• Journal of Korea Multimedia Society
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• v.9 no.3
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• pp.369-376
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• 2006

In this paper, we propose an improved fuzzy RBF network which dynamically adjusts the rate of learning by applying the Delta-bar-Delta algorithm in order to improve the learning performance of fuzzy RBF networks. The proposed learning algorithm, which combines the fuzzy C-Means algorithm with the generalized delta learning method, improves its learning performance by dynamically adjusting the rate of learning. The adjustment of the learning rate is achieved by self-generating middle-layered nodes and by applying the Delta-bar-Delta algorithm to the generalized delta learning method for the learning of middle and output layers. To evaluate the learning performance of the proposed RBF network, we used 40 identifiers extracted from a container image as the training data. Our experimental results show that the proposed method consumes less training time and improves the convergence of teaming, compared to the conventional ART2-based RBF network and fuzzy RBF network.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.1113-1119
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• 1989

Neural network control has many innovative potentials for intelligent adaptive control. Among many, it promises real time adaption, robustness, fault tolerance, and self-learning which can be achieved with little or no system models. In this paper, a dynamic robot controller has been developed based on a backpropagation neural network. It gradually learns the robot's dynamic properties through repetitive movements being initially trained with a PD controller. Its control performance has been tested on a simulated PUMA 560 demonstrating fast learning and convergence.

• Proceedings of the Acoustical Society of Korea Conference
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• 1994.06c
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• pp.407-410
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• 1994

In this paper, we describe the new unsuperivised learning algorithm, SASOM. It can solve the defects of the conventional SOM that the state of network can't converge to the minimum point. The proposed algorithm uses the object function which can evaluate the state of network in learning and adjusts the learning rate flexibly according to the evaluation of the object function. We implement the simulated annealing which is applied to the conventional network using the object function and the learning rate. Finally, the proposed algorithm can make the state of network converged to the global minimum. Using the two-dimensional input vectors with uniform distribution, we graphically compared the ordering ability of SOM with that of SASOM. We carried out the recognitioin on the new algorithm for all Korean phonemes and some continuous speech.

• Journal of the Korean Institute of Telematics and Electronics C
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• v.34C no.7
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• pp.70-81
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• 1997

In this paper, we propose HMCNN(hybrid multiple component neural networks) that enhance performance of MCNN by adapting new pattern partitioning algorithm which can cluster many input patterns efficiently. Added neural network performs similar learning procedure that of kohonen network. But it dynamically determine it's number of output neurons using algorithms that decide self-organized number of clusters and patterns in a cluster. The proposed network can effectively be applied to problems of large data as well as huge networks size. As a sresutl, proposed pattern partitioning network can enhance performance results and solve weakness of MCNN like generalization capability. In addition, we can get more fast speed by performing parallel learning than that of other supervised learning networks.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.39 no.9
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• pp.985-996
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• 1990

An inverse kinematic solution of a robot manipulator using multilayer perceptrons is proposed. Neural networks allow the solution of some complex nonlinear equations such as the inverse kinematics of a robot manipulator without the need for its model. However, the back-propagation (BP) learning rule for multilayer perceptrons has the major limitation of being too slow in learning to be practical. In this paper, a new algorithm named Dynamically Reconfiguring BP is proposed to improve its learning speed. It uses a modified version of Kohonen's Self-Organizing Feature Map (SOFM) to partition the input space and for each input point, select a subset of the hidden processing elements or neurons. A subset of the original network results from these selected neuron which learns the desired mapping for this small input region. It is this selective property that accelerates convergence as well as enhances resolution. This network was used to learn the parity function and further, to solve the inverse kinematic problem of a robot manipulator. The results demonstrate faster learning than the BP network.

• Journal of the Korean Institute of Telematics and Electronics
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• v.26 no.5
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• pp.85-91
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• 1989

In this paper, we propose a neural net system for speech recognition, which is composed of two neural networks. Firstly the self-supervised BP(Back Propagation) network generates the distributed concept corresponding to the activity pattern in the hidden units. And then the self-organizing neural network forms a concept map which directly displays the similarity relations between concepts. By doing the above, the difficulty in learning the conventional BP network is solved and the weak side of BP falling into a pattern matcher is gone, while the strong point of generating the various internal representations is used. And we have obtained the concept map which is more orderly than the Kohonen's SOFM. The proposed neural net system needs not any special preprocessing and has a self-learning ability.

• Journal of Engineering Education Research
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• v.12 no.1
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• pp.17-23
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• 2009

This paper deals with the design and implementation of PBL for the computer network practice to improve learner's learning ability. This design is for college student's whose learning ability is low. I implemented the CNC-PBL in a class of second year students at Daeduk college. The result of the experiment showed that the CNC-PBL facilitated learner's self-directed learning process.

• Proceedings of the KIEE Conference
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• 2002.07b
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• pp.1165-1168
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• 2002

This paper presents a neural network based self-tuning fuzzy PID control scheme with variable learning rate for sensorless vector controlled induction motor drives. MRAS(Model Reference Adaptive System) is used for rotor speed estimation. When induction motor is continuously used long time. its electrical and mechanical parameters will change, which degrade the performance of PID controller considerably. This paper re-analyzes the fuzzy controller as conventional PID controller structure, introduces a single neuron with a back-propagation learning algorithm to tune the control parameters, and proposes a variable learning rate to improve the control performance. The proposed scheme is simple in structure and computational burden is small. The simulation using Matlab/Simulink and the experiment using DS1102 board show the robustness of the proposed controller to parameter variations.

• Journal of Advanced Research in Ocean Engineering
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• v.3 no.3
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• pp.136-148
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• 2017

The paper presents dual arm ROV manipulation using deep reinforcement learning. The purpose of this underwater manipulator is to investigate and excavate natural resources in ocean, finding lost aircraft blackboxes and for performing other extremely dangerous tasks without endangering humans. This research work emphasizes on a self-learning approach using Deep Reinforcement Learning (DRL). DRL technique allows ROV to learn the policy of performing manipulation task directly, from raw image data. Our proposed architecture maps the visual inputs (images) to control actions (output) and get reward after each action, which allows an agent to learn manipulation skill through trial and error method. We have trained our network in simulation. The raw images and rewards are directly provided by our simple Lua simulator. Our simulator achieve accuracy by considering underwater dynamic environmental conditions. Major goal of this research is to provide a smart self-learning way to achieve manipulation in highly dynamic underwater environment. The results showed that a dual robotic arm trained for a 3DOF movement successfully achieved target reaching task in a 2D space by considering real environmental factor.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.9
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• pp.781-788
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• 2005

This paper proposes an identification method using a self recurrent wavelet neural network (SRWNN) for dynamic systems. The architecture of the proposed SRWNN is a modified model of the wavelet neural network (WNN). But, unlike the WNN, since a mother wavelet layer of the SRWNN is composed of self-feedback neurons, the SRWNN has the ability to store the past information of the wavelet. Thus, in the proposed identification architecture, the SRWNN is used for identifying nonlinear dynamic systems. The gradient descent method with adaptive teaming rates (ALRs) is applied to 1.am the parameters of the SRWNN identifier (SRWNNI). The ALRs are derived from the discrete Lyapunov stability theorem, which are used to guarantee the convergence of an SRWNNI. Finally, through computer simulations, we demonstrate the effectiveness of the proposed SRWNNI.