• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.9
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• pp.1679-1687
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• 2016

Mobile robots are effectively used in industrial fields that require flexible manufacturing systems. Mobile robots have to move with mechanical loads such as product parts along the specified paths, and are usually equipped with kinematic controllers. When the loads and nonlinear frictions are too high, satisfactory control performances can not be expected with the kinematic controllers, so some dynamic controllers have been developed. Conventional dynamic controllers require the exact weights and locations of the loads; however, the loads are frequently changed and unknown so that the control performances of the conventional controllers are limited. This paper proposes an adaptive PD control method using gradient descent learning to have sufficient dynamic control performance for unknown loads. Simulation studies have been conducted for various load conditions to verify that the adaptive PD control method have much broader convergence region than the convention method.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.663-667
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• 2004

This paper presents new pruning and learning methods for the fuzzy rule-based classifier. The structure of the proposed classifier is framed from the fuzzy sets in the premise part of the rule and the Bayesian classifier in the consequent part. For the simplicity of the model structure, the unnecessary features for each fuzzy rule are eliminated through the iterative pruning algorithm. The quality of the feature is measured by the proposed correctness method, which is defined as the ratio of the fuzzy values for a set of the feature values on the decision region to one for all feature values. For the improvement of the classification performance, the parameters of the proposed classifier are finely adjusted by using the gradient descent method so that the misclassified feature vectors are correctly re-categorized. The cost function is determined as the squared-error between the classifier output for the correct class and the sum of the maximum output for the rest and a positive scalar. Then, the learning rules are derived from forming the gradient. Finally, the fuzzy rule-based classifier is tested on two data sets and is found to demonstrate an excellent performance.

• Journal of the Korean Institute of Intelligent Systems
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• v.8 no.5
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• pp.98-106
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• 1998

This paper proposes an efficient learning algorithm for improving the training performance of the neural network. The proposed method improves the training performance by applying the backpropagation algorithm of a global optimization method which is a hybrid of a stochastic approximation and a conjugate gradient method. The approximate initial point for f a ~gtl obal optimization is estimated first by applying the stochastic approximation, and then the conjugate gradient method, which is the fast gradient descent method, is applied for a high speed optimization. The proposed method has been applied to the parity checking and the pattern classification, and the simulation results show that the performance of the proposed method is superior to those of the conventional backpropagation and the backpropagation algorithm which is a hyhrid of the stochastic approximation and steepest descent method.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2008.05a
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• pp.193-196
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• 2008

Z. Cao had proposed NFRM(new fuzzy reasoning method) which infers in detail using relation matrix. In spite of the small inference rules, it shows good performance than mamdani's fuzzy inference method. In this paper, we propose 2. Cao's fuzzy inference method using learning ability witch is used a gradient descent method in order to improve the performances. Because it is difficult to determine the relation matrix elements by trial and error method which is needed many hours and effort. Simulation results are applied linear and nonlinear system show that the proposed inference method has good performances.

• Proceedings of the Korea Water Resources Association Conference
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• 2018.05a
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• pp.448-448
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• 2018

In this study, the regression models (Load ESTimator and eight-parameter model) were evaluated to estimate instantaneous pollutant loads under various criteria and optimization methods. As shown in the results, LOADEST commonly used in interpolating pollutant loads could not necessarily provide the best results with the automatic selected regression model. It is inferred that the various regression models in LOADEST need to be considered to find the best solution based on the characteristics of watersheds applied. The recently developed eight-parameter model integrated with Genetic Algorithm (GA) and Gradient Descent Method (GDM) were also compared with LOADEST indicating that the eight-parameter model performed better than LOADEST, but it showed different behaviors in calibration and validation. The eight-parameter model with GDM could reproduce the nitrogen loads properly outside of calibration period (validation). Furthermore, the accuracy and precision of model estimations were evaluated using various criteria (e.g., $R^2$ and gradient and constant of linear regression line). The results showed higher precisions with the $R^2$ values closed to 1.0 in LOADEST and better accuracy with the constants (in linear regression line) closed to 0.0 in the eight-parameter model with GDM. In hence, based on these finding we recommend that users need to evaluate the regression models under various criteria and calibration methods to provide the more accurate and precise results for pollutant load estimations.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2393-2398
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• 2003

In this paper, we proposes a new fuzzy inference system for modeling nonlinear systems given input and output data. In the suggested fuzzy inference system, the number of fuzzy rules and parameter values of membership functions are automatically decided by using the kernel-based method. The kernel-based method individually performs linear transformation and kernel mapping. Linear transformation projects input space into linearly transformed input space. Kernel mapping projects linearly transformed input space into high dimensional feature space. The structure of the proposed fuzzy inference system is equal to a Takagi-Sugeno fuzzy model whose input variables are weighted linear combinations of input variables. In addition, the number of fuzzy rules can be reduced under the condition of optimizing a given criterion by adjusting linear transformation matrix and parameter values of kernel functions using the gradient descent method. Once a structure is selected, coefficients in consequent part are determined by the least square method. Simulated result illustrates the effectiveness of the proposed technique.

• Korean Journal of Cognitive Science
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• v.4 no.2
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• pp.181-200
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• 1994

In the learning phase of multilyer feedforword neural network,there are problems such that local minimum,learning praralysis and slow learning speed when backpropagation algorithm used.To overcome these problems, the genetic algorithm has been used as learing method in the multilayer feedforword neural network instead of backpropagation algorithm.However,because the genetic algorith, does not have any mechanism for fine-tuned local search used in backpropagation method,it takes more time that the genetic algorithm converges to a global optimal solution.In this paper,we suggest a new GA-BP method which provides a fine-tunes local search to the genetic algorithm.GA-BP method uses gradient descent method as one of genetic algorithm's operators such as mutation or crossover.To show the effciency of the developed method,we applied it to the 3-parity bit problem with analysis.

• Journal of Korea Multimedia Society
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• v.7 no.6
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• pp.841-850
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• 2004

This paper proposes a GA and GDM-based method for removing unnecessary rules and generating relevant rules from the fuzzy rules corresponding to several fuzzy partitions. The aim of proposed method is to find a minimum set of fuzzy rules that can correctly classify all the training patterns. When the fine fuzzy partition is used with conventional methods, the number of fuzzy rules has been enormous and the performance of fuzzy inference system became low. This paper presents the application of GA as a means of finding optimal solutions over fuzzy partitions. In each rule, the antecedent part is made up the membership functions of a fuzzy set, and the consequent part is made up of a real number. The membership functions and the number of fuzzy inference rules are tuned by means of the GA, while the real numbers in the consequent parts of the rules are tuned by means of the gradient descent method. It is shown that the proposed method has improved than the performance of conventional method in formulating and solving a combinatorial optimization problem that has two objectives: to maximize the number of correctly classified patterns and to minimize the number of fuzzy rules.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.316-321
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• 2003

This paper presents a design method of the wavelet neural network based controller using direct adaptive control method to deal with a stable intelligent control of chaotic systems. The various uncertainties, such as mechanical parametric variation, external disturbance, and unstructured uncertainty influence the control performance. However, the conventional control methods such as optimal control, adaptive control and robust control may not be feasible when an explicit, faithful mathematical model cannot be constructed. Therefore, an intelligent control system that is an on-line trained WNN controller based on direct adaptive control method with adaptive learning rates is proposed to control chaotic nonlinear systems whose mathematical models are not available. The adaptive learning rates are derived in the sense of discrete-type Lyapunov stability theorem, so that the convergence of the tracking error can be guaranteed in the closed-loop system. In the whole design process, the strict constrained conditions and prior knowledge of the controlled plant are not necessary due to the powerful learning ability of the proposed intelligent control system. The gradient-descent method is used for training a wavelet neural network controller of chaotic systems. Finally, the effectiveness and feasibility of the proposed control method is demonstrated with application to the chaotic systems.

• Journal of Mechanical Science and Technology
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• v.15 no.5
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• pp.580-591
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• 2001

This paper proposes a fuzzy-sliding mode control which is designed by a self tuning fuzzy inference method based on a genetic algorithm. Using the method, the number of inference rules and the shape of the membership functions of the proposed fuzzy-sliding mode control are optimized without the aid of an expert in robotics. The fuzzy outputs of the consequent part are updated by the gradient descent method. It is further guaranteed that the selected solution becomes the global optimal solution by optimizing Akaikes information criterion expressing the quality of the inference rules. In order to evaluate the learning performance of the proposed fuzzy-sliding mode control based on a genetic algorithm, a trajectory tracking simulation of the polishing robot is carried out. Simulation results show that the optimal fuzzy inference rules are automatically selected by the genetic algorithm and the trajectory control result is similar to the result of the fuzzy-sliding mode control which is selected through trial error by an expert. Therefore, a designer who does not have expert knowledge of robot systems can design the fuzzy-sliding mode controller using the proposed self tuning fuzzy inference method based on the genetic algorithm.