• 한국항해학회지
• /
• 제21권3호
• /
• pp.55-66
• /
• 1997

In this paper, applications of neural networks to vibration control of flexible single link robot manipulator are ocnsidered. The architecture of neural networks is a hidden layer, which is comprised of self-recurrent one. Tow neural networks are utilized in a control system ; one as an identifier is called neuro identifier and the othe ra s a controller is called neuro controller. The neural networks can be used to approximate any continuous function to any desired degree of accuracy and the weights are updated by dynamic error-backpropagation algorithm(DEA). To guarantee concegence and to get faster learning, an approach that uses adaptive learning rates is developed by introducing a Lyapunov function. When a flexible manipulator is ratated by a motor through the fixed end, transverse vibration may occur. The motor torque should be controlle dinsuch as way, that the motor is rotated by a specified angle. while simulataneously stabilizing vibration of the flexible manipulators so that it is arrested as soon as possible at the end of rotation. Accurate vibration control of lightweight manipulator during the large body motions, as well as the flexural vibrations. Therefore, dynamic models for a flexible single link manipulator is derived, and LQR controller and nerual networks controller are composed. The effectiveness of the proposed nerual networks control system is confirmed by experiments.

• Communications for Statistical Applications and Methods
• /
• 제4권3호
• /
• pp.827-832
• /
• 1997

Statistical relations between a system and empirical distribution are studied in terms of the concept of Akaike's Information Criterion. From this consideration we derive a bootstrap criterion for determining the optimal number of hidden units in nerual networks.

• 한국산업정보학회:학술대회논문집
• /
• 한국산업정보학회 1996년도 추계 학술 발표회 발표논문집
• /
• pp.211-216
• /
• 1996

This paper propose a fuzzy regression method using fuzzy neural networks when a membership value is attached to each input-output pair. First, an architecture of fuzzy nerual networks with fuzzy weights and fuzzy biases is shown. Next a cost function is defined using the fuzzy output from the fuzzy neural network and the corresponding target output with a membership value.A learning algorithm is derived from the cost function. The derived learning algorithm trains the fuzzy neural network so that the level set of the fuzzy output includes the target output. Last, the proposed method is applied to the quality evaluation problem of injection molding.

• 한국항해학회지
• /
• 제21권1호
• /
• pp.109-118
• /
• 1997

In this paper, applications of multilayer neural networks to control of flexible robot beam are considered. The multilayer nerual networks can be used to approximate any continuous function to a desired degree of accuracy and the weights are updated by Gradient Method. When a flexible beam is rotated by a motor through the fixed end, transverse vibration may occur. The motor torque should be controlled insuch a way that the motor rotates by a specified angle, while simultaneously stabilizing vibration of the flexible manipulators so that is arrested as soon as possbile at the end of rotation. Accurate control of lightweight beam during the large changes in configuration common to robotic tasks requires dynamic models that describe both rigid body motions, as well as the flexural vibrations. Therefore, a linear dynamic state-space model of for a single link flexible robot beam is derived and PD controller, LQP controller, and inverse dynamical neural networks controller are composed. The effectiveness the proposed control system is confirmed by computer simulation.

• 전자공학회논문지C
• /
• 제34C권11호
• /
• pp.95-103
• /
• 1997

A robust center estimation tecnique of n-fold engineering parts is presented, which use self-organizing neural networks with generating and merging learning for training neural units. To estimate the center of the n-fold engineering parts using neural networks, the segmented boundaries of the interested part are approximated to strainght lines, and the temporal estimated centers by thecosine theorem which formed between the approximaged straight line and the reference point, , are indexed as (.sigma.-.theta.) parameteric vecstors. Then the entries of parametric vectors are fed into self-organizing nerual network. Finally, the center of the n-fold part is extracted by mean of generating and merging learning of the neurons. To accelerate the learning process, neural network uses an adaptive learning rate function to the merging process and a self-adjusting activation to generating process. Simulation results show that the centers of n-fold engineering parts are effectively estimated by proposed technique, though not knowing the error distribution of estimated centers and having less information of boundaries.

• 대한전기학회논문지:전력기술부문A
• /
• 제48권4호
• /
• pp.419-427
• /
• 1999

We propose an algorithm for obtaining the optimal node number of hidden units in dynamic neural networks. The dynamic nerual networks comprise of dynamic neural units and neural processor consisting of two dynamic neural units; one functioning as an excitatory neuron and the other as an inhibitory neuron. Starting out with basic network structure to solve the problem of control, we find optimal neural structure by multiplication and combining dynamic neural unit. Numerical examples are presented for nonlinear systems. Those case studies showed that the proposed is useful is practical sense.

• 한국항해학회지
• /
• 제22권2호
• /
• pp.47-52
• /
• 1998

Recently , there have been considerable researches about the fusion of fuzzy logic and neural networks. The propose of thise researches is to combine the advantages of both. After the function of approximation using GMDP (Generalized Multi-Denderite Product)neural network for defuzzification operation of fuzzy controller, a new fuzzy-neural network is proposed. Fuzzy membership function of the proposed fuzzy-neural network can be adjusted by learning in order to be adaptive to the variations of a parameter or the external environment. To show the applicability of the proposed fuzzy-nerual network, the proposed model is applied to a speed control o fDC sevo motor. By the hardware implementation, we obtained the desriable results.

• 한국지능시스템학회:학술대회논문집
• /
• 한국퍼지및지능시스템학회 1993년도 Fifth International Fuzzy Systems Association World Congress 93
• /
• pp.769-772
• /
• 1993

This paper presents and adaptive fuzzy controller using fuzzy neural networks(FNNs). The adaptive controller uses two FNNs. One FNN is used to identify a fuzzy model of controlled object. The other FNN is used as a fuzzy controller. The fuzzy controller is designed with the linguistic rules of the fuzzy model. The response of the designed control system is checked with a linguistic response analysis proposed by the authors. An adaptive tuning of the control rules of the FNN controller is made possible utilizing the fuzzy model. Simulations using nonlinear controlled objects were done to verify the proposed control system.

• 한국정밀공학회지
• /
• 제10권3호
• /
• pp.141-151
• /
• 1993

For navigation of a mobile robot, it is one of the essential tasks to find out its current position. Dead reckonining is the most frequently used method to estimate its position. Hpwever conventional dead reckoner is prone to give us false information on the robot position especially when the wheels are slipping. This paper proposes an improved dead reckoning scheme using neural networks. The network detects the instance of wheel slopping and estimates the linear velocity of the wheel; thus it calculates current position and heading angle of a mobile robot. The structure and variables of the nerual network are chosen in consideration of slip motion characteristics. A series of experiments are performed to train the networks and to investigate the performance of the improved dead reckoning system.

• 대한전기학회논문지:시스템및제어부문D
• /
• 제49권9호
• /
• pp.512-519
• /
• 2000

A Neural networks has been used for a expert system and fault diagnosis system. It is possible to nonlinear function mapping and parallel processing. Therefore It has been developing for a Diagnosis system of nuclear plower plant. In general Neural Networks is a static mapping but Dynamic Neural Network(DNN) is dynamic mapping.쪼두 a fault occur in system a state of system is changed with transient state. Because of a previous state signal is considered as a information DNN is better suited for diagnosis systems than static neural network. But a DNN has many weights so a real time implementation of diagnosis system is in need of a rapid network architecture. This paper presents a algorithm for RCP monitoring Alarm diagnosis system using Self Dynamic Neural Network(SDNN). SDNN has considerably fewer weights than a general DNN. Since there is no interlink among the hidden layer. The effectiveness of Alarm diagnosis system using the proposed algorithm is demonstrated by applying to RCP monitoring in Nuclear power plant.