• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.690-693
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• 2005

In this paper, a hybrid PD-servo state feedback control algorithm for swing up inverted pendulum system is proposed. It consists of two parts. The first part is the PD position control for swinging up the pendulum from the natural pendent position to around the upright position and the second part is the servo state feedback control for stabilizing the inverted pendulum in upright position. The first controller is PD controller and it is tuned to control the position of the pendulum by moving the cart back and forth until the pendulum swings up around the upright position. Then the second controller will be switched to stabilize the inverted pendulum in its upright position. The controller in this stage is the servo state feedback controller designed by pole placement. Experimental results of PD type swinging up control system, of stabilizing servo state feedback control system and of the proposed hybrid PD-servo state feedback control system to swing up and stabilize inverted pendulum show that the proposed method is effective and reliable for actual implementation while it is simple.

• Journal of the Korean Solar Energy Society
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• v.37 no.2
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• pp.23-33
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• 2017

Accurate prediction of stochastic behavior of occupants is a well known problem for improving prediction performance of building energy use. Many researchers have been tried various sensors that have information on the status of occupant such as $CO_2$ sensor, infrared motion detector, RFID etc. to predict occupants, while others have been developed some algorithm to find occupancy probability with those sensors or some indirect monitoring data such as energy consumption in spaces. In this research, various sensor data and energy consumption data are utilized for decision tree algorithms (C4.5 & CART) for estimation of sub-hourly occupancy status. Although the experiment is limited by space (private room) and period (cooling season), the prediction result shows good agreement of above 95% accuracy when energy consumption data are used instead of measured $CO_2$ value. This result indicates potential of IoT data for awareness of indoor environmental status.

• Steel and Composite Structures
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• v.42 no.6
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• pp.733-745
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• 2022

This study proposed a robust artificial intelligence (AI) model based on the social behaviour of the imperialist competitive algorithm (ICA) and artificial neural network (ANN) for modelling the deflection of reinforced concrete beams, abbreviated as ICA-ANN model. Accordingly, the ICA was used to adjust and optimize the parameters of an ANN model (i.e., weights and biases) aiming to improve the accuracy of the ANN model in modelling the deflection reinforced concrete beams. A total of 120 experimental datasets of reinforced concrete beams were employed for this aim. Therein, applied load, tensile reinforcement strength and the reinforcement percentage were used to simulate the deflection of reinforced concrete beams. Besides, five other AI models, such as ANN, SVM (support vector machine), GLMNET (lasso and elastic-net regularized generalized linear models), CART (classification and regression tree) and KNN (k-nearest neighbours), were also used for the comprehensive assessment of the proposed model (i.e., ICA-ANN). The comparison of the derived results with the experimental findings demonstrates that among the developed models the ICA-ANN model is that can approximate the reinforced concrete beams deflection in a more reliable and robust manner.

• International Journal of Control, Automation, and Systems
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• v.2 no.1
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• pp.92-99
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• 2004

In this paper, the decoupled neural network reference compensation technique (DRCT) is applied to the control of a two degrees-of-freedom inverted pendulum mounted on an x-y table. Neural networks are used as auxiliary controllers for both the x axis and y axis of the PD controlled inverted pendulum. The DRCT method known to compensate for uncertainties at the trajectory level is used to control both the angle of a pendulum and the position of a cart simultaneously. Implementation of an on-line neural network learning algorithm has been implemented on the DSP board of the dSpace DSP system. Experimental studies have shown successful balancing of a pendulum on an x-y plane and good position control under external disturbances as well.

• Journal of the Korean Data and Information Science Society
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• v.16 no.4
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• pp.769-780
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• 2005

Recently, the discretization algorithms for continuous data have been actively studied. But there are few articles to compare the efficiency of these algorithms. In this paper we introduce the principles of some binary discretization algorithms including C4.5, CART and QUEST and investigate the efficiency of these algorithms through numerical study. For various underlying distribution, we compare these algorithms in view of misclassification rate and MSE. Real data examples are also included.

• Journal of the Korean Society of Industry Convergence
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• v.23 no.1
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• pp.49-55
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• 2020

This paper presents the system modeling, analysis, and controller design and implementation with a inverted pendulum system in order to test Linear Quadratic control based robust algorithm for inverted pendulum robot. The balancing of an inverted pendulum robot by moving pendulum robot like as 'segway' along a horizontal track is a classic problem in the area of control. This paper will describe two methods to swing a pendulum attached to a cart from an initial downwards position to an upright position and maintain that state. The results of real experiment show that the proposed control system has superior performance for following a reference command at certain initial conditions.

• Proceedings of the KIEE Conference
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• 1997.07b
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• pp.675-678
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• 1997

In this paper, we present a fast and robust algorithm for the design of fuzzy controller and identifying fuzzy model from numerical data by combining the cluster estimation method with a linear least squares estimation procedure. The proposed method is compared with Adaptive Neuro-Fuzzy Inference System(ANFIS) as the standard example of neuro-fuzzy model. Finally we will show its usefulness and effectiveness for the design of fuzzy controller of a cart-pole system and fuzzy modeling for the coagulant dosing of a water purification system.

• International Journal of Control, Automation, and Systems
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• v.4 no.5
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• pp.567-574
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• 2006

This paper presents the hardware implementation of a neural network controller for a nonlinear system with a micro-controller unit (MCU) and a field programmable gate array (FPGA) chip. As an on-line learning algorithm of a neural network, the reference compensation technique has been implemented on an MCU, while PID controllers with other functions such as counters and PWM generators are implemented on an FPGA chip. Interface between an MCU and a field programmable gate array (FPGA) chip has been developed to complete hardware implementation of a neural controller. The developed neural control hardware has been tested for balancing the inverted pendulum while controlling a desired trajectory of a cart as a nonlinear system.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2002.12a
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• pp.187-190
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• 2002

주어진 시스템의 정확한 제어를 위해 뉴로-퍼지 제어시스템의 성공적인 제어는 그 네트웍의 구성에 크게 의존한다. 현재 유전알고리즘을 사용한 제어기 구조의 최적화 방법에 대한 많은 연구가 이루어지고 있으나, 기존의 유전 알고리즘은 고정된 길이의 스트링 구조로 인하여 적합한 연계(linkage)를 얻기 어렵다는 단점이 있다 본 논문에서는 뉴로-퍼지 제어기의 구조적 최적화 설계의 새로운 방법을 제안한다. 여기서, 우리는 구조적으로 최적화 된 뉴로-퍼지 제어기를 설계하기 위해 가변길이 스트링을 사용하는 메시 유전 알고리즘(messy Genetic Algorithm mGA)을 사용한다. 그리고 제안된 방법의 우수성을 증명하기 위해 대표적인 비선형 시스템인 cart-pole 시스템에 제안된 방법을 적용한다.

• Journal of information and communication convergence engineering
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• v.17 no.1
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• pp.41-48
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• 2019

In recent years, sentiment analysis research has become popular. The research results of sentiment analysis have achieved remarkable results in practical applications, such as in Amazon's book recommendation system and the North American movie box office evaluation system. Analyzing big data based on user preferences and evaluations and recommending hot-selling books and hot-rated movies to users in a targeted manner greatly improve book sales and attendance rate in movies [1, 2]. However, traditional machine learning-based sentiment analysis methods such as the Classification and Regression Tree (CART), Support Vector Machine (SVM), and k-nearest neighbor classification (kNN) had performed poorly in accuracy. In this paper, an improved kNN classification method is proposed. Through the improved method and normalizing of data, the purpose of improving accuracy is achieved. Subsequently, the three classification algorithms and the improved algorithm were compared based on experimental data. Experiments show that the improved method performs best in the kNN classification method, with an accuracy rate of 11.5% and a precision rate of 20.3%.