• Journal of Institute of Control, Robotics and Systems
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• v.6 no.6
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• pp.447-453
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• 2000

Using the scattering theory of laser light, we analyze the particle sizing method. The scattered profile measured by the photodetector is sampled, scale conditioned by a 32 channel analog-to-digital converter, and is analyzed with the transform matrix from the light energy signals to the weights of the particle sizes. The particle size distribution is classified using the Hopfield neural network method as well as the conventional nonnegative least square method.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.139-142
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• 1996

This paper presents a method of controlling contact force for deburring tasks. The cope with the nonlinearities and time-varying properties of the robot and the environment, a neural network control theory is applied to design the contact force control system. We show that the contact force between the hand and the contacting surface can be controlled by adjusting the command velocity of a robot hand, which is accomplished by the modeling of a robot and the environment as Mass-Spring-Damper system. Simulation results are shown.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.4
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• pp.22-27
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• 2000

In this paper, new neural network called dynamic multidimensional wavelet neural network (DMWNN) is proposed. The resulting network from wavelet theory provides a unique and efficient representation of the given function. Also the proposed DMWNN have ability to store information for later use. Therefore it can represent dynamic mapping and decreases the dimension of the inputs needed for network. This feature of DMWNN can compensate for the weakness of diagonal recurrent neural network(DRNN) and feedforward wavelet neural network(FWNN). The efficacy of this type of network is demonstrated through experimental results.

• Journal of Environmental Impact Assessment
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• v.14 no.2
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• pp.55-62
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• 2005

This study applied the Neural Network and Fuzzy theory to show water-purity control and preventive measure in water quality forecasting of the future river. This study picked out NAJU and HAMPYUNG as the subject of investigation and used monthly the water quality and the outflow data of KWANGJU2, NAJU, YOUNGSANNPO and HAMPYUNG from 1995 to 1999 to forecast BOD, COD, T-N, T-P water density. The datum from 1995 to 1999 are used for study and that of 2000 are used for verification. To develop model of water quality forecasting, firstly, this research formed Neural Network model and divided Neural Network model into two case - the case of considering lag and not considering. And this study selected optimal Neural Network model through changing the number of hidden layer based on input layer(n) from n to 3n. Through forecasting result, the case without considering lag showed more precise simulated result. Accordingly, this study intended to compare, analyse that Fuzzy model using the method without considering lag with Neural Network model. As a result, this study found that the model without considering lag in Neural Network Network shows the most excellent outcome. Thus this study examined a forecasting accuracy, analyzed result and verified propriety through appling the method of water quality forecasting using Neural Network and Fuzzy Algorithms to the actual case.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.1129-1134
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• 1989

In this paper, we propose a neural network for learning to control semi-linear dynamical systems. The network is a composite system of four three-layer backpropagation subnetworks, and is able to control inverted pendulums better than systems based on modern control theory at least in some ranges of parameters. Three of the four subnetworks in our network system process angles, velocities, and positions of a moving inverted pendulum, respectively. The outputs from those three subnetworks are input to the remaining subnetwork that makes control decisions. Each of the four subnetworks learns connection weights independently by backpropagation algorithms. Teaching signals are given by the human operator. Also, input signals are generated by the human operator, but they are converted by preprocessors to actual input data for the three subnetworks except for the network for control decisions. The whole system is implemented on both of 16 bit personal computers and 32 bit workstations. First, we briefly provide the research background and the inverted pendulum problem itself, followed by the description of our composite neural network model. Next, some results from the simulation are given, which are subsequently compared with the results from a control system based on modern control theory. Then, some discussions and conclusion follow.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.4
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• pp.329-339
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• 2003

A neural network based adaptive controller design method is proposed for reconfigurable flight control systems in the presence of variations in aerodynamic coefficients or control effectiveness decrease caused by control surface damage. The neural network based adaptive nonlinear controller is developed by making use of the backstepping technique for command following of the angle of attack, sideslip angle, and bank angle. On-line teaming neural networks are implemented to guarantee reconfigurability and robustness to the uncertainties caused by aerodynamic coefficients variations. The main feature of the proposed controller is that the adaptive controller is designed with assumption that not any of the nonlinear functions of the system is known accurately, whereas most of the previous works assume that only some of the nonlinear functions are unknown. Neural networks loam through the weight update rules that are derived from the Lyapunov control theory. The closed-loop stability of the error states is also investigated according to the Lyapunov theory. A nonlinear dynamic model of an F-16 aircraft is used to demonstrate the effectiveness of the proposed control law.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1727-1731
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• 2004

We propose an ART2 neural network-based fault diagnosis method to diagnose of sensor in the gas monitoring system. In the proposed method, using thermal modulation of operating temperature of sensor, the signal patterns are extracted from the voltage of load resistance. Also, fault classifier by ART2 NN (adaptive resonance theory 2 neural network) with uneven vigilance parameters is used for fault isolation. The performances of the proposed fault diagnosis method are shown by simulation results using real data obtained from the gas monitoring system.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.11
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• pp.987-994
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• 2000

A Linear Pulse Motor (LPM) is a direct drive motor that has good performance in terms of accuracy, velocity and acceleration compared to the conventional rotating system with toothed belts and ball screws. However, since an LPM needs supporting devices which maintain constant air-gap and has strong nonlinearity caused by leakage magnetic flux, friction and cogging, etc., there are many difficulties in improvement on accuracy with conventional control theory. Moreover, when designing the position controller of LPM, the modeling error and load variations has not been considered. In order to compensate these components, the neural network with conventional feedback controller is introduced. This neural network of feedback error learning type changes the current commands to improve position accuracy. As a result of experiments, we observes that more accurate position control is possible compared to conventional controller.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.127.1-127
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• 2001

In this paper we propose an input/output model based fault diagnosis method to detect and isolate single faults in the robot arm control system. The proposed algorithm is functionally composed of three main parts-parameter estimation, fault detection, and isolation, When a change in the system occurs, the errors between the system output and the estimated output cross a predetermined threshold, and once a fault in the system is detected, and in this zone the estimated parameters are transferred to the fault classifier by ART2(adaptive resonance theory 2) neural network for fault isolation. Since ART2 neural network is an unsupervised neural network fault classifier does not require the knowledge of all possible faults to isolate the faults occurred in the system. Simulations are carried out to evaluate the performance of the proposed ...

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.102.3-102
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• 2001

In this paper, we propose a novel method that can detect face region effectively with fuzzy theory and neural network We make fuzzy rules and membership functions to describe the face color. In this algorithm, we use a perceptually uniform color space to increase the accuracy and stableness of the nonlinear color information. We use this model to extract the face candidate, and then scan it with the pre-built sliding window by using a neural network-based pattern-matching method to find eye. A neural network examines small windows of face candidate, and decides whether each window contains eye. We can standardize the face candidate geometrically with detected eyes.