• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1744-1745
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• 2007

휴머노이드 로봇은 높은 자유도 때문에 생기는 비선형성 때문에, 안정성을 보장하는 것은 중요한 연구 분야중 하나이다. 또한 안정적인 보행을 하기위해서 미지의 환경하에서 발의 착지는 첫 번째 단계중 하나이다. 그러나, 이족보행 로봇은 반작용 없이 안정적인 발의 착지를 하기 위한 정보를 얻는것이 쉽지 않기 때문에, 착지에 관한 많은 연구가 활발히 진행되고 있다. 그러므로, 본 논문에서는 퍼지 시스템을 이용한 실시간 착지 제어 방법에 대해 제안하였다. 실시간 착지 제어는 다양한 지면의 조건에서 안정성을 갖고 있어야 하는 제약 조건을 갖는다. 이전까지의 연구에서는 실시간 착지제어에 관한 방법이 매우 전무하고 부가적인 기계적 장비를 (특수한 발의 구조) 필요로 하였다. 그러나, 본 논문에서는 힘 센서만을 사용하여 다양한 환경이 인식될수 있게 하였다. 제안된 방법은 19 자유도를 갖는 휴머노이드 모델을 통해 실험되었다.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.37 no.5
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• pp.19-28
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• 2000

It is not so easy to control the wheeled mobile robot because of some causes like non-holonomic constraints. To overcome these problems, a controller that PD system is combined with fuzzy process is composed of several steps that have each separate algorithm and niche search algorithm and immune algorithm is applied partly. Output term set is changed by search that is performed to get optimal elements and then the rule base is also reformed. The fitness for the altered system is estimated and the surplus elements are removed. After the adjustment of output term set and rule base is finished, input and output membership functions is tuned.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.3
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• pp.323-328
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• 2011

In real system application, the 3-D obstacle avoidance system for the autonomous control of the underwater flight vehicle (UFV) operates with the following problems: the sonar offers the range/bearing information of obstacles in a local detection area, it requires the system that has reduced acoustic noise and power consumption in terms of the autonomous underwater vehicle (AUV), it has the UFV operation constraints such as maximum pitch and depth, and it requires an easy design procedure in terms of its structures and parameters. To solve these problems, an intelligent 3-D obstacle avoidance algorithm using the evolution strategy (ES) and the fuzzy logic controller (FLC), is proposed. To verify the performance of the proposed algorithm, the 3-D obstacle avoidance of UFV is performed. Simulation results show that the proposed algorithm effectively solves the problems in the real system application.

• Economic and Environmental Geology
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• v.50 no.3
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• pp.239-250
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• 2017

Physically based landslide susceptibility analysis has been recognized as an effective analysis method because it can consider the mechanism of landslide occurrence. The physically based analysis used the slope geometry and geotechnical properties of slope materials as input. However, when the physically based approach is adopted in regional scale area, the uncertainties were involved in the analysis procedure due to spatial variation and complex geological conditions, which causes inaccurate analysis results. Therefore, probabilistic method have been used to quantify these uncertainties. However, the uncertainties caused by lack of information are not dealt with the probabilistic analysis. Therefore, fuzzy set theory was adopted in this study because the fuzzy set theory is more effective to deal with uncertainties caused by lack of information. In addition, the vertex method and Monte Carlo simulation are coupled with the fuzzy approach. The proposed approach was used to evaluate the landslide susceptibility for a regional study area. In order to compare the analysis results of the proposed approach, Monte Carlo simulation as the probabilistic analysis and the deterministic analysis are used to analyze the landslide susceptibility for same study area. We found that Fuzzy Monte Carlo simulation showed the better prediction accuracy than the probabilistic analysis and the deterministic analysis.

• Journal of Korean Society of Transportation
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• v.18 no.1
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• pp.75-85
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• 2000

In existing models in optimization, the crisp data improve has been used in the objective or constraints to derive the optimal solution, Besides, the subjective environments are eliminated because the complex and uncertain circumstances were regarded as Probable ambiguity, In other words those optimal solutions in the existing models could be the complete satisfactory solutions to the objective functions in the Process of application for industrial engineering methods to minimize risks of decision-making. As a result of those, decision-makers in location Problems couldn't face appropriately with the variation of demand as well as other variables and couldn't Provide the chance of wide selection because of the insufficient information. So under the circumstance. it has been to develop the model for the location and size decision problems of logistics facility in the use of the fuzzy theory in the intention of making the most reasonable decision in the Point of subjective view under ambiguous circumstances, in the foundation of the existing decision-making problems which must satisfy the constraints to optimize the objective function in strictly given conditions in this study. Introducing the Process used in this study after the establishment of a general mixed integer Programming(MIP) model based upon the result of existing studies to decide the location and size simultaneously, a fuzzy mixed integer Programming(FMIP) model has been developed in the use of fuzzy theory. And the general linear Programming software, LINDO 6.01 has been used to simulate, to evaluate the developed model with the examples and to judge of the appropriateness and adaptability of the model(FMIP) in the real world.

• Archives of design research
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• v.20 no.3 s.71
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• pp.203-214
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• 2007

This study proposes an information retrieval method reflecting the user's preferences based on the fuzzy set theory to develop information contents which support pedestrian's navigation. Firstly, the research evaluated subjects' preferences on commercial spaces set to a hypothetical destination. Also it surveyed the causal relationship between the visual characteristics and the emotional characteristics to propose methods of Navigation Knowledge Base (NKB). The NKB was composed of three elements; 1. the correlation model between emotional characteristics, 2. the causal relationship between visual characteristics and emotional characteristics, 3. the transformation model between visual characteristics and the physical characteristics. Secondly, this study classified the pedestrian's destination search into 4 types with his or her preferences and the time conditions limited during navigation. For each type it presented the Destination Search Algorithm (DSA). Finally, the research simulated the destination search in 4 navigation types using NKB and DSA and verified the availability of the information retrieval method reflecting pedestrian's preferences. In conclusion, the proposed information search method will be applied to reflect the user's preferences to develop information appliances.

• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.3
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• pp.291-296
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• 2006

In context-aware computing environment, some context is characterized by a single event, but many other contexts are determined by a sequence of events which happen with some timing constraints. Therefore context inference could be conducted by monitoring the sequence of event occurrence along with checking their conformance with timing constraints. Some context could be described with fuzzy concepts instead of concrete concepts. Multiple entities may interact with a service system in the context-aware environments, and thus the context inference mechanism should be equipped to handle multiple entities in the same situation. This paper proposes a context inference model which is based on the so-called fuzzy colored timed Petri net. The model represents and handles the sequential occurrence of some events along with involving timing constraints, deals with the multiple entities using the colored Petri net model, and employs the concept of fuzzy tokens to manage the fuzzy concepts.

• The KIPS Transactions:PartB
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• v.13B no.5 s.108
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• pp.561-568
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• 2006

WPS(Wearable Personal Station) for next generation PC can define as a core terminal of 'Ubiquitous Computing' that include information processing and network function and overcome spatial limitation in acquisition of new information. As a way to acquire significant dynamic gesture data of user from haptic devices, traditional gesture recognizer based on desktop-PC using wire communication module has several restrictions such as conditionality on space, complexity between transmission mediums(cable elements), limitation of motion and incommodiousness on use. Accordingly, in this paper, in order to overcome these problems, we implement hand gesture recognition system using fuzzy algorithm and neural network for Post PC(the embedded-ubiquitous environment using blue-tooth module and WPS). Also, we propose most efficient and reasonable hand gesture recognition interface for Post PC through evaluation and analysis of performance about each gesture recognition system. The proposed gesture recognition system consists of three modules: 1) gesture input module that processes motion of dynamic hand to input data 2) Relational Database Management System(hereafter, RDBMS) module to segment significant gestures from input data and 3) 2 each different recognition modulo: fuzzy max-min and neural network recognition module to recognize significant gesture of continuous / dynamic gestures. Experimental result shows the average recognition rate of 98.8% in fuzzy min-nin module and 96.7% in neural network recognition module about significantly dynamic gestures.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.31 no.3
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• pp.158-169
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• 2019

A probabilistic model that can predict the residual useful lifetime of structure is formulated by using the gamma process which is one of the stochastic processes. The formulated stochastic model can take into account both the sampling uncertainty associated with damages measured up to now and the temporal uncertainty of cumulative damage over time. A method estimating several parameters of stochastic model is additionally proposed by introducing of the least square method and the method of moments, so that the age of a structure, the operational environment, and the evolution of damage with time can be considered. Some features related to the residual useful lifetime are firstly investigated into through the sensitivity analysis on parameters under a simple setting of single damage data measured at the current age. The stochastic model are then applied to the rubble-mound breakwater straightforwardly. The parameters of gamma process can be estimated for several experimental data on the damage processes of armor rocks of rubble-mound breakwater. The expected damage levels over time, which are numerically simulated with the estimated parameters, are in very good agreement with those from the flume testing. It has been found from various numerical calculations that the probabilities exceeding the failure limit are converged to the constraint that the model must be satisfied after lasting for a long time from now. Meanwhile, the expected residual useful lifetimes evaluated from the failure probabilities are seen to be different with respect to the behavior of damage history. As the coefficient of variation of cumulative damage is becoming large, in particular, it has been shown that the expected residual useful lifetimes have significant discrepancies from those of the deterministic regression model. This is mainly due to the effect of sampling and temporal uncertainties associated with damage, by which the first time to failure tends to be widely distributed. Therefore, the stochastic model presented in this paper for predicting the residual useful lifetime of structure can properly implement the probabilistic assessment on current damage state of structure as well as take account of the temporal uncertainty of future cumulative damage.