• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.420-420
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• 2000

In this paper, we propose an adaptive controller using RBFN(radial basis function network) for robot manipulators The structure of the proposed controller consists of a RBFN and VSC-1 ike control. RBFN is used in order to approximate かon system, and VSC-like control to guarantee robustness On the basis of the Lyapunov stability theorem, we guarantee the stability for the total system. And the learning law of RBFN is established by the Lyapunov method, Finally, we apply the proposed controller to tracking control for a 2 link SCARA type robot manipulator.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.05a
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• pp.329-332
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• 2003

본 논문에서는 새로이 제안된 자기 구조화하는(Self-structuring) 새로운 Radial-Basis Function Network(RBFN)에 대해서 실험적인 검증을 했다. 이 자기 구조화하는 새로운 RBFN은 기존의 RBFN과 비교해서 여러 장점이 있다. Lyapunov 이론에 기초해서 새로운 학습 규칙을 선정하였기 때문에 시스템의 안정도를 보장할 수 있다. 그리고, 자기 구조화의 과정 즉, 생성과 병합을 통해 은닉층에서 적정수의 뉴런을 결정할 수 있다. 기존의 RBFN과 성능을 비교하기 위하여, 실제 비선형 시스템인 2축 암로봇에 대해 실험한 결과를 보였다. 결과적으로, 우리는 실험결과를 통해 자기 구조화하는 RBFN의 효율적인 구조와 시스템에 대한 안정도를 보장함을 볼 수 있다.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1165-1168
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• 1996

The neural network approach has been shown to be a general scheme for nonlinear dynamical system identification. Unfortunately the error surface of a Multilayer Neural Network(MNN) that widely used is often highly complex. This is a disadvantage and potential traps may exist in the identification procedure. The objective of this paper is to identify a nonlinear dynamical systems based on Radial Basis Function Networks(RBFN). The learning with RBFN is fast and precise. This paper discusses RBFN as identification procedure is based on a nonlinear dynamical systems. and A design method of model follow control system based on RBFN controller is developed. As a result of applying this method to inverted pendulum, the simulation has shown that RBFN can be used as identification and control of nonlinear dynamical systems effectively.

• Korea-Australia Rheology Journal
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• v.21 no.1
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• pp.1-12
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• 2009

This paper reports the suitability of a domain decomposition technique for the hybrid simulation of dilute polymer solution flows using Eulerian Brownian dynamics and Radial Basis Function Networks (RBFN) based methods. The Brownian Configuration Fields (BCF) and RBFN method incorporates the features of the BCF scheme (which render both closed form constitutive equations and a particle tracking process unnecessary) and a mesh-less method (which eliminates element-based discretisation of domains). However, when dealing with large scale problems, there appear several difficulties: the high computational time associated with the Stochastic Simulation Technique (SST), and the ill-condition of the system matrix associated with the RBFN. One way to overcome these disadvantages is to use parallel domain decomposition (DD) techniques. This approach makes the BCF-RBFN method more suitable for large scale problems.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.12
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• pp.679-688
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• 2003

In order to navigate the mobile robots safely in unknown environments, many researches have been studied to devise navigational algorithms for the mobile robots. In this paper, we propose a navigational algorithm that consists of an obstacle-avoidance behavior module, a goal-approach behavior module and a radial basis function network(RBFN) supervisor. In the obstacle-avoidance behavior module and goal-approach behavior module, the fuzzy-artificial immune networks are used to select a proper steering angle which makes the autonomous mobile robot(AMR) avoid obstacles and approach the given goal. The RBFN supervisor is employed to combine the obstacle-avoidance behavior and goal-approach behavior for reliable and smooth motion. The outputs of the RBFN are proper combinational weights for the behavior modules and velocity to steer the AMR appropriately. Some simulations and experiments have been conducted to confirm the validity of the proposed navigational algorithm.

• Computers and Concrete
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• v.3 no.5
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• pp.335-355
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• 2006

The application of radial basis function neural networks (RBFN) to predict the ultimate torsional strength of reinforced concrete (RC) beams is explored in this study. A database on torsional failure of RC beams with rectangular section subjected to pure torsion was retrieved from past experiments in the literature; several RBFN models are sequentially built, trained and tested. Then the ultimate torsional strength of each beam is determined from the developed RBFN models. In addition, the predictions of the RBFN models are also compared with those obtained using the ACI 318 Code equations. The study shows that the RBFN models give reasonable predictions of the ultimate torsional strength of RC beams. Moreover, the results also show that the RBFN models provide better accuracy than the existing ACI 318 equations for torsion, both in terms of root-mean-square error and coefficients of determination.

• Proceedings of the Korea Inteligent Information System Society Conference
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• 2007.11a
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• pp.294-302
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• 2007

멀티 에이전트 강화학습에서 중요한 이슈 중의 하나는 자신의 성능에 영향을 미칠 수 있는 다른 에이전트들이 존재하는 동적 환경에서 어떻게 최적의 행동 정책을 학습하느냐 하는 것이다. 멀티 에이전트 강화 학습을 위한 기존 연구들은 대부분 단일 에이전트 강화 학습기법들을 큰 변화 없이 그대로 적용하거나 비록 다른 에이전트에 관한 별도의 모델을 이용하더라도 현실적이지 못한 가정들을 요구한다. 본 논문에서는 상대 에이전트에 대한RBFN기반의 행동 정책 모델을 소개한 뒤, 이것을 이용한 강화 학습 방법을 설명한다. 본 논문에서는 제안하는 멀티 에이전트 강화학습 방법은 기존의 멀티 에이전트 강화 학습 연구들과는 달리 상대 에이전트의 Q 평가 함수 모델이 아니라 RBFN 기반의 행동 정책 모델을 학습한다. 또한, 표현력은 풍부하나 학습에 시간과 노력이 많이 요구되는 유한 상태 오토마타나 마코프 체인과 같은 행동 정책 모델들에 비해 비교적 간단한 형태의 행동 정책 모델을 이용함으로써 학습의 효율성을 높였다. 본 논문에서는 대표적이 절대적 멀티 에이전트 환경인 고양이와 쥐 게임을 소개한 뒤, 이 게임을 테스트 베드 삼아 실험들을 전개함으로써 제안하는 RBFN 기반의 정책 모델의 효과를 분석해본다.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.22 no.5
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• pp.1026-1035
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• 1997

In this paper, we studied for phoneme recognition using GPFN and PNN as a kind of RBFN. The structure of RBFN is similar to a feedforward networks but different from choosing of activation function, reference vector and learnign algorithm in a hidden layer. Expecially sigmoid function in PNN is replaced by one category included exponential function. And total calculation performance is high, because PNN performs pattern classification with out learning. In phonemerecognition experiment with 5 vowel and 12 consant, recognition rates of GPFN and PNN as a kind of RBFN reflected statistic characteristic of speech are higher than ones of MLP in case of using test data and quantizied data by VQ and LVQ.

• Journal of Sensor Science and Technology
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• v.25 no.6
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• pp.431-434
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• 2016

Currently, the radial basis function network (RBFN) and various other neural networks are employed to classify gases using chemical sensors arrays, and their performance is steadily improving. In particular, the identification performance of the RBFN algorithm is being improved by optimizing parameters such as the center, width, and weight, and improved algorithms such as the radial basis function network-stochastic gradient (RBFN-SG) and radial basis function network-normalized stochastic gradient (RBFN-NSG) have been announced. In this study, we optimized the number of centers, which is one of the parameters of the RBFN-NSG algorithm, and observed the change in the identification performance. For the experiment, repeated measurement data of 8 samples were used, and the elbow method was applied to determine the optimal number of centers for each sample of input data. The experiment was carried out in two cases(the only one center per sample and the optimal number of centers obtained by elbow method), and the experimental results were compared using the mean square error (MSE). From the results of the experiments, we observed that the case having an optimal number of centers, obtained using the elbow method, showed a better identification performance than that without any optimization.

• Proceedings of the Acoustical Society of Korea Conference
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• 1995.06a
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• pp.88-91
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• 1995

개층형 신경망은 교사신호들의 학습으로 원하는 입출력간의 매핑을 할 수 있으므로 패턴분류를 위해 사용되어왔다. 본 논문은 계층형 신경망의 일종인 RBFN 중 GPFN 과 PNN으로 한국어 음소인식을 수행하였다. RBFN 의 구조는 계층형 신경망과 유사하나 차이점으로는 은닉층에서 시그모이드 함수, 참조벡터 및 학습알고리듬의 선택이 다르다. 특히 PNN 의 시그모이드 함수는 지수를 포함한 함수들로 대체되며 학습없이 패턴을 분류하므로 계산시간이 빠르게 수행된다. 본 실험에서는 한국어 단음절에서 모음과 자음을 추출하여 음소인식을 수행하였다. 실험 결과 학습과 평가데이타에 의한 인식률은 계층형 신경망과 비교하여 향상 되었으며, Hybrid 구성에 의한 실험에서도 항상된 인식률을 얻을 수 있었다.