• Proceedings of the KIEE Conference
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• 1989.07a
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• pp.679-684
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• 1989

In this paper, we describe the PTP notion of robot manipulators by neural networks. The PTP motion requires the inverse kinematic redline and the joint trajectory generation algorithm. We use the multi-layered Perceptron neural networks and the Error Back Propagation(EBP) learning rule for inverse kinematic problems. Varying the number of hidden layers and the neurons of each hidden layer, we investigate the performance of the neural networks. Increasing the number of learning sweeps, we also discuss the performance of the neural networks. We propose a method for solving the inverse kinematic problems by adding the error compensation neural networks(ECNN). And, we implement the neural networks proposed by Grossberg et al. for automatic trajectory generation and discuss the problems in detail. Applying the neural networks to the current trajectory generation problems, we can refute the computation time for trajectory generation.

• The Transactions of the Korea Information Processing Society
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• v.4 no.7
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• pp.1749-1758
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• 1997

This paper suggests the development of dynamic forecasting model for short-term power demand based on Radial Basis Function Network and Pal's GLVQ algorithm. Radial Basis Function methods are often compared with the backpropagation training, feed-forward network, which is the most widely used neural network paradigm. The Radial Basis Function Network is a single hidden layer feed-forward neural network. Each node of the hidden layer has a parameter vector called center. This center is determined by clustering algorithm. Theatments of classical approached to clustering methods include theories by Hartigan(K-means algorithm), Kohonen(Self Organized Feature Maps %3A SOFM and Learning Vector Quantization %3A LVQ model), Carpenter and Grossberg(ART-2 model). In this model, the first approach organizes the load pattern into two clusters by Pal's GLVQ clustering algorithm. The reason of using GLVQ algorithm in this model is that GLVQ algorithm can classify the patterns better than other algorithms. And the second approach forecasts hourly load patterns by radial basis function network which has been constructed two hidden nodes. These nodes are determined from the cluster centers of the GLVQ in first step. This model was applied to forecast the hourly loads on Mar. $4^{th},\;Jun.\;4^{th},\;Jul.\;4^{th},\;Sep.\;4^{th},\;Nov.\;4^{th},$ 1995, after having trained the data for the days from Mar. $1^{th}\;to\;3^{th},\;from\;Jun.\;1^{th}\;to\;3^{th},\;from\;Jul.\;1^{th}\;to\;3^{th},\;from\;Sep.\;1^{th}\;to\;3^{th},\;and\;from\;Nov.\;1^{th}\;to\;3^{th},$ 1995, respectively. In the experiments, the average absolute errors of one-hour ahead forecasts on utility actual data are shown to be 1.3795%.