• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.12 no.2
• /
• pp.121-130
• /
• 2012

This paper proposes an intuitive real-time robot control system using human body movement. Recently, it has been developed that motion generation for humanoid robots with reflecting human body movement, which is measured by a motion capture. However, in the existing studies about robot control system by human body movement, the detailed structure information of a robot, for example, degrees of freedom, the range of motion and forms, must be examined in order to calculate inverse kinematics. In this study, we have proposed Associative Motion Generation as humanoid robot motion generation method which does not need the detailed structure information. The associative motion generation system is composed of two neural networks: nonlinear principal component analysis and Jordan recurrent neural network, and the associative motion is generated with the following three steps. First, the system learns the correspondence relationship between an indication and a motion using training data. Second, associative values are extracted for associating a new motion from an unfamiliar indication using nonlinear principal component analysis. Last, the robot generates a new motion through calculation by Jordan recurrent neural network using the associative values. In this paper, we propose a real-time humanoid robot control system based on Associative Motion Generation, that enables user to control motion intuitively by human body movement. Through the task processing and subjective evaluation experiments, we confirmed the effective usability and affective evaluations of the proposed system.

• Journal of the Korean Geotechnical Society
• /
• v.23 no.7
• /
• pp.17-25
• /
• 2007

Various geotechnical problems due to insufficient bearing capacity or excessive settlement are likely to occur when constructing roads or large complexes on soft ground. Accurate predictions of the magnitude of settlement and the consolidation time provide numerous options of ground improvement methods and, thus, enable to save time and expense of the whole project. Asaoka's method is probably the most frequently used one for settlement prediction and the empirical formulae such as Hyperbolic method and Hoshino's method are also often used. To find an elaborate method of predicting the embankment settlement, two recurrent type neural network models, such as Jordan model and Elman-Jordan model, are adopted. The data sets of settlement measured at several domestic sites are analyzed to obtain the most suitable model structures. It was shown from the comparison between predicted and measured settlements that Jordan model provides better predictions than Elman-Jordan model does and that the predictions using CPT results are more accurate than those using SPT results. It is believed that RNN using cone penetration test results can be a highly efficient tool in predicting settlements if enough field data can be obtained.

• Proceedings of the KIEE Conference
• /
• 2006.10a
• /
• pp.145-146
• /
• 2006

본 논문은 부분방전(PD: Partial Discharge)의 패턴인식 확률 극대화를 목적으로 신경망(NN: Neural Network) 파라미터 중에서 은닉층 뉴런의 수, 모멘텀(momentum)의 Step size와 Decay rate 를 최적화하기 위하여 유전 알고리즘(GA: Genetic Algonthm)을 적응하였다. 실험적 연구의 대상으로서, GIS(Gas Insulated Switchgear)사고의 주요 원인으로 보고되어있는 결함들을 인위적으로 모의한 16개 Test cell을 이용하여 부분방전을 발생시켰다. 부분방전 신호는 본 연구팀이 개발한 센서를 이용하여 검출되어 데이터베이스가 구축되어 그로부터 추출된 학습 데이터들의 학습에 다음과 같은 5가지 신경망 모델이 적응되었다: Multilayer Perception (MLP), Jordan-Elman Network (JEN), Recurrent Network (RN), Self-Organizing Feature Map (SOFM), Time-Lag Recurrent Network (TLRN). 유전 알고리즘 적용 효율성을 분석하기 위하여 동일한 데이터를 이용하여 다음과 같은 두 가지 방법을 적용한 결과를 상호 비교하였다. 우선 상기 선택된 모델만 적용하였고 다근 하나는 상기 모델과 Genetic Algorithm이 동시에 적용되었다. 모든 모델에 대하여 학습오차와 패턴 분류 확률을 비교한 결과, 유전 알고리즘 적응 시 부분방전 패턴인식 확률이 향상되었음이 확인되어 향후 신뢰성 있는 GIS 부분방전 진단기술에 활용될 수 있을 것으로 사료된다.