• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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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.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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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.

• 대한전기학회논문지:시스템및제어부문D
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• 제52권12호
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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.

• Korea-Australia Rheology Journal
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• 제21권1호
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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.

• 한국통신학회논문지
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• 제22권5호
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• pp.1026-1035
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• 1997

본 연구는 RBFN의 일종인 GPFN과 PNN을 이용한 음소인식에 관한 연구이다. RBFN의 구조는 계층형 신경망의 구조와 유사하지만, hidden층에서 활성화함수, 참조벡터 및 학습알고리듬의 선택이 다르다. 특히 PNN은 시그모이드 함수가 지수를 포함한 함수들의 한 분류로 대체된다는 것이며, 학습이 필요없으므로 전체계산 시간이 빠르게 수행된다. 5모음, 12자음을 대상으로 한 음소인식 실험에서 평가데이터, VQ와 LVQ에 의한 코드북 데이터를 사용한 경우에 음성의 통계적 특성을 잘 반영하고 있는 RBFN의 일종인 GPFN과 PNN의 인식결과가 MLP보다 우수하였다.

• Computers and Concrete
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• 제3권5호
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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.

• 센서학회지
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• 제25권6호
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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.

• 한국음향학회:학술대회논문집
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• 한국음향학회 1995년도 제12회 음성통신 및 신호처리 워크샵 논문집 (SCAS 12권 1호)
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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.

• 대한전기학회논문지:시스템및제어부문D
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• 제50권1호
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• pp.38-44
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• 2001

This paper investigates the direct adaptive control of nonlinear systems using RBFN(radial basis function networks). The structure of the controller consists of a fixed PD controller and a RBFN controller in parallel. An adaptation law for the parameters of RBFN is developed based on the Lyapunov stability theory to guarantee the stability of the overall control system. The filtered tracking error between the system output and the desired output is shown to be UUB(uniformly ultimately bounded). To evaluate the performance of the controller, the proposed method is applied to the trajectory contro of the two-link manipulator.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제7권2호
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• pp.96-101
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• 2007

Neural networks are known as kinds of intelligent strategies since they have learning capability. There are various their applications from intelligent control fields; however, their applications have limits from the point that the stability of the intelligent control systems is not usually guaranteed. In this paper we propose an adaptive tracking control for robot manipulators using the radial basis function network (RBFN) that is e. kind of neural networks. Adaptation laws for parameters of the RBFN are developed based on the Lyapunov stability theory to guarantee the stability of the overall control scheme. Filtered tracking errors between actual outputs and desired outputs are discussed in the sense of the uniformly ultimately boundedness(UUB). Additionally, it is also shown that parameters of the RBFN are bounded. Experimental results for a SCARA-type robot manipulator show that the proposed adaptive tracking controller is adaptable to the environment changes and is more robust than the conventional PID controller and the neuro-controller based on the multilayer perceptron.