• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1173-1176
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• 1996

Multilayer feedforward networks may be applied to identify the deterministic relationship between input and output data. When the results from the network require a high level of assurance, considering of the stochastic relationship between the data may be very important. The variance is one of the useful parameters to represent the stochastic relationship. This paper presents a new algorithm for a multilayer feedforward network to learn the variance of dispersed data without preliminary calculation of variance. In this paper, the network with this learning algorithm is named as a variance learning neural network(VALEAN). Computer simulation examples are utilized for the demonstration and the evaluation of VALEAN.

• 전자공학회논문지B
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• 제33B권12호
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• pp.95-105
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• 1996

This paper presents structure optimization of a feedforward neural netowrk controller using the genetic algorithm. It is important to design the neural network with minimum structure for fast response and learning. To minimize the structure of the feedforward neural network, a genralization of multilayer neural netowrks, the genetic algorithm uses binary coding for the structure and floating-point coding for weights. Local search with an on-line learnign algorithm enhances the search performance and reduce the time for global search of the genetic algorithm. The relative fitness defined as the multiplication of the error and node functions prevents from premature convergence. The feedforward neural controller of smaller size outperformed conventional multilayer perceptron network controller.

• 한국정밀공학회지
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• 제14권6호
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• pp.121-127
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• 1997

Multilayer feedforward networks may be applied to identify the deterministic relationship between input and output data. When the results from the network require a high level of assurance, consideration of the stochastic relationship between the input and output data may be very important. Variance is one of the effective parameters to deal with the stochastic relationship. This paper presents a new algroithm for a multilayer feedforward network to learn the variance of dispersed data without preliminary calculation of variance. In this paper, the network with this learning algorithm is named as a variance learning neural network(VALEAN). Computer simulation examples are utilized for the demonstration and the evaluation of VALEAN.

• 대한전기학회논문지
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• 제39권12호
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• pp.1306-1316
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• 1990

A controller using a multilayer neural network is proposed to the dynamic control of a PUMA 560 robot arm. This controller is developed based on an error back-propagation (BP) neural network. Since the neural network can model an arbitrary nonlinear mapping, it is used as a commanded feedforward torque generator. A Proportional Derivative (PD) feedback controller is used in parallel with the feedforward neural network to train the system. The neural network was trained by the current state of the manipulator as well as the PD feedback error torque. No a priori knowledge on system dynamics is needed and this information is rather implicitly stored in the interconnection weights of the neural network. In another experiment, the neural network was trained with the current, past and future positions only without any use of velocity sensors. Form this thim window of position values, BP network implicitly filters out the velocity and acceleration components for each joint. Computer simulation demonstrates such powerful characteristics of the neurocontroller as adaptation to changing environments, robustness to sensor noise, and continuous performance improvement with self-learning.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1999년도 제14차 학술회의논문집
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• pp.214-217
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• 1999

In this paper, genetic algorithm (GA) is implemented to search for the optimal structures (i.e. the kind of neural networks, the number of inputs and hidden neurons) of neural networks which are used approximating a given nonlinear function. Two kinds of neural networks, i.e. the multilayer feedforward [1] and time delay neural networks (TDNN) [2] are involved in this paper. The synapse weights of each neural network in each generation are obtained by associated training algorithms. The simulation results of nonlinear function approximation are given out and some improvements in the future are outlined.

• 한국수자원학회:학술대회논문집
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• 한국수자원학회 2021년도 학술발표회
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• pp.135-135
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• 2021

In water resources management, rainfall prediction with high accuracy is still one of controversial issues particularly in countries facing heavy rainfall during wet seasons in the monsoon climate. The aim of this study is to develop an artificial neural network (ANN) for predicting future six months of rainfall data (from April to September 2020) from daily meteorological data (from 1971 to 2019) such as rainfall, temperature, wind speed, and humidity at Seoul, Korea. After normalizing these data, they were trained by using a multilayer perceptron (MLP) as a class of the feedforward ANN with 15,000 neurons. The results show that the proposed method can analyze the relation between meteorological datasets properly and predict rainfall data for future six months in 2020, with an overall accuracy over almost 70% and a root mean square error of 0.0098. This study demonstrates the possibility and potential of MLP's applications to predict future daily rainfall patterns, essential for managing flood risks and protecting water resources.

• 정보처리학회논문지B
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• 제12B권1호
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• pp.25-30
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• 2005

이 논문은 대용량 분류 문제를 위한 모듈러 신경망(modular feedforward MLP)과 SVM(Support Vector Machine)의 성능을 비교 분석하였다. 전반적으로 SVM이 상당한 성능 차이로 우수함을 확인하였다. 또한 부류 수가 많아짐에 따라 SVM이 신경망보다 완만하게 성능 저하가 있음도 확인하였다. 또한 기각에 따른 정인식률 추이를 분석하였고, 대용량 분류에 적합한 SVM 파라메터(kernel 함수와 관련 변수들)를 도출하였다.

• 한국통신학회논문지
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• 제18권5호
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• pp.634-642
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• 1993

본 논문에서는 로보트 매니퓰레이터 제어를 위하여 시간 지연이 있는 다층 신경회로망(TDNN)의 학습 알고리즘으로 매니퓰레이터의 역동역학 모델을 학습시키고 이것을 앞먹임(Feedforward)제어기로 사용하는 궤적 제어 방법을 새로이 제시하였다. TDNN 구조는 뉴런이 현재 및 과거의 입력 신호로부터 더 많은 정보를 추출할 수 있고 보다 효율적으로 학습할 수 있는 유리한 특징을 가지고 있다. TDNN 신경회로망은 기준 궤적 입력 신호와 비례 미분 제어기의 오차 신호를 각각 정규화하여 받아드린다. TDNN 신경회로망으로 입력되는 정규화 신호는 TDNN 신경회로망의 학습 효율을 향상시키는 것으로 입증되었다. 제안된 제어 방법을 두개의 관절을 가진 평면 로보트 매니퓰레이터에 대하여 적용하고 컴퓨터 시뮬레이션으로 고찰하였다.

• 한국통신학회논문지
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• 제16권11호
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• pp.1186-1193
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• 1991

본 논문에서는 신경회로망을 사용한 로보트 매니퓰레이터의 궤적 제어 방법을 제안하였다. 매니퓰레이터에 가해지는 토크는 신경회로망이 출력인 feedforward 토크와 보조제어기로 사용되는 비례 미분 제어기PD 제어기의 출력인 feedback 토크의 합이다. 제안된 전경 회로망은 다층 신경회로로서 시간 지연 요소를 가지며 PD 제어기의 오차 토크를 사용하여 매니퓰레이터 이동력학 모델을 학습한다. errror backpropagation(BP) 학습 신경회로 제어기를 사용해보므로서 매니퓰레이터 동특성에 대한 정보를 미리 필요로 하지 않으며, 연결 가중치 값에 그러한 정보가 저장된다. 확인될 신경회로망의 특성을 컴퓨터 시뮬레이션을 통하여 입증한다.

• 전자공학회논문지B
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• 제31B권10호
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• pp.149-157
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• 1994

A method of applying a recurrent backpropagation network to identifying or modelling a dynamic system is proposed. After the recurrent backpropagation network having both the characteristicsof interpolative network and associative network is applied to XOR problem, a new model of recurrent backpropagation network is proposed and compared with the original recurrent backpropagation network by applying them to XOR problem. based on the observation thata function can be approximated with polynomials to arbitrary accuracy, the new model is developed so that it may generate higher-order terms in the internal states Moreover, it is shown that the new network is succesfully applied to recognizing noisy patterns of numbers.