• International Journal of Control, Automation, and Systems
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• 제1권1호
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• pp.134-141
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• 2003

A major research issue associated with service robots is the creation of an environment recognition system for mobile robot navigation that is robust and efficient on various environment situations. In recent years, intelligent autonomous mobile robots have received much attention as the types of service robots for serving people and industrial robots for replacing human. To help people, robots must be able to sense and recognize three dimensional space where they live or work. In this paper, we propose a three dimensional environmental modeling method based on an edge enhancement technique using a planar fitting method and a neural network technique called "Growing Neural Gas Network." Input data pre-processing provides probabilistic density to the input data of the neural network, and the neural network generates a graphical structure that reflects the topology of the input space. Using these methods, robot's surroundings are autonomously clustered into isolated objects and modeled as polygon patches with the user-selected resolution. Through a series of simulations and experiments, the proposed method is tested to recognize the environments surrounding the robot. From the experimental results, the usefulness and robustness of the proposed method are investigated and discussed in detail.in detail.

• Journal of Institute of Control, Robotics and Systems
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• 제10권7호
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• pp.625-633
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• 2004

In this paper, position control of a car-like mobile robot using a neural network is presented. positional information of the mobile robot is given by a laser range finder located remotely through wireless communication. The heading angle is measured by a gyro sensor. Considering these two sensor information as a reference, the robot posture is corrected by a cascaded controller. To improve the tracking performance, a neural network with a cascaded controller is used to compensate for any uncertainty in the robot. The neural network functions as a compensator to minimize the positional errors in on-line fashion. A car-like mobile robot is built as a test-bed and experimental studies of several controllers are conducted and compared. Experimental results show that the best position control performance can be achieved by a cascaded controller with a neural network.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1099-1104
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• 2003

In this paper, the position control of a car-like mobile robot using neural network is proposed. The positional information of the mobile robot is given by a laser range finder located remotely through wireless communication. The heading angle is measured by a gyro sensor. Considering these two sensor information as references, the robot posture by localization is corrected by a cascaded controller. In order to improve the tracking performance, a neural network with a cascaded controller is used to compensate for any uncertainty in the robot. The remotely located neural network filter modifies the reference trajectories to minimize the positional errors by wireless communication. A car-like mobile robot is built as a test-bed and experimental studies of proposed several control algorithms are performed. It turns out that the best position control can be achieved by a cascaded controller with neural network.

• Journal of the Korea Society of Computer and Information
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• 제22권4호
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• pp.41-49
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• 2017

Word sense disambiguation(WSD) that determines the exact meaning of homonym which can be used in different meanings even in one form is very important to understand the semantical meaning of text document. Many recent researches on WSD have widely used NNLM(Neural Network Language Model) in which neural network is used to represent a document into vectors and to analyze its semantics. Among the previous WSD researches using NNLM, RNN(Recurrent Neural Network) model has better performance than other models because RNN model can reflect the occurrence order of words in addition to the word appearance information in a document. However, since RNN model uses only the forward order of word occurrences in a document, it is not able to reflect natural language's characteristics that later words can affect the meanings of the preceding words. In this paper, we propose a WSD scheme using Bidirectional RNN that can reflect not only the forward order but also the backward order of word occurrences in a document. From the experiments, the accuracy of the proposed model is higher than that of previous method using RNN. Hence, it is confirmed that bidirectional order information of word occurrences is useful for WSD in Korean language.

• Proceedings of the Korea Database Society Conference
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• 한국데이타베이스학회 1999년도 춘계공동학술대회: 지식경영과 지식공학
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• pp.253-260
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• 1999

The recycling cell formation problem means that disposal products me classified into recycling part families using group technology in their end of life phase. Disposal products have the uncertainties of product status by usage influences during product use phase and recycling cells are formed design, process and usage attributes. In order to treat the uncertainties, fuzzy set theory and fuzzy logic-based neural network model are applied to recycling cell formation problem far disposal products. In this paper, a heuristic approach fuzzy ART neural network is suggested. The modified fuzzy ART neural network is shown that it has a great efficiency and give an extension for systematically generating alternative solutions in the recycling cell formation problem. We present the results of this approach applied to disposal refrigerators and the comparison of performances between other algorithms. This paper introduced a procedure which integrates economic and environmental factors into the disassembly of disposal products for recycling in recycling cells. A qualitative method of disassembly analysis is developed and its ai is to improve the efficiency of the disassembly and to generated an optimal disassembly which maximize profits and minimize environmental impact. Three criteria established to reduce the search space and facilitate recycling opportunities.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 한국퍼지및지능시스템학회 2000년도 추계학술대회 학술발표 논문집
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• pp.281-286
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• 2000

This paper describes a lateral guidance system of an unmanned vehicle, using a neural network model of magneto-resistive sensor and magnetic fields. The model equation was compared with experimental sensing data. We found that the experimental result has a negligible difference from the modeling equation result. We verified that the modeling equation can be used in the unmanned vehicle simulations. As the neural network controller acquires magnetic field values(B$\_$x/, B$\_$y/, B$\_$z/) from the three-axis, the controller outputs a steering angle. The controller uses the back-propagation algorithms of neural network. The learning pattern acquisition was obtained using computer simulation, which is more exact than human driving. The simulation program was developed in order to verify the acquisition of the learning pattern, learning itself, and the adequacy of the design controller. A computer simulation of the vehicle (including vehicle dynamics and steering) was used to verify the steering performance of the vehicle controller using the neural network. Good results were obtained. Also, the real unmanned electrical vehicle using neural network controller verified good results.

• Proceedings of the KSRS Conference
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• 대한원격탐사학회 2002년도 Proceedings of International Symposium on Remote Sensing
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• pp.256-272
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• 2002

The purpose of this study is to develop landslide susceptibility analysis techniques using artificial neural network and to apply the newly developed techniques to the study area of Boun in Korea. Landslide locations were identified in the study area from interpretation of aerial photographs, field survey data, and a spatial database of the topography, soil type, timber cover, geology and land use. The landslide-related factors (slope, aspect, curvature, topographic type, soil texture, soil material, soil drainage, soil effective thickness, timber type, timber age, and timber diameter, timber density, geology and land use) were extracted from the spatial database. Using those factors, landslide susceptibility was analyzed by artificial neural network methods. For this, the weights of each factor were determinated in 3 cases by the backpropagation method, which is a type of artificial neural network method. Then the landslide susceptibility indexes were calculated and the susceptibility maps were made with a GIS program. The results of the landslide susceptibility maps were verified and compared using landslide location data. A GIS was used to efficiently analyze the vast amount of data, and an artificial neural network was turned out be an effective tool to maintain precision and accuracy.

• The KIPS Transactions:PartB
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• 제9B권3호
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• pp.271-276
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• 2002

The test statistic in ANOVA tests has a single or doubly noncentral F distribution and the noncentral F distribution is applied to the calculation of the power functions of tests of general linear hypotheses. Although various approximations of noncentral F distribution are suggested, they are troublesome to compute. In this paper, the calculation of noncentral F distribution is applied to the neural network theory, to solve the computation problem. The neural network consists of the multi-layer perceptron structure and learning process has the algorithm of the backpropagation. Using fables and figs, comparisons are made between the results obtained by neural network theory and the Patnaik's values. Regarding of accuracy and calculation, the results by neural network are efficient than the Patnaik's values.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• 제18권1호
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• pp.85-89
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• 2004

Robust control for feedback control system is needed according to the highest precision of industrial automation. However, when a neural network feedback control system has an effect of disturbance, it is very difficult to guarantee the robustness of control system. As a compensation method solving this problem, in this paper, hybrid control method of neural network controller and PID controller is presented. A neural network controller is operated as a main controller, a PID controller is a assistant controller which operates only when some undesirable phenomena occur, e.q., when the error hit the boundary of constraint set. The robust control function of neural network-PID hybrid controller is demonstrated by speed control of Motor.

• Proceedings of the Korea Inteligent Information System Society Conference
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• 한국지능정보시스템학회 1999년도 춘계공동학술대회-지식경영과 지식공학
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• pp.253-260
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• 1999

The recycling cell formation problem means that disposal products are classified into recycling part families using group technology in their end of life phase. Disposal products have the uncertainties of product status by usage influences during product use phase and recycling cells are formed design, process and usage attributes. In order to treat the uncertainties, fuzzy set theory and fuzzy logic-based neural network model are applied to recycling cell formation problem for disposal products. In this paper, a heuristic approach for fuzzy ART neural network is suggested. The modified Fuzzy ART neural network is shown that it has a great efficiency and give an extension for systematically generating alternative solutions in the recycling cell formation problem. We present the results of this approach applied to disposal refrigerators and the comparison of performances between other algorithms. This paper introduced a procedure which integrates economic and environmental factors into the disassembly of disposal products for recycling in recycling cells. A qualitative method of disassembly analysis is developed and its aim is to improve the efficiency of the disassembly and to generated an optimal disassembly which maximize profits and minimize environmental impact. Three criteria established to reduce the search space and facilitate recycling opportunities.