• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.5
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• pp.652-658
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• 2010

This paper presents the implementation and control of a two wheeled mobile robot(TWMR) based on a balancing mechanism. The TWMR is a mobile inverted pendulum structure that combines an inverted pendulum system and a mobile robot system with two arms instead of a rod. To improve robustness due to disturbances, the radial basis function (RBF) network is used to control an angle and a position at the same time. The reference compensation technique(RCT) is used as a neural control method. Experimental studies are conducted to demonstrate performance of neural network controllers. The robot are implemented with the remote control capability.

• Journal of Power Electronics
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• v.16 no.3
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• pp.1131-1140
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• 2016

A simple design for a sliding mode observer is proposed for EV lithium battery SOC estimation in this paper. The proposed observer does not have the limiting conditions of existing observers. Compared to the design of previous sliding mode observers, the new observer does not require a solving matrix equation and it does not need many observers for all of the state components. As a result, it is simple in terms of calculations and convenient for engineering applications. The new observer is suitable for both time-variant and time-invariant models of battery SOC estimation, and the robustness of the new observer is proved by Liapunov stability theorem. Battery tests are performed with simulated FUDS cycles. The proposed observer is used for the SOC estimation on both unchanging parameter and changing parameter models. The estimation results show that the new observer is robust and that the estimation precision can be improved base on a more accurate battery model.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.52 no.11
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• pp.632-638
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• 2003

Modern power systems are very complex and to model them completely is impractical for electromagnetic transient studies. Therefore areas outside the immediate area of interest must be represented by some form of frequency dependent equivalent. The s-domain rational function form of frequency dependent equivalent does not need refitting if the simulation time-step is changed in the electromagnetic transient program. This is because the s-domain rational function coefficients are independent of the simulation time-step, unlike the z-domain rational function coefficients. S-domain rational function fitting techniques for representing frequency dependent equivalents have been developed using Least Squares Fitting(LSF). However it does not suffer the implementation error that exited in this work as it ignored the instantaneous term. This paper Presents the formulation for developing 1 Port Frequency Dependent Network Equivalent(FDNE) with the instantaneous term in S-domain and illustrates its use. This 1 port FDNE have been applied to the CIGRE Benchmark Rectifier test AC system. The electromagnetic transient package PSCAD/EMTDC is used to assess the transient response of the 1 port (FDNE) developed with Thevenin and Norton Equivalent network. The study results have indicated the robustness and accuracy of 1 port FDNE for electromagnetic transient studies.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 2005.11a
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• pp.315-320
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• 2005

This paper is proposed adaptive fuzzy-neuro controller for high performance of induction motor drive. The design of this algorithm based on fuzzy-neural network controller that is implemented using fuzzy control and neural network. This controller uses fuzzy rule as training patterns of a neural network. Also, this controller uses the back-propagation method to adjust the weights between the neurons of neural network in order to minimize the error between the command output and actual output. A model reference adaptive scheme is proposed in which the adaptation mechanism is executed by fuzzy logic based on the error and change of nor measured between the motor speed and output of a reference model. The control performance of the adaptive fuzy-neuro controller is evaluated by analysis for various operating conditions. The results of experiment prove that the proposed control system has strong high performance and robustness to parameter variation, and steady-state accuracy and transient response.

• Proceedings of the KIEE Conference
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• summer
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• pp.1248-1250
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• 2004

This paper is proposed adaptive fuzzy-neural network controller(NFC) for speed control of surface permanent magnet synchronous motor(SPMSM) drive. The design of this algorithm based on NFC that is implemented using fuzzy control and neural network. This controller uses fuzzy rule as training patterns of a neural network. Also, this controller uses the back-propagation method to adjust the weights between the neurons of neural network in order to minimize the error between the command output and actual output. A model reference adaptive scheme is proposed in which the adaptation mechanism is executed by fuzzy logic based on the error and change of error measured between the motor speed and output of a reference model. The control performance of the adaptive NFC is evaluated by analysis for various operating conditions. The results of analysis prove that the proposed control system has strong high performance and robustness to parameter variation, and steady-state accuracy and transient response.

• Proceedings of the KIEE Conference
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• 2005.07b
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• pp.1453-1455
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• 2005

This paper presents self tuning PI controller of IPMSM drive using neural network. Self tuning PI controller is developed to minimize overshoot, rise time and settling time following sudden parameter changes such as speed, load torque and inertia. Also, this paper is proposed speed control of IPMSM using neural network and estimation of speed using artificial neural network(ANN) controller. The results on a speed controller of IPMSM are presented to show the effectiveness of the proposed gain tuner. And this controller is better than the fixed gains one in terms of robustness, even under great variations of operating conditions and load disturbance.

• Smart Structures and Systems
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• v.23 no.5
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• pp.507-520
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• 2019

In the structural health monitoring field, damage detection has been commonly carried out based on the structural model and the engineering features related to the model. However, the extracted features are often subjected to various errors, which makes the pattern recognition for damage detection still challenging. In this study, an automated damage identification method is presented for hanger cables in a tied-arch bridge using a convolutional neural network (CNN). Raw measurement data for Fourier amplitude spectra (FAS) of acceleration responses are used without a complex data pre-processing for modal identification. A CNN is a kind of deep neural network that typically consists of convolution, pooling, and fully-connected layers. A numerical simulation study was performed for multiple damage detection in the hangers using ambient wind vibration data on the bridge deck. The results show that the current CNN using FAS data performs better under various damage states than the CNN using time-history data and the traditional neural network using FAS. Robustness of the present CNN has been proven under various observational noise levels and wind speeds.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.15 no.7
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• pp.2356-2376
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• 2021

In this paper, we proposed a novel modulation recognition method based on quantum elephant herding algorithm (QEHA) evolving neural network under impulse noise environment. We use the adaptive weight myriad filter to preprocess the received digital modulation signals which passing through the impulsive noise channel, and then the instantaneous characteristics and high order cumulant features of digital modulation signals are extracted as classification feature set, finally, the BP neural network (BPNN) model as a classifier for automatic digital modulation recognition. Besides, based on the elephant herding optimization (EHO) algorithm and quantum computing mechanism, we design a quantum elephant herding algorithm (QEHA) to optimize the initial thresholds and weights of the BPNN, which solves the problem that traditional BPNN is easy into local minimum values and poor robustness. The experimental results prove that the adaptive weight myriad filter we used can remove the impulsive noise effectively, and the proposed QEHA-BPNN classifier has better recognition performance than other conventional pattern recognition classifiers. Compared with other global optimization algorithms, the QEHA designed in this paper has a faster convergence speed and higher convergence accuracy. Furthermore, the effect of symbol shape has been considered, which can satisfy the need for engineering.

• International Journal of Naval Architecture and Ocean Engineering
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• v.12 no.1
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• pp.354-366
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• 2020

This work mainly focuses on determination of the fully plastic J-integral solutions for welded center cracked plates subjected to remote tension loading. Detailed three-dimensional elasticeplastic Finite Element Analyses (FEA) were implemented to compute the fully plastic J-integral along the crack front for a wide range of crack geometries, material properties and weld strength mismatch ratios for 900 cases. According to the database generated from FEA, Back-propagation Neural Network (BPNN) model was proposed to predict the values and distributions of fully plastic J-integral along crack front based on the variables used in FEA. The determination coefficient R2 is greater than 0.99, indicating the robustness and goodness of fit of the developed BPNN model. The network model can accurately and efficiently predict the elastic-plastic J-integral for weld centerline crack, which can be used to perform fracture analyses and safety assessment for welded center cracked plates with varying strength mismatch conditions under uniaxial loading.

• The Journal of Korea Robotics Society
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• v.19 no.2
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• pp.139-148
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• 2024

In this paper, we propose a two-degree-of-freedom snake robot head system and an I-PID (Intelligent Proportional-Integral-Derivative)-based controller utilizing RBF (Radial Basis Function) neural network and adaptive robust terms as a control strategy to reduce rotation occurring in the snake robot head. This study proposes a two-degree-of-freedom snake robot head system to avoid complex snake robot dynamics. This system has a control system independent of the snake robot. Subsequently, it utilizes an I-PID controller to implement a control system that can effectively manage rotation at the snake robot head, the robot's nonlinearity, and disturbances. To compensate for the time delay estimation errors occurring in the I-PID control system, an RBF neural network is integrated. Additionally, an adaptive robust term is designed and integrated into the control system to enhance robustness and generate control inputs responsive to signal changes. The proposed controller satisfies stability according to Lyapunov's theory. The proposed control strategy was tested using a 9-degreeof-freedom snake robot. It demonstrates the capability to reduce rotation in Lateral undulation, Rectilinear, and Sidewinding locomotion.