• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.2
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• pp.215-221
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• 2006

This paper is concerned with the control of multiple nonlinearities included in a humanoid robot system. A humanoid robot has some problems such as the structural instability, which leads to consider the control of multiple nonlinearities caused by driver parts as well as gear reducer. Saturation and backlash are typical examples of nonlinearities in the system. The conventional algorithms of backlash control were fuzzy algorithm, disturbance observer and neural network, etc. However, it is not easy to control the system by employing only single algorithm since the system usually includes multiple nonlinearities. In this paper, a switching Pill is considered for a control of saturation and a dual feedback algorithm is proposed for a backlash control. To implement the above algorithms, the system identification is firstly performed for the minimization of the difference between the results of simulation and experiment, and then the switching Pill gains are determined using genetic algorithm with some heuristic approach. The performance of the switching Pill controller for saturation and the dual feedback for backlash control is investigated through the simulation. Finally, it is shown that the implemented control system has good results and can be applied to the real humanoid robot system ISHURO.

• Journal of KIISE:Computing Practices and Letters
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• v.6 no.6
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• pp.555-568
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• 2000

The World Wide Web has become the largest virtual system that is almost universal in scope. In recent research, it has become effective to utilize idle hosts existing in the World Wide Web for running applications that require a substantial amount of computation. This novel computing paradigm has been referred to as the advent of global computing. In this paper, we implement and propose a mobile object-based global computing framework called Tiger, whose primary goal is to present novel object-oriented programming libraries that support distribution, dispatching, migration of objects and concurrency among computational activities. The programming libraries provide programmers with access, location and migration transparency for distributed and mobile objects. Tiger's second goal is to provide a system supporting requisites for a global computing environment - scalability, resource and location management. The Tiger system and the programming libraries provided allow a programmer to easily develop an objectoriented parallel and distributed application using globally extended computing resources. We also present the improvement in performance gained by conducting the experiment with highly intensive computations such as parallel fractal image processing and genetic-neuro-fuzzy algorithms.

• Steel and Composite Structures
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• v.34 no.5
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• pp.743-767
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• 2020

Due to the impressive flexural performance, enhanced compressive strength and more constrained crack propagation, Fibre-reinforced concrete (FRC) have been widely employed in the construction application. Majority of experimental studies have focused on the seismic behavior of FRC columns. Based on the valid experimental data obtained from the previous studies, the current study has evaluated the seismic response and compressive strength of FRC rectangular columns while following hybrid metaheuristic techniques. Due to the non-linearity of seismic data, Adaptive neuro-fuzzy inference system (ANFIS) has been incorporated with metaheuristic algorithms. 317 different datasets from FRC column tests has been applied as one database in order to determine the most influential factor on the ultimate strengths of FRC rectangular columns subjected to the simulated seismic loading. ANFIS has been used with the incorporation of Particle Swarm Optimization (PSO) and Genetic algorithm (GA). For the analysis of the attained results, Extreme learning machine (ELM) as an authentic prediction method has been concurrently used. The variable selection procedure is to choose the most dominant parameters affecting the ultimate strengths of FRC rectangular columns subjected to simulated seismic loading. Accordingly, the results have shown that ANFIS-PSO has successfully predicted the seismic lateral load with R² = 0.857 and 0.902 for the test and train phase, respectively, nominated as the lateral load prediction estimator. On the other hand, in case of compressive strength prediction, ELM is to predict the compressive strength with R² = 0.657 and 0.862 for test and train phase, respectively. The results have shown that the seismic lateral force trend is more predictable than the compressive strength of FRC rectangular columns, in which the best results belong to the lateral force prediction. Compressive strength prediction has illustrated a significant deviation above 40 Mpa which could be related to the considerable non-linearity and possible empirical shortcomings. Finally, employing ANFIS-GA and ANFIS-PSO techniques to evaluate the seismic response of FRC are a promising reliable approach to be replaced for high cost and time-consuming experimental tests.

• Journal of Intelligence and Information Systems
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• v.23 no.3
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• pp.139-153
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• 2017

Corporate bankruptcy can cause great losses not only to stakeholders but also to many related sectors in society. Through the economic crises, bankruptcy have increased and bankruptcy prediction models have become more and more important. Therefore, corporate bankruptcy has been regarded as one of the major topics of research in business management. Also, many studies in the industry are in progress and important. Previous studies attempted to utilize various methodologies to improve the bankruptcy prediction accuracy and to resolve the overfitting problem, such as Multivariate Discriminant Analysis (MDA), Generalized Linear Model (GLM). These methods are based on statistics. Recently, researchers have used machine learning methodologies such as Support Vector Machine (SVM), Artificial Neural Network (ANN). Furthermore, fuzzy theory and genetic algorithms were used. Because of this change, many of bankruptcy models are developed. Also, performance has been improved. In general, the company's financial and accounting information will change over time. Likewise, the market situation also changes, so there are many difficulties in predicting bankruptcy only with information at a certain point in time. However, even though traditional research has problems that don't take into account the time effect, dynamic model has not been studied much. When we ignore the time effect, we get the biased results. So the static model may not be suitable for predicting bankruptcy. Thus, using the dynamic model, there is a possibility that bankruptcy prediction model is improved. In this paper, we propose RNN (Recurrent Neural Network) which is one of the deep learning methodologies. The RNN learns time series data and the performance is known to be good. Prior to experiment, we selected non-financial firms listed on the KOSPI, KOSDAQ and KONEX markets from 2010 to 2016 for the estimation of the bankruptcy prediction model and the comparison of forecasting performance. In order to prevent a mistake of predicting bankruptcy by using the financial information already reflected in the deterioration of the financial condition of the company, the financial information was collected with a lag of two years, and the default period was defined from January to December of the year. Then we defined the bankruptcy. The bankruptcy we defined is the abolition of the listing due to sluggish earnings. We confirmed abolition of the list at KIND that is corporate stock information website. Then we selected variables at previous papers. The first set of variables are Z-score variables. These variables have become traditional variables in predicting bankruptcy. The second set of variables are dynamic variable set. Finally we selected 240 normal companies and 226 bankrupt companies at the first variable set. Likewise, we selected 229 normal companies and 226 bankrupt companies at the second variable set. We created a model that reflects dynamic changes in time-series financial data and by comparing the suggested model with the analysis of existing bankruptcy predictive models, we found that the suggested model could help to improve the accuracy of bankruptcy predictions. We used financial data in KIS Value (Financial database) and selected Multivariate Discriminant Analysis (MDA), Generalized Linear Model called logistic regression (GLM), Support Vector Machine (SVM), Artificial Neural Network (ANN) model as benchmark. The result of the experiment proved that RNN's performance was better than comparative model. The accuracy of RNN was high in both sets of variables and the Area Under the Curve (AUC) value was also high. Also when we saw the hit-ratio table, the ratio of RNNs that predicted a poor company to be bankrupt was higher than that of other comparative models. However the limitation of this paper is that an overfitting problem occurs during RNN learning. But we expect to be able to solve the overfitting problem by selecting more learning data and appropriate variables. From these result, it is expected that this research will contribute to the development of a bankruptcy prediction by proposing a new dynamic model.