• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 추계학술대회 논문집 학회본부 B
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• pp.530-532
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• 1998

In this paper, We Designed the torque compensatory controller for robot manipulator using modified chaotic neural networks with self feedback loop. The proposed torque compensatory controller compensate torque of the PD controller. In order to estimate the proposed controller, we implemented to the Cartesian space control of three-axis PUMA robot and compared the simulation results with recurrent neural networks(RNNs) controller. Simulation results show that the learning error drastically decrease at on-line learning. The proposed CNNs controller shows much better control performance and shorter processing time compared to the recurrent neural network controller in the robot trajectory control.

• 사물인터넷융복합논문지
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• 제9권6호
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• pp.111-117
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• 2023

시간-공간적 의존성을 모두 고려하는 방법으로 그래프 신경망과 순환 신경망을 함께 사용하는 연구가 많이 진행되고 있다. 특히 그래프 신경망은 새롭게 활발히 연구되고 있는 분야이다. 서울시 자전거 대여 서비스(일명 따릉이)는 서울시 곳곳에 대여소를 갖추고 있으며 각 대여소에서 대여 정보가 충실하게 기록되어 있는 시계열 자료이다. 각 대여소의 대여 정보는 시간에 따른 주기성을 보이는 시간적인 특성을 갖추고 있으며, 지역적인 특성도 대여 현황에 큰 영향을 미치리라고 생각된다. 지역적 상관관계는 그래프 신경망을 이용하여 잘 이해할 수 있다. 이 연구에서는 서울시 자전거 대여 서비스의 시계열 데이터를 그래프로 재구성하고 그래프 신경망과 순차 신경망을 결합한 대여 예측 모델을 개발하였다. 시간에 따른 주기성과 같은 시간 특성과 지역적인 특성 및 각 대여소의 중요도 정도를 고려하였다. 대여소의 중요도 정도는 대여량 예측에 중요한 인자로 사용됨을 확인하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2008년도 추계학술대회 논문집
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• pp.127-128
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• 2008

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1997년도 춘계학술대회 학술발표 논문집
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• pp.259-262
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• 1997

This paper presents a visual servoing of RV-M2 robot manipulators to track and grasp moving object, using pruned dynamic recurrent neural networks(DRNN). The object is stationary in the robot work space and the robot is tracking and grasping the object by using CCD camera mounted on the end-effector. In order to optimize the structure of DRNN, we decide the node whether delete or add, by mutation probability, first in case of delete node, the node which have minimum sum of input weight is actually deleted, and then in case of add node, the weight is connected according to the number of case which added node can reach the other nodes. Using evolutionary programming(EP) that search the struture and weight of the DRNN, and evolution strategies(ES) which train the weight of neuron, we pruned the net structure of DRNN. We applied the DRNN to the Visual Servoing of a robot manipulators to control position and orientation of end-effector, and the validity and effectiveness of the pro osed control scheme will be verified by computer simulations.

• 한국수자원학회:학술대회논문집
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• 한국수자원학회 2010년도 학술발표회
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• pp.1439-1442
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• 2010

Time-lag recurrent neural networks model (Time-Lag RNNM) is used to estimate daily pan evaporation (PE) using limited climatic variables such as max temperature ($T_{max}$), min temperature ($T_{min}$), mean wind speed ($W_{mean}$) and mean relative humidity ($RH_{mean}$). And, for the performances of Time-Lag RNNM, it is composed of training and test performances, respectively. The training and test performances are carried out using daily time series data, respectively. From this research, we evaluate the impact of Time-Lag RNNM for the modeling of the nonlinear time series data. We should, thus, construct the credible data of the daily PE using Time-Lag RNNM, and can suggest the methodology for the irrigation and drainage networks system. Furthermore, this research represents that the strong nonlinear relationship such as pan evaporation modeling can be generalized using Time-Lag RNNM.

• 한국음향학회지
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• 제38권4호
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• pp.433-441
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• 2019

본 논문에서는 입 주변에 방사한 초음파 신호가 반사되어 돌아올 때 발생하는 초음파 도플러 신호를 LSTM(Long Short Term Memory) 순환 신경망 (Recurrent Neural Networks, RNN)을 이용해 음성 패러미터를 추정하는 방법을 소개하고 다층 퍼셉트론 (Multi-Layer Perceptrons, MLP) 신경망을 이용한 방법과 성능 비교를 하였다. 본 논문에서는 LSTM 순환 신경망을 이용해 초음파 도플러 신호로부터 음성 신호의 푸리에 변환 계수를 추정하였다. LSTM 순환 신경망을 학습하기 위한 입력 및 기준값으로 초음파 도플러 신호와 음성 신호로부터 각각 추출된 멜 주파수 대역별 에너지 로그값과 푸리에 변환 계수가 사용되었다. 테스트 데이터를 이용한 실험을 통해 LSTM 순환 신경망과 MLP의 성능을 평가, 비교하였고 척도로는 평균 제곱근 오차(Root Mean Squared Error, RMSE)가 사용되었다.각 실험의 RMSE는 각각 0.5810, 0.7380로 나타났다. 약 0.1570 차이로 LSTM 순환 신경망을 이용한 방법의 성능 우세한 것으로 확인되었다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.349-351
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• 2004

The classical dynamic backpropagation learning algorithm has the problems of learning speed and the determine of learning parameter. The Extend Kalman Filter(EKF) is used effectively for a state estimation method for a non linear dynamic system. This paper presents a learning algorithm using Dual Extended Kalman Filter(DEKF) for Fully Recurrent Neural Network(FRNN). This DEKF learning algorithm gives the minimum variance estimate of the weights and the hidden outputs. The proposed DEKF learning algorithm is applied to the system identification of a nonlinear SISO system and compared with dynamic backpropagation learning algorithm.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 B
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• pp.939-942
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• 1996

This paper presents a stable learning algorithm for diagonal recurrent neural network(DRNN). DRNN is applied to a problem of controlling nonlinear dynamical systems. A architecture of DRNN is a modified model of the Recurrent Neural Network(RNN) with one hidden layer, and the hidden layer is comprised of self-recurrent neurons. DRNN has considerably fewer weights than RNN. Since there is no interlinks amongs in the hidden layer. DRNN is dynamic mapping and is better suited for dynamical systems than static forward neural network. To guarantee convergence and for faster learning, an adaptive learning rate is developed by using Lyapunov function. The ability and effectiveness of identifying and controlling a nonlinear dynamic system using the proposed algorithm is demonstrated by computer simulation.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1997년도 추계학술대회 학술발표 논문집
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• pp.413-416
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• 1997

Recently, dynamic recurrent neural networks(DRNN) for identification of nonlinear dynamic systems have been researched extensively. In general, dynamic backpropagation was used to adjust the weights of neural networks. But, this method requires many complex calculations and has the possibility of falling into a local minimum. So, we propose a new approach to identify nonlinear dynamic systems using DRNN. In order to adjust the weights of neurons, we use evolution strategies, which is a method used to solve an optimal problem having many local minimums. DRNN trained by evolution strategies with mutation as the main operator can act as a plant emulator. And the fitness function of evolution strategies is based on the difference of the plant's outputs and DRNN's outputs. Thus, this new approach at identifying nonlinear dynamic system, when applied to the simulation of a two-link robot manipulator, demonstrates the performance and efficiency of this proposed approach.

• 제어로봇시스템학회논문지
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• 제7권7호
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• pp.582-588
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• 2001

The Multiple Model/Controller IMC(MMC-IMC) is a model-based control method which uses a set of model/controller pairs rather than a single model/controller to handle all possible operating conditions in the IMC control structure. During operation, one model/controller pair that best fit, for current plant situation is chosen by the switching algorithm. The major drawback of the switching controller is the bad transient performance due to the model error and the use fo linear controller for nonlinear plants. In this paper, we propose a method that transient response of the MMC-IMC using two recurrent neural networks. Simulation result shows that the proposed method represents better performance than the usual MMC-IMC`s.