• Journal of Institute of Control, Robotics and Systems
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• v.14 no.3
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• pp.254-262
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• 2008

In this paper, we propose an adaptive neural dynamic surface control (DSC) approach with $H_{\infty}$ tracking performance for full dynamics of nonlinear flight systems. It is assumed that the model uncertainties such as structured and unstrutured uncertainties, and external disturbances influence the nonlinear aircraft model. In our control system, self recurrent wavelet neural networks (SRWNNs) are used to compensate the model uncertainties of nonlinear flight systems, and an adaptive DSC technique is extended for the disturbance attenuation of nonlinear flight systems. All weights of SRWNNs are trained on-line by the smooth projection algorithm. From Lyapunov stability theorem, it is shown that $H_{\infty}$ performance nom external disturbances can be obtained. Finally, we present the simulation results for a nonlinear six-degree-of-freedom F-16 aircraft model to confirm the effectiveness of the proposed control system.

• Proceedings of the KIEE Conference
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• 1998.07b
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• pp.740-743
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• 1998

This paper presents an optimization algorithm for a stable Dynamic Neural Network (DNN) using genetic algorithm. Optimized DNN is applied to a problem of controlling nonlinear dynamical systems. DNN is dynamic mapping and is better suited for dynamical systems than static forward neural network. The real time implementation is very important, and thus the neuro controller also needs to be designed such that it converges with a relatively small number of training cycles. SDNN has considerably fewer weights than DNN. The object of proposed algorithm is to the number of self dynamic neuron node and the gradient of activation functions are simultaneously optimized by genetic algorithms. To guarantee convergence, an analytic method based on the Lyapunov function is used to find a stable learning for the SDNN. The ability and effectiveness of identifying and controlling, a nonlinear dynamic system using the proposed optimized SDNN considering stability' is demonstrated by case studies.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2762-2764
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• 2001

In this study, we introduce and investigate a class of dynamic perceptron architectures, discuss a comprehensive design methodology and carry out a series of numeric experiments. The proposed dynamic perceptron architectures are called as Polynomial Neural Networks(PNN). PNN is a flexible neural architecture whose topology is developed through learning. In particular, the number of layers of the PNN is not fixed in advance but is generated on the fly. In this sense, PNN is a self-organizing network. PNN has two kinds of networks, Polynomial Neuron(FPN)-based and Fuzzy Polynomial Neuron(FPN)-based networks, according to a polynomial structure. The essence of the design procedure of PN-based Self-organizing Polynomial Neural Networks(SOPNN) dwells on the Group Method of Data Handling (GMDH) [1]. Each node of the SOPNN exhibits a high level of flexibility and realizes a polynomial type of mapping (linear, quadratic, and cubic) between input and output variables. FPN-based SOPNN dwells on the ideas of fuzzy rule-based computing and neural networks. Simulations involve a series of synthetic as well as experimental data used across various neurofuzzy systems. A detailed comparative analysis is included as well.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.32B no.3
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• pp.48-56
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• 1995

This paper presents a method of implementing efficient optical flow estimation for dynamic scene analysis using the hierarchical Hopfield neural networks. Given the two consequent inages, Zhou and Chellappa suggested the Hopfield neural network for computing the optical flow. The major problem of this algorithm is that Zhou and Chellappa's network accompanies self-feedback term, which forces them to check the energy change every iteration and only to accept the case where the lower the energy level is guaranteed. This is not only undesirable but also inefficient in implementing the Hopfield network. The another problem is that this model cannot allow the exact computation of optical flow in the case that the disparities of the moving objects are large. This paper improves the Zhou and Chellapa's problems by modifying the structure of the network to satisfy the convergence condition of the Hopfield model and suggesting the hierarchical algorithm, which enables the computation of the optical flow using the hierarchical structure even in the presence of large disparities.

• Proceedings of the Acoustical Society of Korea Conference
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• 1994.06a
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• pp.1052-1057
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• 1994

Dynamically localized self-organizing map model (DLSMM) is a new speech recognition model based on the well-known self-organizing map algorithm and dynamic programming technique. The DLSMM can efficiently normalize the temporal and spatial characteristics of speech signal at the same time. Especially, the proposed can use contextual information of speech. As experimental results on ten Korean digits recognition task, the DLSMM with contextual information has shown higher recognition rate than predictive neural network models.

• Journal of the Korean Operations Research and Management Science Society
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• v.25 no.4
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• pp.97-109
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• 2000

This work proposes a neural network approach to solve vehicle routing problems which have diverse application areas such as vehicle routing and robot programming. In solving these problems, classical mathematical approaches have many difficulties. In particular, it is almost impossible to implement a real-time vehicle routing with multiple vehicles. Recently, many researchers proposed methods to overcome the limitation by adopting heuristic algorithms, genetic algorithms, neural network techniques and others. The most basic model for path planning is the Travelling Salesman Problem(TSP) for a minimum distance path. We extend this for a problem with dynamic upcoming of new positions with multiple vehicles. In this paper, we propose an algorithm based on SOM(Self-Organization Map) to obtain a sub-optimal solution for a real-time vehicle routing problem. We develope a model of a generalized multiple TSP and suggest and efficient solving procedure.

• Proceedings of the Korea Institute of Convergence Signal Processing
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• 2001.06a
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• pp.121-124
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• 2001

In industrial actual control system, PID controller has been used with its high delicate control system in position control system. PID controller has simple structure and superior ability in several characteristics. When the response of system is changed by delay time, variable load , disturbances and external environment, control gain of PID controller must be readjusted on the system dynamic characteristics. Therefore, a control ability of PID controller is degraded when th control gain is inappropriately determined. When the response characteristic of system is changed under a condition, control gain of PID controller must be changed adaptively to be a waited response of system. In this paper an adaptive-tuning type PID controller is constructed by self-recurrent Neural Network(SRNN). applying back-propagation(BP) algorithm. Form the result of computer simulation in the proposed controller, its usefulness is verified.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.1
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• pp.43-50
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• 2001

In this paper, we propose the design procedure of advance Polynomial Neural Networks(PNN) architecture for optimal model identification of complex and nonlinear system. The proposed PNN architecture is presented as the generic and advanced type. The essence of the design procedure dwells on the Group Method of Data Handling(GMDH). PNN is a flexible neural architecture whose structure is developed through learning. In particular, the number of layers of the PNN is not fixed in advance but is generated in a dynamic way. In this sense, PNN is a self-organizing network. With the aid of three representative numerical examples, compari-sons show that the proposed advanced PNN algorithm can produce the model with higher accuracy than previous other works. And performance index related to approximation and generalization capabilities of model is evaluated and also discussed.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.63.5-63
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• 2001

In this paper, moving objects tracking and dynamic characteristic analysis are studied. Kohonen´s self-organizing neural network models are used for moving objects tracking and time delay neural networks are used for dynamic characteristic analysis. Instead of objects brightness, neuron projections by Kohonen Networks are used. The motion of target objects can be analyzed by using the differential neuron image between the two projections. The differential neuron image which is made by two consecutive neuron projections is used for center detection and moving objects tracking. The two differential neuron images which are made by three consecutive neuron projections are used for the moving trajectory estimation.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.8
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• pp.551-560
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• 2004

In this paper, we propose a new architecture of Self-Organizing Fuzzy Polynomial Neural Networks (SOFPNN) that is based on a genetically optimized multilayer perceptron with fuzzy polynomial neurons (FPNs) and discuss its comprehensive design methodology involving mechanisms of genetic optimization, especially genetic algorithms (GAs). The proposed SOFPNN gives rise to a structurally optimized structure and comes with a substantial level of flexibility in comparison to the one we encounter in conventional SOFPNNs. The design procedure applied in the construction of each layer of a SOFPNN deals with its structural optimization involving the selection of preferred nodes (or FPNs) with specific local characteristics (such as the number of input variables, the order of the polynomial of the consequent part of fuzzy rules, and a collection of the specific subset of input variables) and addresses specific aspects of parametric optimization. Through the consecutive process of such structural and parametric optimization, an optimized and flexible fuzzy neural network is generated in a dynamic fashion. To evaluate the performance of the genetically optimized SOFPNN, the model is experimented with using two time series data(gas furnace and chaotic time series), A comparative analysis reveals that the proposed SOFPNN exhibits higher accuracy and superb predictive capability in comparison to some previous models available in the literatures.