• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.1080-1085
• /
• 2005

A hybrid control scheme is proposed for the stabilization of backward movement along simple paths for a vehicle composed of a truck and six trailers. The hybrid comprises the combination of a linear quadratic regulator (LQR) and a neurocontroller (NC) that is trained by a genetic algorithm (GA). Acting singly, either the NC or the LQR are unable to perform satisfactorily over the entire range of the operation required, but the proposed hybrid is shown to be capable of providing good overall system performance. The evaluation function of the NC in the hybrid design has been modified from the conventional type to incorporate both the squared errors and the running steps errors. The reverse movement of the trailer-truck system can be modeled as an unstable nonlinear system, with the control problem focusing on the steering angle. Achieving good backward movement is difficult because of the restraints of physical angular limitations. Due to these constraints the system is impossible to globally stabilize with standard smooth control techniques, since some initial states necessarily lead to jack-knife locks. This paper demonstrates that a hybrid of neural networks and LQR can be used effectively for the control of nonlinear dynamical systems. Results from simulated trials are reported.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.10
• /
• pp.969-976
• /
• 2008

A position control problem is studied for UEV(Unmanned Expedition Vehicles), which is to follow pre-determined paths via fixed way-points. Hybrid control systems are used for position control of UEV depending on the operating condition. Speed control consists of three controllers: PID control, adaptive PI control, and neural network. Heading control consists of two controllers, PID and adaptive PID control. The controllers are selected based on the changes of road conditions. We suggest an adaptive PI control algorithm for speed control and an transition management algorithm among the controllers. The algorithm adapts the road conditions and variation of vehicle dynamical characteristics and selects a suitable controller.

• The Bulletin of The Korean Astronomical Society
• /
• v.43 no.1
• /
• pp.61.1-61.1
• /
• 2018

Outflows are common among local AGNs. Woo et al. (2017) suggested that AGN feedback through outflows is delayed by a dynamical time scale before the suppression of SFR is observationally detected. However, these SFR have large uncertainties because they were estimated by Artificial Neural Network (ANN) method (Ellison et al. 2016). We measured the SFR of 21 far-IR matched sources (z < 0.1) with total IR luminosity from multi-wavelength SED fitting from UV to radio. 15 out of 21 sources were observed with JCMT SCUBA-2 450 and 850um and 4 and 2 sources were matched with archival data of JCMT SCUBA-2 and Herschel SPIRE, respectively. We compared the true SFR by SED fitting with ANN-based one. In addition, we confirmed that sub-mm data are important to determine the SFR with total IR luminosity from SED fitting. Finally, we discuss the significance of true SFR and further the AGN-SF link.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.10 no.6
• /
• pp.616-628
• /
• 2000

In this paper, we present the modeling of the ozone prediction system using Neuro-Fuzzy approaches. The mechanism of ozone concentration is highly complex, nonlinear, and nonstationary, the modeling of ozone prediction system has many problems and the results of prediction is not a good performance so far. The Dynamic Polynomial Neural Network(DPNN) which employs a typical algorithm of GMDH(Group Method of Data Handling) is a useful method for data analysis, identification of nonlinear complex system, and prediction of a dynamical system. The structure of the final model is compact and the computation speed to produce an output is faster than other modeling methods. In addition to DPNN, this paper also includes a Fuzzy Logic Method for modeling of ozone prediction system. The results of each modeling method and the performance of ozone prediction are presented. The proposed method shows that the prediction to the ozone concentration based upon Neuro-Fuzzy approaches gives us a good performance for ozone prediction in high and low ozone concentration with the ability of superior data approximation and self organization.

• Journal of Electrical Engineering and information Science
• /
• v.2 no.6
• /
• pp.82-89
• /
• 1997

In this paper, an adaptive speed controller with an FNN(Feedforward Neural Network) is proposed for servo motor drives. Generally, the motor system has nonlinearities in friction, load disturbance and magnetic saturation. It is necessary to treat the nonlinearities for improving performance in servo control. The FNN can be applied to control and identify a nonlinear dynamical system by learning capability. In this study, at first, a robust speed controller is developed by Lyapunov stability theory. However, the control input has discontinuity which generates an inherent chattering. To solve the problem and to improve the performances, the FNN is introduced to convert the discontinuous input to continuous one in error boundary. The FNN is applied to identify the inverse dynamics of the motor and to control the motor using coordination of feedforward control combined with inverse motor dynamics identification. The proposed controller is developed for an SR motor which has highly nonlinear characteristics and it is compared with an MRAC(Model Reference Adaptive Controller). Experiments on an SR motor illustrate te validity of the proposed controller.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2002.12a
• /
• pp.199-202
• /
• 2002

신경회로망을 동적 정보처리에 응용하기 위해서는 비대칭 결합 신경회로망에서 생성되는 동적 상태천이에 관한 직관적 이해가 필요하다. 자기결합을 갖고 결합하중치가 비대칭인 순환결합형 신경회로망은 복수 개의 리미트사이클이 기억 가능하다는 것이 알려져 있다. 현재까지 이산시간 모델의 네트워크에 대한 상태천이 해석은 상세하게 이루어져 왔다. 그러나 연속시간 모델에 대한 해석은 네트워크 규모의 증가에 따른 급격한 계산량의 증가 때문에 연구가 그다지 활발하게 이루어지지 않고 있다. 본 논문에서는 각 뉴런이 최근접 뉴런에만 이진화된 결합하중 +1 및 -1로 연결된 연속시간모델 순환결합형 신경회로망의 동적인 상태천이 특성을 해석하여 이산시간 모델에서 기억 가능한 리미트사이클과의 차이점을 분석한다. 또한 연속시간 네트워크 모델에 카오스 신호를 인가하여 리미트사이클간의 천이를 제어할 수 있는 가능성을 분석하여 동적정보처리에 네트워크를 응용할 수 있는 가능성을 검토한다.

• The Journal of the Acoustical Society of Korea
• /
• v.13 no.2E
• /
• pp.26-31
• /
• 1994

A new feature extraction technique utilizing strange attractor and artificial neural network for speaker recognition is presented. Since many signals change their characteristics over long periods of time, simple time-domain processing techniques should e capable of providing useful information of signal features. In many cases, normal time series can be viewed as a dynamical system with a low-dimensional attractor that can be reconstructed from the time series using time delay. The reconstruction of strange attractor is described. In the technique, the raw signal will be reproduced into a geometric three dimensional attractor. Classification decision for speaker recognition is based upon the processing or sets of feature vectors that are derived from the attractor. Three different methods for feature extraction will be discussed. The methods include box-counting dimension, natural measure with regular hexahedron and plank-type box. An artificial neural network is designed for training the feature data generated by the method. The recognition rates are about 82%-96% depending on the extraction method.

• Proceedings of the Korea Water Resources Association Conference
• /
• 2012.05a
• /
• pp.116-116
• /
• 2012

하천유역 내의 인자를 이용하여 댐의 하천유량(stream flow)을 예측하는 일은 수문특성의 연구와 자연재해에 대한 대비 및 수공구조물과 방재시설의 설계 시 중요한 역할을 한다. 이러한 연구는 과거부터 활발히 이루어졌으며, 아직도 보다 높은 정확도의 결과를 얻기 위해 많은 연구들이 이루어지고 있다. 특히 기존의 유역 내 자료를 통해 비선형적 모델인 인공신경망(artificial neural network)을 이용한 하천유량을 예측하는 연구 역시 활발히 이루어지고 있다. 본 연구의 목적은 여러 유역인자들 중 하천유량에 가장 영향을 미치는 변수를 추출하고 보다 정확한 예측모델을 구축하는 것이다. 기존의 입력자료 선정기법중의 하나인 상호정보량(mutual information)과 수문기상자료의 비선형 동역학적 성분을 추출하는 웨이블렛 변환(wavelet transform)을 사용하여 인공신경망에 적용시켰다. 인공신경망을 적용하는 경우, 수문자료에 있어서 변수의 선택과 자료의 상태가 강우예측의 결과에 큰 영향을 미친다. 이러한 변수의 선택에 있어서 상호정보량을 바탕으로 한 인공신경망 입력변수 선택기법이 많이 사용되고 있다. 일반적으로 시계열자료는 경향성(trend), 주기성(periodicity) 및 추계학적 성분(stochastic component)의 선형조합으로 가정될 수 있으며, 특히 경향성과 주기성은 시계열 모형을 위해 제거되어야 할 결정론적 성분으로 취급한다. 즉. 수문 기상자료에 포함되어 있는 경향성과 주기성과 같은 비선형 동역학적 잡음(nonlinear dynamical noise)을 제거하고 입력자료의 카오스적 거동을 보이는 성분을 분리하기 위해 웨이블렛 변환을 사용하였다. 대상유역은 한강 유역에 포함되어 있는 충주댐으로 선택하였다. 유역 내 다양한 인자들과 하천유량사이의 상호정보량을 구해 영향력이 가장 큰 변수를 추출하고, 그 자료를 웨이블렛 변환을 적용하여 인공신경망의 입력자료로 사용하였다. 본 논문에서는 위와 같은 과정을 이용해 추정한 하천유량 결과와 기존의 방법인 상호정보량을 이용해 인공신경망을 적용한 결과를 실제자료와 비교하였다.

• Journal of the Institute of Electronics Engineers of Korea SP
• /
• v.46 no.3
• /
• pp.125-137
• /
• 2009

Acoustic emission-based techniques are being used for the nondestructive inspection of mechanical systems used in service. For reliable fault monitoring related to the crack growth, it is important to identify the dynamical characteristics as well as transient crack-related signals. Widely used methods which are based on physical phenomena of the three damage stages for detecting the crack growth have a problem that crack-related acoustic emission activities overlap in time, therefore it is insufficient to estimate the exact crack growth time. The proposed pattern recognition method uses the dynamical characteristics of acoustic emission as inputs for minimizing false alarms and miss alarms and performs the temporal clustering to estimate the crack growth time accurately. Experimental results show that the proposed method is effective for practical use because of its robustness to changes of acoustic emission caused by changes of pressure levels.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.7 no.6
• /
• pp.1318-1324
• /
• 2003

There are two problems in the conventional ART1 algorithm. One is in similarity testing method of the conventional ART1 between input patterns and stored patterns. The other is that vigilance threshold of conventional ART1 influences the number of clusters and the rate of recognition. In this paper, new similarity testing method and dynamical vigilance threshold method are proposed to solve these problems. The former is similarity test method using the rate of norm of exclusive-NOR between input patterns and stored patterns and the rate of nodes have equivalence value, and the latter method dynamically controls vigilance threshold to similarity using fuzzy operations and the sum operation of Yager. To check the performance of new methods, we used 26 alphabet characters and nosed characters. In experiment results, the proposed methods are better than the conventional methods in ART1, because the proposed methods are less sensitive than the conventional methods for initial vigilance and the recognition rate of the proposed methods is higher than that of the conventional methods.