• ETRI Journal
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• v.38 no.6
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• pp.1229-1239
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• 2016

For efficient interaction between humans and robots, robots should be able to understand the meaning and intention of human behaviors as well as recognize them. This paper proposes an interactive human intention reading method in which a robot develops its own knowledge about the human intention for an object. A robot needs to understand different human behavior structures for different objects. To this end, this paper proposes a hierarchical behavior knowledge network that consists of behavior nodes and directional edges between them. In addition, a human intention reading algorithm that incorporates reinforcement learning is proposed to interactively learn the hierarchical behavior knowledge networks based on context information and human feedback through human behaviors. The effectiveness of the proposed method is demonstrated through play-based experiments between a human and a virtual teddy bear robot with two virtual objects. Experiments with multiple participants are also conducted.

• International journal of advanced smart convergence
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• v.7 no.3
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• pp.15-22
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• 2018

Nowadays multiple control methods are used in robot control systems. A model, predictor or error estimator is often used as feedback controller to control a robot. While robots have become more and more intensive with algorithms capable to acquiring independent knowledge from raw data. This paper represents experimental results of real time machine learning control that does not require explicit knowledge about the plant. The controller can be applied on a broad range of tasks with different dynamic characteristics. We tested our controller on the balancing problem of a single propeller pendulum. Experimental results show that the use of a supervised machine learning algorithm in a single propeller pendulum allows the stable swing of a given angle.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.43 no.5
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• pp.838-847
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• 1994

Although there is an analytical proof of modeling capability of the neural network, the convergency error in nonlinearity modeling is inevitable, since the steepest descent based practical larning algorithms do not guarantee the convergency of modeling error. Therefore, it is difficult to apply the neural network to control system in critical environments under an on-line learning scheme. Although the convergency of modeling error of a neural network is not guatranteed in the practical learning algorithms, the convergency, or boundedness of tracking error of the control system can be achieved if a proper feedback control law is combined with the neural network model to solve the problem of modeling error. In this paper, the neural network is introduced for compensating a system uncertainty to control a nonlinear dynamic system. And for suppressing inevitable modeling error of the neural network, an iterative neural network learning control algorithm is proposed as a virtual on-line realization of the Adaptive Variable Structure Controller. The efficiency of the proposed control scheme is verified from computer simulation on dynamics control of a 2 link robot manipulator.

• Proceedings of the Korean Information Science Society Conference
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• 2004.04b
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• pp.661-663
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• 2004

본 연구는 웹상에서 학습자들에게 동영상(Flash Animation)학습과 심화학습(Feedback Learning)을 통하여 흥미롭고 자기 주도적으로 학습을 할 수 있도록 하여 홍미를 유발시키고 학습효과를 놓이고자 한다. 전체적으로 자료구조에 대한 기초적이고 전반적인 이론 학습 및 알고리즘 수행과정 실습을 할 수 있도록 하였으며 이해하기 힘든 학습내용을 단순한 텍스트 위주의 설명식 수업에서 탈피하여 자바스크립트 및 플래시 액션 기능을 활용한 코스웨어 상에서의 학습자 상호작용에 기반한 환경을 제공하였다 각 단위별로 기본 학습 밀 동영상 학습, 심화학습, 형성평가로 이루어져 있으며 , 학습화면 구성을 윈도우 운영체제 기본 환경과 유사하게 설정하여 학습에 흥미를 돋우고자 하였다.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.22.3-22
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• 2001

An attention task, in which context information should be extracted from the first presented pattern, and the recognition answer of the second presented pattern should be generated using the context information, is employed in this paper. An Elman-type recurrent neural network is utilized to extract and keep the context information. A reinforcement signal that indicates whether the answer is correct or not, is only a signal that the system can obtain for the learning. Only by this learning, necessary context information became to be extracted and kept, and the system became to generate the correct answers. Furthermore, the function of an associative memory is observed in the feedback loop in the Elman-type neural network.

• International Journal of Naval Architecture and Ocean Engineering
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• v.12 no.1
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• pp.768-783
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• 2020

Typically, a Dynamic Positioning System (DPS) uses a PID feed-back system, and it often adopts a wind feed-forward system because of its easier implementation than a feed-forward system based on current or wave. But, because a ship's drifting motion is caused by wind, current, and wave drift loads, all three environmental loads should be considered. In this study, a motion predictive control for the PID feedback system of the DPS is proposed, which considers the three environmental loads by utilizing predicted drifted ship positions in the future since it contains information about the three environmental loads from the moment to the future. The prediction accuracy for the future drifted ship position is ensured by adopting deep learning algorithms and a replay buffer. Finally, it is shown that the proposed motion predictive system results in better station-keeping performance than the wind feed-forward system.

• Journal of Platform Technology
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• v.11 no.2
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• pp.3-14
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• 2023

This paper proposes a big data sentiment analysis method and deep learning implementation method to provide a webtoon comment analysis web page for convenient comment confirmation and feedback of webtoon writers for the development of the cartoon industry in the video animation field. In order to solve the difficulty of automatic analysis due to the nature of Internet comments and provide various sentiment analysis information, LSTM(Long Short-Term Memory) algorithm, ranking algorithm, and word2vec algorithm are applied in parallel, and actual popular works are used to verify the validity. If the analysis method of this paper is used, it is easy to expand to other domestic and overseas platforms, and it is expected that it can be used in various video animation content fields, not limited to the webtoon field

• ETRI Journal
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• v.46 no.1
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• pp.59-70
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• 2024

We introduce a high-performance named entity recognition (NER) model for written and spoken language. To overcome challenges related to labeled data scarcity and domain shifts, we use transfer learning to leverage our previously developed KorBERT as the base model. We also adopt a meta-pseudo-label method using a teacher/student framework with labeled and unlabeled data. Our model presents two modifications. First, the student model is updated with an average loss from both human- and pseudo-labeled data. Second, the influence of noisy pseudo-labeled data is mitigated by considering feedback scores and updating the teacher model only when below a threshold (0.0005). We achieve the target NER performance in the spoken language domain and improve that in the written language domain by proposing a straightforward rollback method that reverts to the best model based on scarce human-labeled data. Further improvement is achieved by adjusting the label vector weights in the named entity dictionary.

• The Journal of Korean Academic Society of Nursing Education
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• v.3 no.2
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• pp.207-213
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• 1997

Basic science teaching and clinical education should be integrated whenever appropriate, and the development of skills, values, and attitudes which are emphasized to the same extent as the acquisition of knowledge in nursing. Problem-based learning provides a students-centered learning environment and encourages an inquisitive style of learning. The purpose of this paper is to review and comment the role of tutors and students on problem-based learning. The use of problem-based learning places a high demand on faculty members' time and support. The role of tutors in Problem-based learning focuses primarily on issues of developing and teaching the curriculum and on organizational implementation and institutionalization. Tutors are an integral part of course planning. Tutors serve as a constant source of feedback on student needs and concerns to the course director and constitute an informal steering committee while the course is in progress. Tutors write cases, develop student evaluation methods, recommend resources, suggest modifications in lectures and laboratories. Students have a limited amount of time available to study what is traditionally defined as the core content of nursing. But, the role of students in Problem-based learning would be active, independent learners and problem-solvers rather than passive recipients of information. Students using a deep level approach attempt to integrate what they learn with what they already know, to understand the meaning underlying the material to be learned, and to look for explanations rather than facts. Students are encouraged, with appropriate guidance, to define their own learning goals, to select appropriate experiences to achieve these goals, and to be responsible for assessing their own learning progress. Problem-based learning is more flexible and meaningful, by encouraging student interaction, and by having a better emotional climate than the conventional learning.

• Journal of Korean Elementary Science Education
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• v.27 no.2
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• pp.189-200
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• 2008

The purpose of this study is to find out the effects of learning that has applied instruction module utilizing ICT in project-based learning in elementary science classroom on improvement of the self-directed learning skills and the problem-solving skills. For this purpose, the project based learning instruction module utilizing ICT based was developed and conducted to 2 class consisting of 66 elementary students in the 6th grade to clarify the effects. As a result of the study, first, the instruction module utilizing ICT in project-based learning was effective in improving self-directed learning skills of students. As the subordinate effects of self-directed learning skills it showed improved effects in diagnosing desire to learn, setting goals, basic self-managing ability, selecting learning strategy, durability of practicing learning, making effort for result, and self-examination but it did not show improved effects in figuring out recognition of resources for Learning. Second, it was effective in improving the problem-solving skills of students. As the subordinate effects of problem-solving skills it showed improved effects in problem recognition, information gathering, analysis, thinking prior to dissemination, planning skill, and evaluation but it did not show effect on decision making, implementation & risk-taking and feedback.