• Journal of Institute of Control, Robotics and Systems
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• v.10 no.12
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• pp.1241-1248
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• 2004

A controller of wheeled mobile robot(WMR) based on Lyapunov theory is designed and a Fuzzy-Neural Network algorithm is applied to this system to adjust controller gain. In conventional controller of WMR that adopts fixed controller gain, controller can not pursuit trajectory perfectly when initial condition of system is changed. Moreover, acquisition of optimal value of controller gain due to variation of initial condition is not easy because it can be get through lots of try and error process. To solve such problem, a Fuzzy-Neural Network algorithm is proposed. The Fuzzy logic adjusts gains to act up to position error and position error rate. And, the Neural Network algorithm optimizes gains according to initial position and initial direction. Computer simulation shows that the proposed Fuzzy-Neural Network controller is effective.

• Proceedings of the Korean Geotechical Society Conference
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• 2006.03a
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• pp.1159-1164
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• 2006

In this paper an artificial neural network model is developed to estimate the unconfined compression strength of Deep Cement Mixing(DCM) treated soil. A database which consists of a number of unconfined compression test result compiled from 9 clay sites is used to train and test of the artificial neural network model. Developed neural network model requires water content of soil, unit weight of soil, passing percent of #200 sieve, weight of cement, w-c ratio as input variables. It is found that the developed artificial neural network model can predict more precise and reliable unconfined compression strength than the conventional empirical models.

• Journal of the Korean GEO-environmental Society
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• v.19 no.5
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• pp.13-22
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• 2018

The number of researches on the mechanical properties of cemented sand and gravel (CSG) materials and the application of the CSG Dam has been increased. In order to explain the technical scheme of strength prediction model about the artificial neural network, we obtained the sample data by orthogonal test using the PVA (Polyvinyl alcohol) fiber, different amount of cementing materials and age, and established the efficient evaluation and prediction system. Combined with the analysis about the importance of influence factors, the prediction accuracy was above 95%. This provides the scientific theory for the further application of CSG, and will also be the foundation to apply the artificial neural network theory further in water conservancy project for the future.

• Structural Engineering and Mechanics
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• v.84 no.1
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• pp.35-48
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• 2022

This paper investigates the artificial neural network (ANN) to predict the dimensionless parameters for contact pressures and contact lengths under the rigid punch, the initial separation loads, and the initial separation distances of a contact problem. The problem consisted of two elastic infinitely layers (EL) loaded by means of a rigid cylindrical punch and resting on a half-infinite plane (HP). Firstly, the problem was formulated and solved theoretically using the Theory of Elasticity (ET). Secondly, the contact problem was extended based on the ANN. External load, the radius of punch, layer heights, and material properties were created by giving examples of different values used at the training and test stages of ANN. Finally, the accuracy of the trained neural networks for the case was tested using 134 new data, generated via ET solutions to determine the best network model. ANN results were compared with ET results, and well agreements were achieved.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2005.06a
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• pp.257-261
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• 2005

The helicopter system is non-linear and complex. Futhermore, because of absence of accurate mathematical model, it is difficult accurately to control its attitude. therefore, we propose a WAVENET control technique to control efficiently its elevation angle and azimuth one. Wavelet neural network(WAVENET) can construct systematically initial neural network as applying wavelet theory to feedforward network. It is proved through computer simulation that WAVENET has more excellent approximation capability than existing neural network. The simulation results using MATLAB are introduced.

• Journal of Intelligence and Information Systems
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• v.4 no.1
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• pp.133-147
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• 1998

Recently, many researchers have been involved in finding deterministic equations which can accurately predict future event, based on chaotic theory, or fractal theory. The theory says that some events which seem very random but internally deterministic can be accurately predicted by fractal equations. In contrast to the conventional methods, such as AR model, MA, model, or ARIMA model, the fractal equation attempts to discover a deterministic order inherent in time series data set. In discovering deterministic order, researchers have found that neural networks are much more effective than the conventional statistical models. Even though prediction accuracy of the network can be different depending on the topological structure and modification of the algorithms, many researchers asserted that the neural network systems outperforms other systems, because of non-linear behaviour of the network models, mechanisms of massive parallel processing, generalization capability based on adaptive learning. However, recent survey shows that prediction accuracy of the forecasting models can be determined by the model structure and data structures. In the experiments based on actual economic data sets, it was found that the prediction accuracy of the neural network model is similar to the performance level of the conventional forecasting model. Especially, for the data set which is deterministically chaotic, the AR model, a conventional statistical model, was not significantly different from the MLP model, a neural network model. This result shows that the forecasting model. This result shows that the forecasting model a, pp.opriate to a prediction task should be selected based on characteristics of the time series data set. Analysis of the characteristics of the data set was performed by fractal analysis, measurement of Hurst index, and measurement of Lyapunov exponents. As a conclusion, a significant difference was not found in forecasting future events for the time series data which is deterministically chaotic, between a conventional forecasting model and a typical neural network model.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.5
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• pp.966-972
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• 2007

This paper presents position control of nonlinear three-dimensional crane systems using neural network approach. Such crane system generally includes very complicated characteristic dynamics and mechanical framework such that its mathematical model is expressed by strong nonlinearity. This leads difficulty in control design for the systems. We linearize the nonlinear system model to construct PID control applying well-known linear control theory and then neural network is utilized to compensate system perturbation due to linearization. Thus, control input of the crane system is composed of nominal PID and neural output signals respectively. Our method illustrates simple design procedure, but system perturbation and modelling error are overcome through a neural compensator. As well. adaptive neural control is constructed from online learning. Computer simulation demonstrates our control approach is superior to the classic control systems.

• Journal of the Korean Institute of Intelligent Systems
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• v.10 no.4
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• pp.338-342
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• 2000

In order to approximate a nonlinear function, wacelet neural networks combining wacelet theory and neural networks have been proposed as an alternative to conventional multi-layered neural networks. wacelet neural networks provide better approximating performance than conventional neural networks. In this paper, an effective method to construct an optimal wavelet neural network is proposed using genetic alogorithm. Genetic Algorithm is used to determine dilationa and translations of wavelet basic functions of wavelet neural networks. Then, these determined dilations dilations and translations, wavelet neural networks are funther trained by back propagation learning algorithm. The effectiveness of the final network is verified thrifigh the approximation result of a nonlinear function and comparison with conventional neural networks.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2521-2525
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• 2005

In this paper, we presented a predictive control technique, which is based on wavelet neural network (WNN), for the control of chaotic systems whose precise mathematical models are not available. The WNN is motivated by both the multilayer feedforward neural network definition and wavelet decomposition. The wavelet theory improves the convergence of neural network. In order to design predictive controller effectively, the WNN is used as the predictor whose parameters are tuned by error between the output of actual plant and the output of WNN. Also the training method for the finding a good WNN model is the Extended Kalman algorithm which updates network parameters to converge to the reference signal during a few iterations. The benefit of EKF training method is that the WNN model can have better accuracy for the unknown plant. Finally, through computer simulations, we confirmed the performance of the proposed control method.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1730-1731
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• 2007

In this paper, we present a direct adaptive control method using neural networks for the control of nonlinear systems. The weights of neural networks are trained by an adaptive backpropagation algorithm based on Lyapunov stability theory. We develop the parameter update-laws using the neural network input and the error between the desired output and the output of nonlinear plant to update the weights of a neural network in the sense that Lyapunove stability theory. Beside the output tracking error is asymptotically converged to zero.