• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1999.05a
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• pp.199-204
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• 1999

The robot inverse calibration method using a neural networks is proposed in this paper. A high-order networks has been used in this study. The Pi-Sigma networks uses linear summing units in the hidden layer and product unit in output layer. The inverse calibration model which compensates the difference of joint variables only between measuring value and analytic value about the desired pose(position orientation) of a robot is proposed. The compensated values are determined by using the weights obtained from the learning process of the neural networks previously. To prove the reasonableness, the selected compliance automatic robot arm type direct drive robot and anthropomorphic robot are simulated. It shows that the proposed calibration method can reduce the errors of the joint variables from ${\pm}$0.15$^{\circ}$to ${\pm}$0.12$^{\circ}$.

• Structural Engineering and Mechanics
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• v.12 no.5
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• pp.527-540
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• 2001

A new sort of learning algorithm named whole learning algorithm is proposed to simulate the nonlinear and dynamic behavior of RC members for the estimation of structural integrity. A mathematical technique to solve the multi-objective optimization problem is applied for the learning of the feedforward neural network, which is formulated so as to minimize the Euclidean norm of the error vector defined as the difference between the outputs and the target values for all the learning data sets. The change of the outputs is approximated in the first-order with respect to the amount of weight modification of the network. The governing equation for weight modification to make the error vector null is constituted with the consideration of the approximated outputs for all the learning data sets. The solution is neatly determined by means of the Moore-Penrose generalized inverse after summarization of the governing equation into the linear simultaneous equations with a rectangular matrix of coefficients. The learning efficiency of the proposed algorithm from the viewpoint of computational cost is verified in three types of problems to learn the truth table for exclusive or, the stress-strain relationship described by the Ramberg-Osgood model and the nonlinear and dynamic behavior of RC members observed under an earthquake.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.43 no.6
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• pp.1010-1019
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• 1994

It is shown that there exists a nonlinear mapping which transforms image features and their changes to the desired camera motion without measuring of the relative distance between the camera and the object. This nonlinear mapping can eliminate several difficulties occurring in computing the inverse of the feature Jacobian as in the usual feature-based visual feedback control methods. Instead of analytically deriving the closed form of this mapping, a Fuzzy Membership Function-based Neural Network (FMFNN) incorporating a Fuzzy-Neural Interpolating Network is used to approximate the nonlinear mapping. Several FMFNN's are trained to be capable of tracking a moving object in the whole workspace along the line of sight. For an effective implementation of the proposed FMF network, an image feature selection process is investigated. Finally, several numerical examples are presented to show the validity of the proposed visual servoing method.

• Journal of information and communication convergence engineering
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• v.16 no.1
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• pp.1-5
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• 2018

In radio-over-fiber (RoF) systems, nonlinear compensation is very important to meet the error vector magnitude (EVM) requirement of the mobile network standards. In this study, a nonlinear compensation technique based on an artificial neural network (ANN) is proposed for RoF systems. This technique is based on a backpropagation neural network (BPNN) with one hidden layer and three neuron units in this study. The BPNN obtains the inverse response of the system to compensate for nonlinearities. The EVM of the signal is measured by changing the number of neurons and the hidden layers in a RoF system modeled by a measured data. Based on our simulation results, it is concluded that one hidden layer and three neuron units are adequate for the RoF system. Our results showed that the EVMs were improved from 4.027% to 2.605% by using the proposed ANN compensator.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.16 no.7
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• pp.610-614
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• 1991

This paper proposes a trajectory constrol fo a robot manipulator by using neural network. The inverse dynamic model of manipuator is learned by neural network. The manipulator is controlled by weight values of the learned neural network. The weight valuese is change with a torque of liner vontroller and a acceleration error. Phsically, the totlal torque for a manipualator is a sum of the liner controller torque and the nerural network controller torque. The proposed control effect is estimated by computer simulation.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.8 no.3
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• pp.185-191
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• 2008

In this paper, experimental studies of a neural network (NN) control technique for non-model based position control of the x-y table robot are presented. Decentralized neural networks are used to control each axis of the x-y table robot separately. For an each neural network compensator, an inverse control technique is used. The neural network control technique called the reference compensation technique (RCT) is conceptually different from the existing neural controllers in that the NN controller compensates for uncertainties in the dynamical system by modifying desired trajectories. The back-propagation learning algorithm is developed in a real time DSP board for on-line learning. Practical real time position control experiments are conducted on the x-y table robot. Experimental results of using neural networks show more excellent position tracking than that of when PD controllers are used only.

• Proceedings of the IEEK Conference
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• 1998.06a
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• pp.263-266
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• 1998

This paper propose a prefilter type inverse control algorithm using chaotic neural networks. Since the chaotic neural networks show robust characteristics in approximation and adaptive learning for nonlinear dynamic system, the chaotic neural networks are suitable for controlling robotic manipulators. The structure of the proposed prefilter type controller compensate velocity of the PD controller. To estimate the proposed controller, we implemented to the Cartesian space control of three-axis PUMA robot and compared the final result with recurrent neural network(RNN) controller.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.36-40
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• 1990

Conventional back propagation learning is generally characterized by slow and rather inaccurate learning which makes it difficult to use in control applications. A new multilayer perception architecture and its learning algorithm is proposed that consists of a Kohonen front layer followed by a back propagation network. The Kohonen layer selects a subset of the hidden layer neurons for local tuning. This architecture has been tested on the inverse kinematic solution of robot manipulator while demonstrating its fast and accurate learning capabilities.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.20 no.1
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• pp.65-73
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• 2007

Pattern classification of single and multiple discharge sources was applied using a wavelet image signal method in which a feature extraction was applied using a hidden sub-image. A feature extracting method that used vertical and horizontal images using an MSD method was applied to an averaging process for the scale of pulses for the phase. A feature extracting process for the preprocessing of the input of a neural network was performed using an inverse transformation of the horizontal, vertical, and diagonal sub-images. A back propagation algorithm in a neural network was used to classify defective signals. An algorithm for wavelet image processing was developed. In addition, the defective signal was classified using the extracted value that was quantified for the input of a neural network.

• Transactions of the Korean Society of Automotive Engineers
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• v.9 no.1
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• pp.156-162
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• 2001

An effective and practical method is presented for solving the forward kinematics of a 6-DOF Stewart Platform, using neural network algorithm together with Newton-Raphson method. An approximated solution is obtained from trained neural network, then it is used as an initial estimate for Newton-Raphson method. A series of accurate solutions are calculated with reasonable speed for the entire workspace of the platform. The solution procedure can be used for driving a real-time simulation platform.