through the fixed end, transverse vibration may occur. The motor toroque should be controlled in such a way that the motor rotates by a specified angle, while simultaneously stabilizing vibration of the flexible manipuators so that it is arresed as soon as possible at the end of rotation. Accurate vibration control of lightweight manipulator during the large changes in configuration common to robotic tasks requires dynamic models that describe both the rigid body motions, as well as the flexural vibrations. Therefore, a dynamic models for a flexible single link robot manipulator is derived, and then a comparative analysis was made with linear controller through an simulation and experiment. The results are proesented to illustrate thd advantages and imporved performance of the proposed adaptive control ove the conventional linear controller.

• Journal of Korean Association for Spatial Structures
• /
• v.18 no.4
• /
• pp.69-80
• /
• 2018

In this study, an algorithm applying deep learning to the truss structures was proposed. Deep learning is a method of raising the accuracy of machine learning by creating a neural networks in a computer. Neural networks consist of input layers, hidden layers and output layers. Numerous studies have focused on the introduction of neural networks and performed under limited examples and conditions, but this study focused on two- and three-dimensional truss structures to prove the effectiveness of algorithms. and the training phase was divided into training model based on the dataset size and epochs. At these case, a specific data value was selected and the error rate was shown by comparing the actual data value with the predicted value, and the error rate decreases as the data set and the number of hidden layers increases. In consequence, it showed that it is possible to predict the result quickly and accurately without using a numerical analysis program when applying the deep learning technique to the field of structural analysis.

• The Journal of Information Systems
• /
• v.27 no.4
• /
• pp.115-128
• /
• 2018

Purpose The purpose of this study is to predict future behaviors of business process. Specifically, this study tried to predict the last activities of process instances. It contributes to overcoming the limitations of existing approaches that they do not accurately reflect the actual behavior of business process and it requires a lot of effort and time every time they are applied to specific processes. Design/methodology/approach This study proposed a novel approach based using deep learning in the form of dynamic recurrent neural networks. To improve the accuracy of our prediction model based on the approach, we tried to adopt the latest techniques including new initialization functions(Xavier and He initializations). The proposed approach has been verified using real-life data of a domestic small and medium-sized business. Findings According to the experiment result, our approach achieves better prediction accuracy than the latest approach based on the static recurrent neural networks. It is also proved that much less effort and time are required to predict the behavior of business processes.

• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.2
• /
• pp.127-137
• /
• 2000

This paper presents a novel neural based controller which controls the water level of the nuclear power plant steam generator. The controller consists of a model reference feedback linearization controller and a PI controller for stabilizing the feedback linearization controller. The feedback linearization controller consists of a neural network model and an inversing module which uses the neural network model for computing the control input to the steam generator. We chose Piecewise Linearly Trained Network(PLTN) and Recurrent Neural Netwrok(RNN) for an approximator of the plant and used these approximators in calculating the input from the feedback linearization controller. Combining the above two controllers gives a result of better performance than the case which uses only a PI controller Each control result of PLTN and RNN is given.

• Water Engineering Research
• /
• v.3 no.2
• /
• pp.123-134
• /
• 2002

A developed Quantitative Flood Forecasting (QFF) model was applied to the mid-Atlantic region of the United States. The model incorporated the evolving structure and frequency of intense weather systems of the study area for improved flood forecasting. Besides using radiosonde and rainfall data, the model also used the satellite-derived characteristics of storm systems such as tropical cyclones, mesoscale convective complex systems and convective cloud clusters associated with synoptic atmospheric conditions as Input. Here, we present results from the application of the Quantitative Flood Forecasting (QFF) model in 2 small watersheds along the leeward side of the Appalachian Mountains in the mid-Atlantic region. Threat scores consistently above 0.6 and close to 0.8 ∼ 0.9 were obtained fur 18 hour lead-time forecasts, and skill scores of at least 40% and up to 55 % were obtained.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.1293-1298
• /
• 2005

In the environment where human coexists with robot, the problem of safety is very important. But it is difficult to separate the robot from the human in time-domain or space-domain unlike the case of factory automation, so a new concept is needed. One approach is to notice sensory and emotional feeling of human, and in this study "pain" is focused, which is a typical unpleasant feeling when the robot contacts us. In this paper, to design the controller based on the pain, an artificial superficial pain model caused by impact is proposed. This ASPM model consists of mechanical pain model, skin model and gate control by artificial neural networks (ANNs). The proposed ASPM is evaluated by experiments.

• Journal of Korean Institute of Industrial Engineers
• /
• v.23 no.1
• /
• pp.39-54
• /
• 1997

This paper presents four process models for machining processes : 1) an economical mathematical model of machining process, 2) a prediction model for surface roughness, 3) a decision model for fuzzy cutting conditions, and 4) a judgment model of machinability with automatic selection of cutting conditions. Each model was developed the economic machining, and these models were applied to theories widely studied in industrial engineering which are nonlinear programming, computer simulation, fuzzy theory, and neural networks. The results of this paper emphasize the human oriented domain of a nonlinear programming problem. From a viewpoint of the decision maker, fuzzy nonlinear programming modeling seems to be apparently more flexible, more acceptable, and more reliable for uncertain, ill-defined, and vague problem situations.

• Proceedings of the Korea Water Resources Association Conference
• /
• 2004.05b
• /
• pp.1285-1289
• /
• 2004

Elman Discrete Recurrent Neural Networks Model(EDRNNM) was used to be a suitable short-term hydrological forecasting tool yielding a very high degree of flood stage forecasting accuracy at Musung station of Wi-stream one of IHP representative basins in South Korea. A relative new approach method has recurrent feedback nodes and virtual small memory in the structure. EDRNNM was trained by using two algorithms, namely, LMBP and RBP The model parameters, optimal connection weights and biases, were estimated during training procedure. They were applied to evaluate model validation. Sensitivity analysis test was also performed to account for the uncertainty of input nodes information. The sensitivity analysis approach could suggest a reduction of one from five initially chosen input nodes. Because the uncertainty of input nodes information always result in uncertainty in model results, it can help to reduce the uncertainty of EDRNNM application and management in small catchment.

• Proceedings of the KIEE Conference
• /
• 2000.07d
• /
• pp.3004-3006
• /
• 2000

In this paper, we propose an optimal design method of Fuzzy-Neural Networks model with parallel structure for complex and nonlinear systems. The proposed model is consists of a multiple number of FNN connected in parallel. The proposed FNNs with parallel structure is based on Yamakawa's FNN and it uses simplified inference as fuzzy inference method and Error Back Propagation Algorithm as learning rules. We use a HCM clustering and GAs to identify the structure and the parameters of the proposed model. Also, a performance index with a weighting factor is presented to achieve a sound balance between approximation and generalization abilities of the model. To evaluate the performance of the proposed model. we use the time series data for gas furnace and the numerical data of nonlinear function.

• Smart Structures and Systems
• /
• v.23 no.4
• /
• pp.393-403
• /
• 2019

Applying more features gives us better accuracy in modeling; however, increasing the inputs causes the curse of dimensions. In this paper, a new structure has been proposed for fault detecting and identifying (FDI) of high-dimensional systems. This structure consist of two structure. The first part includes Auto-Encoders (AE) as Deep Neural Networks (DNNs) to produce feature engineering process and summarize the features. The second part consists of the Local Model Networks (LMNs) with LOcally LInear MOdel Tree (LOLIMOT) algorithm to model outputs (multiple models). The fault detection is based on these multiple models. Hence the residuals generated by comparing the system output and multiple models have been used to alarm the faults. To show the effectiveness of the proposed structure, it is tested on single-shaft industrial gas turbine prototype model. Finally, a brief comparison between the simulated results and several related works is presented and the well performance of the proposed structure has been illustrated.