• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.161.4-161
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• 2001

This paper presents adaptive control of robot manipulator using neuro-fuzzy controller Fuzzy logic is control incorrect system without correct mathematical modeling. And, neural network has learning ability, error interpolation ability of information distributed data processing, robustness for distortion and adaptive ability. To reduce the number of fuzzy rules of the FLS(fuzzy logic system), we consider the properties of robot dynamic. In fuzzy logic, speciality and optimization of rule-base creation using learning ability of neural network. This paper presents control of robot manipulator using neuro-fuzzy controller. In proposed controller, fuzzy input is trajectory following error and trajectory following error differential ...

• Journal of the Korean Institute of Gas
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• v.7 no.3 s.20
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• pp.24-31
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• 2003

To operate process plant safely and economically, process monitoring is very important. There are a great number of data acquired through distributed control system and process information system. Fault monitoring is the task with difficulties owing to not only the huge amount of data, but also nonlinearity of chemical processes. In this research, the program, REFA, based on PCA and functional link associative neural network has developed. REFA has better learning capabilities, generalization abilities, and shorter learning time than existing neural network programs. In this work its usefulness has proven by application to Tennessee Eastman process.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.12
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• pp.4664-4681
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• 2020

Modulation recognition (MR) plays a key role in cognitive radar, cognitive radio, and some other civilian and military fields. While existing methods can identify the signal modulation type by extracting the signal characteristics, the quality of feature extraction has a serious impact on the recognition results. In this paper, an end-to-end MR method based on long short-term memory (LSTM) and the gated recurrent unit (GRU) is put forward, which can directly predict the modulation type from a sampled signal. Additionally, the sliding window method is applied to fast-changing mixed-modulation signals for which the signal modulation type changes over time. The recognition accuracy on training datasets in different SNR ranges and the proportion of each modulation method in misclassified samples are analyzed, and it is found to be reasonable to select the evenly-distributed and full range of SNR data as the training data. With the improvement of the SNR, the recognition accuracy increases rapidly. When the length of the training dataset increases, the neural network recognition effect is better. The loss function value of the neural network decreases with the increase of the training dataset length, and then tends to be stable. Moreover, when the fast-changing period is less than 20ms, the error rate is as high as 50%. As the fast-changing period is increased to 30ms, the error rates of the GRU and LSTM neural networks are less than 5%.

• Journal of Internet Computing and Services
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• v.5 no.5
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• pp.69-77
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• 2004

As the internet is widely distributed. the intelligent search agent is commonly used to meet the needs of user. But these Intelligent multi-agents are so independent each other that they can not give reliability of information and also have difficulty in coping with the dynamic distributed environments due to the short of cooperation abilities among multiagent. To resolve these problems. this paper proposes the mechanism for efficient cooperation and information processing by creating agency within broker agent and clustering multi agent's agency using neural network. For reliability of information. we also propose the multiagent management mechanism that can improve the information update problems which are in existing search systems and evaluate the performance of this research through simulation.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1281-1285
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• 2004

There are numerous emotions in the human world. Human expresses and recognizes their emotion using various channels. The example is an eye, nose and mouse. Particularly, in the emotion recognition from facial expression they can perform the very flexible and robust emotion recognition because of utilization of various channels. Hybrid-feature extraction algorithm is based on this human process. It uses the geometrical feature extraction and the color distributed histogram. And then, through the independently parallel learning of the neural-network, input emotion is classified. Also, for the natural classification of the emotion, advancing two-dimensional emotion space is introduced and used in this paper. Advancing twodimensional emotion space performs a flexible and smooth classification of emotion.

• Proceedings of the Korea Information Processing Society Conference
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• 2023.11a
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• pp.442-445
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• 2023

최근 딥러닝 및 로봇기술의 발전으로 인해 대량의 데이터를 빠르게 수집하고 처리하는 연구 분야들로 확대되었다. 이와 관련된 한 가지 분야로써 다중 로봇을 이용한 분산학습 연구가 있으며, 이는 단일 에이전트를 이용할 때보다 대량의 데이터를 빠르게 수집 및 처리하는데 용이하다. 본 연구에서는 기존 Distributed Neural Network Optimization (DiNNO) 알고리즘에서 제안한 정적 분산 학습방법과 달리 단계적 분산학습 방법을 새롭게 제안하였으며, 모델 성능을 향상시키기 위해 원시 변수를 근사하는 단계수를 상수로 고정하는 기존의 방식에서 통신회차가 늘어남에 따라 점진적으로 근사 횟수를 높이는 방법을 고안하여 새로운 알고리즘을 제안하였다. 기존 알고리즘과 제안된 알고리즘의 정성 및 정량적 성능 평가를 수행하기 MNIST 분류와 2 차원 평면도 지도화 실험을 수행하였으며, 그 결과 제안된 알고리즘이 기존 DiNNO 알고리즘보다 동일한 통신회차에서 높은 정확도를 보임과 함께 전역 최적점으로 빠르게 수렴하는 것을 입증하였다.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.6
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• pp.477-482
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• 2016

This paper presents a simple approximation-based design approach for consensus tracking of heterogeneous second-order nonlinear systems under a directed network. All nonlinearities of followers are assumed to be unknown and non-identical. In the controller design procedure, graph-independent error surfaces are used and an unimplementable intermediate controller for each follower is designed at the first design step. Then, by adding and subtracting a graph-based term at the second step, the actual controller for each follower is designed by using one neural network employed to estimate a lumped and distributed nonlinearity. Therefore, the proposed local controller for each follower has a simpler structure than existing approximation-based consensus tracking controllers for multi-agent systems with unmatched nonlinearities.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.28B no.11
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• pp.934-940
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• 1991

The multi-layer neural network that has broadly been utilized in designing the controller of robot manipulator possesses the desirable characteristics of learning capacity, by which the uncertain variation of the dynamic parameters of robot can be handled adaptively, and parallel distributed processing that makes it possible to control on real-time. However the error back propagation algorithm that has been utilized popularly in the learning of the multi-layer neural network has the problem of its slow convergencs speed. In this paper, an approach to improve the convergence speed is proposed using fuzzy logic that can effectively handle the uncertain and fuzzy informations by linguistic level. The effectiveness of the proposed algorithm is demonstrated by computer simulation of PUMA 560 robot manipulator.

• Imaging Science in Dentistry
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• v.49 no.1
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• pp.19-26
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• 2019

Purpose: It has been proposed that using new prediction methods, such as neural networks based on dental data, could improve age estimation. This study aimed to assess the possibility of exploiting neural networks for estimating age by means of the pulp-to-tooth ratio in canines as a non-destructive, non-expensive, and accurate method. In addition, the predictive performance of neural networks was compared with that of a linear regression model. Materials and Methods: Three hundred subjects whose age ranged from 14 to 60 years and were well distributed among various age groups were included in the study. Two statistical software programs, SPSS 21 (IBM Corp., Armonk, NY, USA) and R, were used for statistical analyses. Results: The results indicated that the neural network model generally performed better than the regression model for estimation of age with pulp-to-tooth ratio data. The prediction errors of the developed neural network model were acceptable, with a root mean square error (RMSE) of 4.40 years and a mean absolute error (MAE) of 4.12 years for the unseen dataset. The prediction errors of the regression model were higher than those of the neural network, with an RMSE of 10.26 years and a MAE of 8.17 years for the test dataset. Conclusion: The neural network method showed relatively acceptable performance, with an MAE of 4.12 years. The application of neural networks creates new opportunities to obtain more accurate estimations of age in forensic research.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.69.2-69
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• 2001

This paper presents a new approach to the design of neural control system using digital signal processors in order to improve the precision and robustness. Robotic manipulators have become increasingly important in the field of flexible automation. High speed and high-precision trajectory tracking are indispensable capabilities for their versatile application. The need to meet demanding control requirement in increasingly complex dynamical control systems under significant uncertainties, leads toward design of intelligent manipulation robots. The TMS320C31 is used in implementing real time neural control to provide an enhanced motion control for robotic manipulators. In this control scheme, the networks introduced are neural nets with dynamic neurons, whose dynamics are distributed over all the network nodes.