• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1960-1961
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• 2006

In this paper, The trajectory control of robot manipulator is proposed. It divides by trajectory planning and tracking control. A trajectory planning and tracking control of robot manipulator is used to the neural network and evolutionary algorithm. The trajectory planning provides not only the optimal trajectory for a given cost function through evolutionary algorithm but also the configurations of the robot manipulator along the trajectory by considering the robot dynamics. The computed torque method (C.T.M) using the model of the robot manipulators is an effective means for trajectory tracking control. However, the tracking performance of this method is severely affected by the uncertainties of robot manipulators. The Radial Basis Function Networks(RBFN) is used not to learn the inverse dynamic model but to compensate the uncertainties of robot manipulator. The computer simulations show the effectiveness of the proposed method.

• Journal of the Korea Society of Computer and Information
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• v.15 no.10
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• pp.105-112
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• 2010

In this paper, the bio-signals, such as EEG, ECG were measured with a sensor and their characters were drawn out and analyzed. With results from the analysis, four emotion of rest, concentration, tension and depression were inferred. In order to assess one's emotion, the characteristic vectors were drawn out by applying various ways, including the frequency analysis of the bio-signals like the measured EEG and HRV. RBFN, a neural network of the complex structure of unsupervised and supervised learning, was applied to classify and infer the deducted information. Through experiments, the system suggested in this thesis showed better capability to classify and infer than other systems using a different neural network. As follow-up research tasks, the recognizance rate of the measured bio-signals should be improved. Also, the technology which can be applied to the wired or wireless sensor measuring the bio-signals more easily and to wearable computing should be developed.

• Journal of Ocean Engineering and Technology
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• v.35 no.2
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• pp.141-149
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• 2021

The A60 class deck penetration piece is a fire-resistance apparatus installed on the deck compartment to protect lives and to prevent flame diffusion in the case of a fire accident in a ship or offshore plant. In this study, the sensitivity of the fire-resistance performance and approximation characteristics for the A60 class penetration piece was evaluated by conducting a transient heat-transfer analysis and fire test. The transient heat-transfer analysis was conducted to evaluate the fire-resistance design of the A60 class deck penetration piece, and the analysis results were verified via the fire test. The penetration-piece length, diameter, material type, and insulation density were used as the design factors (DFs), and the output responses were the weight, temperature, cost, and productivity. The quantitative effects of each DF on the output responses were evaluated using the design-of-experiments method. Additionally, an optimum design case was identified to minimize the weight of the A60 class deck penetration piece while satisfying the allowable limits of the output responses. According to the design-of-experiments results, various approximate models, e.g., a Kriging model, the response surface method, and a radial basis function-based neural network (RBFN), were generated. The design-of-experiments results were verified by the approximation results. It was concluded that among the approximate models, the RBFN was able to explore the design space of the A60 class deck penetration piece with the highest accuracy.