• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.3
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• pp.287-292
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• 2003

The ability of robot is being various and complex. The robot is utilizing distance, image data and voice data for sensing its circumstance. This paper suggests the 2-layer fuzzy control as the algorithm that control robot with various sensor information. In a obstacle avoidance, it utilizes many range finders and classifies them into 3parts(front, left, right). In 3 sub-controllers, the controller executes fuzzy conference. And then it executes combined control with a combination of outputs of 3 sub-controllers in the second step. The text compares the 2-layer fuzzy controller with the hierarchical fuzzy controller that has analogous structure. And the performance of the 2-layer fuzzy controller is confirmed by application this controller to robot following, simulation to each other and real experiment.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.4 no.3
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• pp.341-346
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• 2004

Nowadays, versatile robots are developed around the world. Novel algorithms are needed for controlling such robots. A 2-Layer fuzzy controller can deal with many inputs as well as many outputs, and its overall structure is much simpler than that of a general fuzzy controller. The main problem encountered in fuzzy control is the design of the fuzzy controller. In this paper, the fuzzy controller is designed by the schema co-evolutionary algorithm. This algorithm can quickly and easily find a global solution. Therefore, the schema co-evolutionary algorithm is used to design a 2-layer fuzzy controller in this study. We apply it to a mobile robot and verify the efficacy of the 2-layer fuzzy controller and the schema co-evolutionary algorithm through the experiments.

• International Journal of Control, Automation, and Systems
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• v.3 no.3
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• pp.403-410
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• 2005

Nowadays, versatile robots are developed around the world. Novel algorithms are needed for controlling such robots. A 2-Layer fuzzy controller can deal with many inputs as well as many outputs, and its overall structure is much simpler than that of a general fuzzy controller. The main problem encountered in fuzzy control is the design of the fuzzy controller. In this paper, the fuzzy controller is designed by the schema co-evolutionary algorithm. This algorithm can quickly and easily find a global solution. Therefore, the schema co-evolutionary algorithm is used to design a 2-layer fuzzy controller in this study. We apply it to a mobile robot and verify the efficacy of the 2-layer fuzzy controller and the schema co-evolutionary algorithm through the experiments.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.2
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• pp.228-233
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• 2004

Nowadays, the robot with various and complex functions is required. previous algorithms, however, cannot satisfy the requirement. In order to solve these problems, we introduce the 2-Layer Fuzzy Controller, which has a small number of fuzzy rules corresponding to various inputs and outputs. Also, it controls robustly and effectively an object. The main problem in the fuzzy controller is how to design the fuzzy rule. This paper designs the optimal 2-layer fuzzy controller using the Schema Co-Evolutionary Algorithm. The schema co-evolutionary algorithm can find more rapidly and excellently than simple genetic algorithm does.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.05a
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• pp.292-295
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• 2003

로봇의 기능이 다양해지며 복잡해지고 있다 주위의 환경을 감지하는 센서로는 거리정보 뿐만이 아니라 영상 정보, 음성 정보까지 이용하고 있다 본 논문에서는 다양한 입력정보를 가지고 로봇을 제어하기 위한 알고리즘으로 2-Layer Fuzzy Control을 제안한다 장애물 회피의 경우에 다수의 초음파 센서를 이용하였는데 이것을 앞쪽, 왼쪽, 오른쪽으로 분류하여 3개의 sub-controller를 가지고 퍼지 추론을 한 다음 2단계에서는 이 3개의 sub-controller의 출력으로 조합된 퍼지 추론을 하여 통합적인 추론을 한다 본 논문에서는 2-Layer Fuzzy Controller와 비슷한 구조를 갖는 Hierarchical Fuzzy Controller와 성능비교를 하였으며 Robot following에도 적용하여 각각에 대한 시뮬레이션과 실험을 통해 확인한다.

• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.6
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• pp.692-697
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• 2003

The researches on the Internet based tole-operation have received increased attention for the past few years. In this paper, we implement the Internet based tele-operating system. In order to transmit robustly the surroundings and control information of the robot, we make a data as a packet type. Also in order to transmit a very large image data, we use PEG compressive algorithm. The central problem in the Internet based tele-operation is the data transmission latency or data-loss. For this specific problem, we introduce an autonomous mobile robot with a 2-layer fuzzy controller. Also, we implement the color detection system and the robot can perceive the object. We verify the efficacy of the 2-layer fuzzy controller by applying it to a robot that is equipped with various input sensors. Because the 2-layer fuzzy controller can control robustly the robot with various inputs and outputs and the cost of control is low, we hope it will be applied to various sectors.

• International Journal of Control, Automation, and Systems
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• v.2 no.4
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• pp.523-529
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• 2004

Sliding mode control with nonlinear interpolation in the boundary layer is proposed. A modified sigmoid function is used for nonlinear interpolation in the boundary layer and its parameter is tuned by a fuzzy controller. The fuzzy controller that takes both the sliding variable and a measure of chattering as its inputs tunes the parameter of the modified sigmoid function. Owing to the decreased thickness of the boundary layer and the tuned parameter, the proposed method has superior tracking performance than the conventional linear interpolation method.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09b
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• pp.13-16
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• 2003

본 논문에서는 인터넷의 기능을 이용하여 인터넷이 연결된 어느 장소에서라도 로봇을 원격으로 제어하거나 로봇으로부터 받은 정보를 인터넷으로 전송 받아 처리할 수 있는 알고리즘을 구현하였다. 빠른 영상정보 전송을 위해 JPEG 압축 기술을 이용하였다. 인터넷을 통한 원격 제어에서의 가장 큰 문제점은 전송 지연 또는 데이터 손실과 같은 통신 장애이다. 이러한 상황에서도 로봇이 스스로 자신을 보호하고 원하는 작업을 수행하도록 하기 위해 자율이동 기능이 필수적인데, 이를 위해 본 논문에서는 2-layer fuzzy controller를 이용하였다. 2-layer fuzzy controller를 이용하여 로봇은 장애물을 회피하면서 원활하게 이동할 수 있다. 마지막으로 실제 구현 및 실험을 통해 그 효율성을 평가한다.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.41 no.2
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• pp.45-52
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• 2004

The sliding mode controller with a boundary layer implemented by simplified indirect inference method (SIIM) fuzzy logic was proposed. The components of the sliding line function are used for the inputs of the SIIM fuzzy logic. The proposed control system is simple because there is no need to derive the sigmoid function and there are only four rules. The overall stability of the proposed system and the boundness of the tracking error are proved easily using the Lyapunov theory. We apply the proposed controller to control a nonlinear time-varying system. The computer simulation showed the validity of the proposed control system.

• The Proceedings of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.11 no.2
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• pp.102-109
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• 1997

The width of fuzzy membership function and control rule has an effect on performance of the fuzzy controller for electric equipment systems. In this paper, the neuro-fuzzy controller is proposed to im¬prove the performance of fuzzy controller. It has the width of membership function, that is adapted to the electrical parameter using multi-layer neural network, it is applied to first order electric power system with dead time and various plant constant. The related simulation resolts show that the pro¬posed neuro fuzzy controller are superior characteristics of improved performance