• 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.

• Nuclear Engineering and Technology
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• v.55 no.9
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• pp.3423-3440
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• 2023

In this work, a multivariate time-series machine learning meta-model is developed to predict the transient response of a typical nuclear power plant (NPP) undergoing a steam generator tube rupture (SGTR). The model employs Recurrent Neural Networks (RNNs), including the Long Short-Term Memory (LSTM), Gated Recurrent Unit (GRU), and a hybrid CNN-LSTM model. To address the uncertainty inherent in such predictions, a Bayesian Neural Network (BNN) was implemented. The models were trained using a database generated by the Best Estimate Plus Uncertainty (BEPU) methodology; coupling the thermal hydraulics code, RELAP5/SCDAP/MOD3.4 to the statistical tool, DAKOTA, to predict the variation in system response under various operational and phenomenological uncertainties. The RNN models successfully captures the underlying characteristics of the data with reasonable accuracy, and the BNN-LSTM approach offers an additional layer of insight into the level of uncertainty associated with the predictions. The results demonstrate that LSTM outperforms GRU, while the hybrid CNN-LSTM model is computationally the most efficient. This study aims to gain a better understanding of the capabilities and limitations of machine learning models in the context of nuclear safety. By expanding the application of ML models to more severe accident scenarios, where operators are under extreme stress and prone to errors, ML models can provide valuable support and act as expert systems to assist in decision-making while minimizing the chances of human error.

• Journal of Advanced Navigation Technology
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• v.25 no.5
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• pp.409-414
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• 2021

The growing concerns on the emission of particulate matter has prompted a demand for highly reliable particulate matter forecasting. Currently, several studies on particulate matter prediction use various deep learning algorithms. In this study, we compared the predictive performances of typical neural networks used for particulate matter prediction. We used deep neural network(DNN), recurrent neural network, and long short-term memory algorithms to design an optimal predictive model on the basis of a hyperparameter search. The results of a comparative analysis of the predictive performances of the models indicate that the variation trend of the actual and predicted values generally showed a good performance. In the analysis based on the root mean square error and accuracy, the DNN-based prediction model showed a higher reliability for prediction errors compared with the other prediction models.

• KIISE Transactions on Computing Practices
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• v.21 no.8
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• pp.567-571
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• 2015

Transition-based dependency parsing requires much time and efforts to design and select features from a very large number of possible combinations. Recent studies have successfully applied Multi-Layer Perceptrons (MLP) to find solutions to this problem and to reduce the data sparseness. However, most of these methods have adopted greedy search and can only consider a limited amount of information from the context window. In this study, we use a Recurrent Neural Network to handle long dependencies between sub dependency trees of current state and current transition action. The results indicate that our method provided a higher accuracy (UAS) than an MLP based model.

• Journal of the Institute of Convergence Signal Processing
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• v.9 no.3
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• pp.238-244
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• 2008

Dynamic neural networks have been applied to diverse fields requiring temporal signal processing. This paper presents gamma neural network(GAM) to improve the dynamics of multilayer network. The GAM network uses the gamma memory kernel in the hidden layer of feedforword multilayer network. The GAM network is evaluated in linear and nonlinear system identification, and compared with feedforword(FNN) and recurrent neural networks(RNN) for the relative comparison of its performance. Experimental results show that the GAM network performs better with respect to the convergence and accuracy, indicating that it can be a more effective network than conventional multilayer networks in system identification.

• Proceedings of the Korea Water Resources Association Conference
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• 2019.05a
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• pp.320-320
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• 2019

유역의 수문 자료를 정확하게 분석하는 것은 수리 구조물을 효율적으로 운영하기 위한 중요한 요소이다. 인공신경망(Artificial Neural Networks, ANNs) 모형은 입 출력 자료의 비선형적인 관계를 해석할 수 있는 모형으로 강우-유출 해석 등 수문 분야에 다양하게 적용되어 왔다. 이후 기존의 인공신경망 모형을 연속적인(sequential) 자료의 분석에 더 적합하도록 개선한 회귀신경망(Recurrent Neural Networks, RNNs) 모형과 회귀신경망 모형의 '장기 의존성 문제'를 개선한 장단기메모리(Long Short-Term Memory Networks, 이하 LSTM)가 차례로 제안되었다. LSTM은 최근에 주목받는 딥 러닝(Deep learning) 기법의 하나로 수문 자료와 같은 시계열 자료의 분석에 뛰어난 성능을 보일 것으로 예상되며, 수문 분야에서 이에 대한 적용성 평가가 요구되고 있다. 본 연구에서는 인공신경망 모형과 LSTM 모형으로 유출량을 모의하여 두 모형의 성능을 비교하고 향후 LSTM 모형의 활용 가능성을 검토하고자 하였다. 나주 수위관측소의 수위 자료와 인접한 기상관측소의 강우량 자료로 모형의 입 출력 자료를 구성하여 강우 사상에 대한 시간별 유출량을 모의하였다. 연구 결과, 1시간 후의 유출량에 대해서는 두 모형 모두 뛰어난 모의 능력을 보였으나, 선행 시간이 길어질수록 LSTM의 정확성은 유지되는 반면 인공신경망 모형의 정확성은 점차 떨어지는 것으로 나타났다. 앞으로의 연구에서 유역 내 다양한 수리 구조물에 의한 유 출입량을 추가로 고려한다면 LSTM 모형의 활용성을 보다 더 확장할 수 있을 것이다.

• ETRI Journal
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• v.41 no.3
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• pp.371-382
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• 2019

Machine reading comprehension is the task of understanding a given context and finding the correct response in that context. A simple recurrent unit (SRU) is a model that solves the vanishing gradient problem in a recurrent neural network (RNN) using a neural gate, such as a gated recurrent unit (GRU) and long short-term memory (LSTM); moreover, it removes the previous hidden state from the input gate to improve the speed compared to GRU and LSTM. A self-matching network, used in R-Net, can have a similar effect to coreference resolution because the self-matching network can obtain context information of a similar meaning by calculating the attention weight for its own RNN sequence. In this paper, we construct a dataset for Korean machine reading comprehension and propose an $S^2-Net$ model that adds a self-matching layer to an encoder RNN using multilayer SRU. The experimental results show that the proposed $S^2-Net$ model has performance of single 68.82% EM and 81.25% F1, and ensemble 70.81% EM, 82.48% F1 in the Korean machine reading comprehension test dataset, and has single 71.30% EM and 80.37% F1 and ensemble 73.29% EM and 81.54% F1 performance in the SQuAD dev dataset.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.4
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• pp.67-75
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• 1998

In general, Evoluationary Algorithm(EAs) are refered to as methods of population-based optimization. And EAs are considered as very efficient methods of optimal sytem design because they can provice much opportunity for obtaining the global optimal solution. This paper presents a co-evolution scheme of artifical neural networks, which has two different, still cooperatively working, populations, called as a host popuation and a parasite population, respectively. Using the conventional generatic algorithm the host population is evolved in the given environment, and the parastie population composed of schemata is evolved to find useful schema for the host population. the structure of artificial neural network is a diagonal recurrent neural netork which has self-feedback loops only in its hidden nodes. To find optimal neural networks we should take into account the structure of the neural network as well as the adaptive parameters, weight of neurons. So we use the genetic algorithm that searches the structure of the neural network by the co-evolution mechanism, and for the weights learning we adopted the evolutionary stategies. As a results of co-evolution we will find the optimal structure of the neural network in a short time with a small population. The validity and effectiveness of the proposed method are inspected by applying it to the stabilization and position control of the invered-pendulum system. And we will show that the result of co-evolution is better than that of the conventioal genetic algorithm.

• Korean Journal of Agricultural Science
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• v.46 no.1
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• pp.67-78
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• 2019

The purpose of this study was to predict the water quality using the RNN (recurrent neutral network) and LSTM (long short-term memory). These are advanced forms of machine learning algorithms that are better suited for time series learning compared to artificial neural networks; however, they have not been investigated before for water quality prediction. Three water quality indexes, the BOD (biochemical oxygen demand), COD (chemical oxygen demand), and SS (suspended solids) are predicted by the RNN and LSTM. TensorFlow, an open source library developed by Google, was used to implement the machine learning algorithm. The Okcheon observation point in the Geum River basin in the Republic of Korea was selected as the target point for the prediction of the water quality. Ten years of daily observed meteorological (daily temperature and daily wind speed) and hydrological (water level and flow discharge) data were used as the inputs, and irregularly observed water quality (BOD, COD, and SS) data were used as the learning materials. The irregularly observed water quality data were converted into daily data with the linear interpolation method. The water quality after one day was predicted by the machine learning algorithm, and it was found that a water quality prediction is possible with high accuracy compared to existing physical modeling results in the prediction of the BOD, COD, and SS, which are very non-linear. The sequence length and iteration were changed to compare the performances of the algorithms.

• Journal of KIISE
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• v.44 no.5
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• pp.496-502
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• 2017

Pointer Networks is a deep-learning model for the attention-mechanism outputting of a list of elements that corresponds to the input sequence and is based on a recurrent neural network (RNN). The coreference resolution for pronouns is the natural language processing (NLP) task that defines a single entity to find the antecedents that correspond to the pronouns in a document. In this paper, a pronoun coreference-resolution method that finds the relation between the antecedents and the pronouns using the Pointer Networks is proposed; furthermore, the input methods of the Pointer Networks-that is, the chaining order between the words in an entity-are proposed. From among the methods that are proposed in this paper, the chaining order Coref2 showed the best performance with an F1 of MUC 81.40 %. The method showed performances that are 31.00 % and 19.28 % better than the rule-based (50.40 %) and statistics-based (62.12 %) coreference resolution systems, respectively, for the Korean pronouns.