• Title, Summary, Keyword: linguistic variable

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Position and Velocity Control of AM1 Robot Using Self-Organization Fuzzy Control Technology (자기구성 퍼지 제어기법에 의한 AM1 로봇의 위치 및 속도 제어)

  • 김종수;최석창;이종붕;김치원;한성현
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
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    • pp.550-555
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    • 2002
  • In this paper, it is presented a new technique to the design and real-time implementation of fuzzy control system based-on digital signal processors in order to improve the precision and robustness for system of industrial robot. Fuzzy control has emerged as one of the most active and fruitful areas for research in the applications of fuzzy set theory, especially in the real of industrial processes. In this thesis, a self-organizing fuzzy controller or the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variable of the controller, In the synthesis of a FLC, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult, SOFC is proposed for a hierarchical control structure consisting of basic level and high level that modify control rules.

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Self-Organization Fuzzy Control of Dual-Arm Robot (Dual-Arm로봇의 자기구성 퍼지제어)

  • 김홍래;김종수;한성현
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
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    • pp.201-206
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    • 2003
  • In this paper, it is presented a new technique to the design and real-time implementation of fuzzy control system based-on digital signal processors in order to improve the precision and robustness for system of industrial robot. Fuzzy control has emerged as one of the most active and fruitful areas for research in the applications of fuzzy set theory, especially in the real of industrial processes. In this thesis, a self-organizing fuzzy controller for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variable of the controller, In the synthesis of a FLC, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult, SOFC is proposed fir a hierarchical control structure consisting of basic level and high level that modify control rules. The proposed SOFC scheme is simple in structure, fast in computation and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for robot with eight joints.

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An EMG Study of the Tense-lax Distinction Theory

  • Kim, Dae-Won
    • Speech Sciences
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    • v.1
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    • pp.7-26
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    • 1997
  • An electromyographic device was used to investigate the relationship between a linguistic hypothesis of tense-lax distinction and muscular activity. Muscle action potentials of the orbicularis oris muscle and the depressor anguli oris muscle were obtained from four subjects using CVCVCV and CVCVC words in English and VCV and CVC words in Korean. Findings: The hypothesis that the speaker may select at least one of muscles involved in the articulation of a phoneme so that the selected muscle could be activated for tense-lax distinction, and either a timing variable or an amplitude variablethe and/or both from the selected muscle distinguish(es) /p/ from /b/ in English and /$p^{h},\;p^{l}$/ from /p/ in Korean, with the English /p/ and the Korean /$p^{h},\;p^{l}$/ being tense, and the Korean unaspirated /p/ and the English /b/ lax, has been verified, except for the case with subject 2 in stressed syllables in English. (2) Thus, the linguistic hypothesis of tense-lax distinction was strongly supported by the muscular activities during the Korean bilabial stops, with /$p^{h}\;and\;p^{l}$/ being tense and /p/ lax. (3) Considering the intermuscle compensation and the interspeaker variabilities in the choice of a muscle or muscles, in English the usability of the feature 'tensity' appeared to be positive rather than negative although further investigations with more subjects remain to take on the muscles associated with the onset/offset of the labial closure, including the respiratory muscles related with the aspiration. The phoneme-sensitive EMG manifestations of stress and possible reasons for the interspeaker variabilities are discussed.

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Robust Control of Dual Arm Robot with Eight Joint Based-on Self-Organization Fuzzy Control (자기구성 퍼지제어에 의한 8축 로봇의 강인제어)

  • 신행봉;김종수;김홍래;한성현
    • Proceedings of the Korean Society of Machine Tool Engineers Conference
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    • pp.187-192
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    • 2004
  • In this paper, it is presented a new technique to the design and real-time implementation of fuzzy control system based-on digital signal processors in order to improve the precision and robustness for system of industrial robot. Fuzzy control has emerged as one of the most active and fruitful areas for research in the applications of fuzzy set theory, especially in the real of industrial processes. In this thesis, a self-organizing fuzzy controller for the industrial robot manipulator with a actuator located at the base is studied. A fuzzy logic composed of linguistic conditional statements is employed by defining the relations of input-output variable of the controller, In the synthesis of a FLC, one of the most difficult problems is the determination of linguistic control rules from the human operators. To overcome this difficult, SOFC is proposed for a hierarchical control structure consisting of basic level and high level that modify control rules. The proposed SOFC scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Performance of the SOFC is illustrated by simulation and experimental results for robot with eight joints.

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The Correlation between the Variables of Family Circumstances and Personality and that of the Child's Mathematical Ability (아동의 가정환경변인 및 인성변인과 수학적 능력변인과의 상관성에 관한 연구)

  • Oh Byung Seung;Bai Jong Soo
    • The Mathematical Education
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    • v.24 no.2
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    • pp.74-104
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    • 1986
  • This study aims at investigating the correlation between such variables as a child's family circumstance and personality and that of the child's mathematical ability. For the objects of the study five hundreds and sixteen students (male 273, female 243) were andomly selected from the fifth grade primary school students in the city of Seoul. For the tool of measure the investigation of Korean family circumstances with particular characteristics, the personality test by Chong Pom Mo and Kim Ho Kwon, and the intelligence test by Lee Sang Ro, Chin Whal Kyo and Pyon Chang Jin were employed. For the statistical analysis S. A. S. C., the statistical analysis package of KAIST was employed. The resutis of the test can be summarized as follows. The correlation between the variable of family Circumstance and that of mathematical alility 1) In case of the significance level 0.05 the education of the childs mother and the order of the child's birth have much to do with the perception speed. In case of the significance level 0.1 it makes some difference in the child's perception spead whether the clild's mother has a job or not. 2) In case of the significance level 0.05 the education of the child's father and mother, the father's job and the type of habitation have influence on the child's perception of space. 3) In case of the significance level 0.05 the education of the child's father and mother, the father's job, the order of the child's birth, the type of habitation, their religion, and their cultural, and economic standard have influence on the child's ability of inference. 4) In case of the significance level 0.05 the education of the child's father and mother, the father's job, the type of habitation, their religion and their cultural and economic standard have influence on the child's ability of calculation. 5) In case of the significance level 0.05 any variable of the child's family circumstance has nothing to do with the child's memory. In case of the significance level 0, 1 the type of family and the type of habitation have effect on the child's memory. 6) In case of the significance level 0.05 the education of the child's parents, the jobs of the parents, the type of habtation, their religion, and their cultural and economic standard have influence on the child's linguistic notion. The correlation between the variable of the child's personality and that of the child's mathematical ability 1) In regard to the priority of the variables influencing the child's perception speed, the child's discretion comes first in order, and then sociability and impulsiveness of the child. 2) The child's discretion has effect on the child's space perception. 3) The child's discretion has effect on the child's ability of inference. 4) In regard to the child's ability of calculation the child's discretion comes first in order, and then impulsiveness and sociability of the child. 5) The child's discretion has effect on memory. 6) The child's discretion has effect on the child's linguistic notion.

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Fuzzy Logic Controller Design for Tracking Control and Obstacle Avoidance of Mobile Robot (이동로봇의 추적제어 및 장애물 회피를 위한 퍼지제어기의 설계)

  • Park, Jong-Suk;Kim, Byung-Kook
    • Proceedings of the Korean Institute of Intelligent Systems Conference
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    • pp.105-108
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    • 1997
  • We developed a FLC(Fuzzy Logic Controller) for tracking control of MR(Mobile Robot) with obstacle avoidance. In this research, we made a heuristic approach to tracking control which is simple and efficient in almost every situation using FLC. In addition, smooth turn is accomplished and also obstacles are avoided. Also we used the XX(don't care) linguistic variable for inputs in FLC to make simple rule-table. With various simulations, the validity of our FLC was shown.

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A study on fuzzy control for vehicle air conditioner (자동차용 공기조화기의 퍼지 제어에 관한 연구)

  • 김양영;봉재경;진상호
    • 제어로봇시스템학회:학술대회논문집
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    • pp.516-519
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    • 1997
  • In this paper, the control of the temperature for the vehicle air conditioner is implemented with the fuzzy controller using a micro controller. The linguistic control rules of the fuzzy controller are separated into two out variables(multi input multi output ; MIMO) : one is those for the blower motor, and the other is those for air mix door. The error in fuzzy controller, the input variable is defined as difference between the reference temperature and the actual temperature in the cabin room. The fuzzy control rules are established from the human operator experience, and based engineering knowledge about the process. The method of the center of gravity is utilized for the defuzzification.

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Interactive Fuzzy Multiobjective Decision-Making with Imprecise Goals (모호한 목표를 가진 대화형 퍼지 다목적 의사결정)

  • ;;Hong, S. L.
    • Journal of the Korean Operations Research and Management Science Society
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    • v.17 no.3
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    • pp.67-78
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    • 1992
  • MODM (multiobjective decision-making) problem is very complex system for the analyst. The problem is more complex if the goals of each of the objective functions are expressed imprecisely. It requires suitable MODM method to deal with imprecisions. Therefore, we present a new interactive fuzzy decision making method for solving multiobjective nonlinear programming problems by assuming that the decision maker (DM) has imprecise goals that assume fuzzy linguistic variable for each of the objective functions. The imprecise goals of the DM are quantified by eliciting corresponding membership functions through the interactive with the DM out of six membership functions. After determining membership functions, in order to generate the compromise or satisficing solution which is .lambda.-pareto optimal, .lambda.-max problem is solved. The higher degree of membership is chosen to satisfy imprecise goals of all objective functions by combining the membership functions. Then, the values are the compromise or satisficing solution. On the basis of the proposed method, and interactive computer programming is written to implement man-machine interactive procedures. Our programming is a revised version of sequential unconstrained minimization technique. Finally, a numerical example illustrates various aspects of the results developed in this paper.

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Safety Assessment of Human Body for the Electromagnetic Field of Unbalanced Power System (불평형 계통에서의 전자계에 대한 인체안전평가)

  • 김상철;송현선;김두현
    • Journal of the Korean Society of Safety
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    • v.14 no.3
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    • pp.54-62
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    • 1999
  • This paper presents a study on the safety assessment of human body for electromagnetic field at unbalanced power system. The 3-phase load flow algorithm uses Newton-Raphson method based on Taylor series expansion of power flow equations in rectangular coordinates. The use of such a method can result in a solution with good convergence characteristics. In the safety assessment of human body, the approach based on fuzzy linguistic variable is employed to overcome the shortcomings resulting from a crisp set concept. The suggested scheme is applied to a 24bus system to validate the usefulness. The results for an unbalanced power system are compared with the results for a balanced power system.

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A study on the analysis of Service Quality attribute using Fuzzy numbers in Public sector (퍼지수를 이용한 공공부문의 서비스 품질 속성분석에 관한 연구)

  • Lee Seok-Hoon;Kim Yong-Pil;Yun Deok-Gyun
    • Journal of the Society of Korea Industrial and Systems Engineering
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    • v.27 no.4
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    • pp.94-104
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    • 2004
  • This paper proposed a new method to evaluate service quality attribute of perceived service quality in public sectors, using triangle fuzzy numbers and hamming distance. Our method measured the ratio of the expected and perceived service for the customers' perceived service quality. By using fuzzy numbers, This method not only overcomes linguistic variable problems but also provides more objective and direct information for service quality attributes. The discrepancy rate between expected service and perceived service that is perceived service quality is evaluated by hamming distance. To evaluate the discrepancy rate from hamming distance, we induced general solutions to compute the intersection area between two triangle fuzzy numbers and the weak or strong attributes in public sectors are clarified.