• Transactions on Control, Automation and Systems Engineering
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• v.2 no.3
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• pp.169-174
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• 2000

In this paper, Haar wavelet-based neural network is described for the identification and control of discrete-time nonlinear dynamical systems. Wavelets are suited to depict functions with local nonlinearities and fast variations because of their intrinsic properties of finite support and self-similarity. Due to the orthonormal properties of Haar wavelet functions, wavelet neural networks result in a greatly simplified training problem. This wavelet-based scheme performs adaptively both the identification of nonlinear functions and the control of the overall system, while the multilayer neural network is applied to the control system just after its sufficient learning of the unknown functions. Simulation shows that the wavelet network can be a good alternative to a multilayer neural network with backpropagation.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.1-6
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• 1990

Neural network is a computational model of ft biological nervous system developed ID exploit its intelligence and parallelism. Applying neural networks so robots creates many advantages over conventional control methods such as learning, real-time control, and continuous performance improvement through training and adaptation. In this paper, dynamic control of a six-link robot will be presented using neural networks. The neural network model used in this paper is the backpropagation network. Simulated control of the PUMA 560 am shows that it can move a high speed as well as adapt to unforseen load changes and sensor noise. The results are compared with the conventional PD control scheme.

• Proceedings of the KIEE Conference
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• 1990.07a
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• pp.500-503
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• 1990

Neural network is a computational model of the biological nervous system developed to exploit its intelligence and parallelism. Applying neural networks to robots creates many advantages over conventional control methods such as learning, real-time control, and continuous performance improvement through training and adaptation. In this paper, dynamic control of a six-link robot will be presented using neural networks. The neural network model used in this paper is the backpropagation network. Simulated control of the PUMA 560 arm shows that it can move at high speed as well as adapt to unforseen load changes. The results are compared with the conventional PD control scheme.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.50 no.1
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• pp.22-30
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• 2001

This paper describes a neural network based fuzzy PID control scheme. The PID controller is being widely used in industrial applications. However, it is difficult to determine the appropriated PID gains in nonlinear systems and systems with long time delay and so on. In this paper, we re-analyzed the fuzzy controller as conventional PID controller structure, and proposed a neural network based self tuning fuzzy PID controller of which output gains were adjusted automatically. The tuning parameters of the proposed controller were determined on the basis of the conventional PID controller parameters tuning methods. Then they were adjusted by using proposed neural network learning algorithm. Proposed controller was simple in structure and computational burden was small so that on-line adaptation was easy to apply to. The experiment on the magnetic levitation system, which is known to be heavily nonlinear, showed the proposed controller's excellent performance.

• Journal of the Korean Institute of Intelligent Systems
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• v.7 no.5
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• pp.46-50
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• 1997

In fuzzy logic control, static fuzzy rules cannot cope with significant changes of parameters of plants or environment. To solve this prohlem, self-organizing fuzzy control. neural-network-hased fuzzy logic control and so on have heen introduced so far. However, dynamically changed fuzzy rules of these schemes may make a fuzzy logic controller Fall into dangerous situations because the changed fuzzy rules may he incomplete or inconsistent. This paper proposes a new adaptive filzzy logic control scheme using a predictivc neural network. Although some parameters of a controlled plant or environment are changed, proposed fuzzy logic controller changes its decision outputs adaptively and robustly using unchanged initial fuzzy rules and the predictive errors generated hy the predictive neural network by on-line learning. Experimental results with a D<' servo-motor position control problem show that propnsed cnntrol scheme is very useful in the viewpoint of adaptability.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.805-810
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• 1993

In this paper, we propose a compliance control scheme using a neurofuzzzy compliance model(NFCM). as a new control paradigm for telerobot systems. A NFCM, used as a compliance controller, is composed of a fuzzy compliance model(FCM), a neural network and a low pass filter. The NFCM is trained through a reinforcement learning algorithm, and then, can generate suitable compliant motion for a given task. A series of simulations have been performed to show applicability of the proposed algorithm send it is found that the NFCM can implement suitable compliant motion for a given task through the learning procedure.

• Proceedings of the KIEE Conference
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• 1997.11a
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• pp.505-508
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• 1997

In this paper, an auto-tuning method for fuzzy controller based on the neural network is presented. The backpropagated error of neural emulator offers the path which reforms the fuzzy controller's membership functions and fuzzy rule, and used for speed control of induction motor. For the torque control method, an indirect vector control scheme with slip calculation is used because of its stable characteristics regardless of speed. Motor input current is regulated by a current controlled voltage source PWM inverter using space voltage vector technique. Also, the scheme of current control fuzzy controller is synchronous reference frame with decoupling term. DSP(TMS320C31) is used to achieve the high speed calculation of the space voltage vector PWM and to build the self-learning fuzz. control algorithm. An IPM is used to simplify hardware design.

• Nuclear Engineering and Technology
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• v.47 no.5
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• pp.624-632
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• 2015

A self-diagnostic monitoring system is a system that has the ability to measure various physical quantities such as temperature, pressure, or acceleration from sensors scattered over a mechanical system such as a power plant, in order to monitor its various states, and to make a decision about its health status. We have developed a self-diagnostic monitoring system for an air-operated valve system to be used in a nuclear power plant. In this study, we have tried to improve the self-diagnostic monitoring system to increase its reliability. We have implemented three different machine learning algorithms, i.e., logistic regression, an artificial neural network, and a support vector machine. After each algorithm performs the decision process independently, the decision-making module collects these individual decisions and makes a final decision using a majority vote scheme. With this, we performed some simulations and presented some of its results. The contribution of this study is that, by employing more robust and stable algorithms, each of the algorithms performs the recognition task more accurately. Moreover, by integrating these results and employing the majority vote scheme, we can make a definite decision, which makes the self-diagnostic monitoring system more reliable.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1997.04a
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• pp.62-67
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• 1997

This paper reprdsents a new scheme of neural network control system analysis the robustues of robot manipulator using digital signal processors. Digtal signal processors, DSPs, are micro-processors that are particularly developed for fast numerical computations involving sums and products of variables. Digital version of most advanced control algorithms can be defined as sums and products of measured variables, thus it can be programmed and executed through DSPs. In additions, DSPs are a s fast in computation as most 32-bit micro-processors and yet at a fraction of their prices. These features make DSPs a viable computational tool in digital implementation of sophisticated controllers. Durng past decade it was proposed the well-established theorys for the adaptive control of linear systems, but there exists relatively little general theory for the adaptive control of nonlinear systems. The proposed neuro network control algorithm is one of learning a model based error back-propagation scheme using Lyapunov stability analysis method.

• Journal of Information Technology Application
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• v.1
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• pp.173-211
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• 1999

The task of classification permeates all walks of life, from business and economics to science and public policy. In this context, nonlinear techniques from artificial intelligence have often proven to be more effective than the methods of classical statistics. The objective of knowledge discovery and data mining is to support decision making through the effective use of information. The automated approach to knowledge discovery is especially useful when dealing with large data sets or complex relationships. For many applications, automated software may find subtle patterns which escape the notice of manual analysis, or whose complexity exceeds the cognitive capabilities of humans. This paper explores the utility of a collaborative learning approach involving integrated models in the preprocessing and postprocessing stages. For instance, a genetic algorithm effects feature-weight optimization in a preprocessing module. Moreover, an inductive tree, artificial neural network (ANN), and k-nearest neighbor (kNN) techniques serve as postprocessing modules. More specifically, the postprocessors act as second0order classifiers which determine the best first-order classifier on a case-by-case basis. In addition to the second-order models, a voting scheme is investigated as a simple, but efficient, postprocessing model. The first-order models consist of statistical and machine learning models such as logistic regression (logit), multivariate discriminant analysis (MDA), ANN, and kNN. The genetic algorithm, inductive decision tree, and voting scheme act as kernel modules for collaborative learning. These ideas are explored against the background of a practical application relating to financial fraud management which exemplifies a binary classification problem.