• 제어로봇시스템학회논문지
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• 제20권6호
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• pp.599-605
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• 2014

This paper presents the interactive behavior modeling method based on POMDP (Partially Observable Markov Decision Process) for HRI (Human-Robot Interaction). HRI seems similar to conversational interaction in point of interaction between human and a robot. The POMDP has been popularly used in conversational interaction system. The POMDP can efficiently handle uncertainty of observable variables in conversational interaction system. In this paper, the input variables of the proposed conversational HRI system in POMDP are the input information of sensors and the log of used service. The output variables of system are the name of robot behaviors. The robot behavior presents the motion occurred from LED, LCD, Motor, sound. The suggested conversational POMDP-based HRI system was applied to an emotional robot KIBOT. In the result of human-KIBOT interaction, this system shows the flexible robot behavior in real world.

• Journal of Information Processing Systems
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• 제7권4호
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• pp.707-716
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• 2011

It is important that desktop grids should be able to aggressively deal with the dynamic properties that arise from the volatility and heterogeneity of resources. Therefore, it is required that task scheduling be able to positively consider the execution behavior that is characterized by an individual resource. In this paper, we implement a log analysis system with REST web services, which can analyze the execution behavior by utilizing the actual log data of desktop grid systems. To verify the log analysis system, we conducted simulations and showed that the resource group-based task scheduling, based on the analysis of the execution behavior, offers a faster turnaround time than the existing one even if few resources are used.

• 동력기계공학회지
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• 제11권4호
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• pp.92-97
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• 2007

This study aims at investigating the wear behavior of thermally sprayed Ni-based self-flux alloy coatings against different counterparts. Ni-based self-flux alloy powders were flame-sprayed onto a carbon steel substrate and then heat-treated at temperature of $1000^{\circ}C$. Dry sliding wear tests were performed using the sliding speeds of 0.2 and 0.8 m/s and the applied loads of 5 and 20 N. AISI 52100, $Al_2O_3$, $Si_3N_4$ and $ZrO_2$ balls were used as counterpart materials. Wear behavior of Ni-based self-flux alloy coatings against different counterparts were studied using a scanning electron microscope(SEM) and energy dispersive X-ray spectroscopy (EDX). It was revealed that wear behavior of Ni-based self-flux alloy coatings were much influenced by counterpart materials.

• 전자공학회논문지S
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• 제35S권3호
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• pp.102-109
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• 1998

In this paper, we propose a method of cooperative control based on immune system in distributed autonomous robotic system(DARS). Immune system is living body's self-protection and self-maintenance system. Thus these features can be applied to decision making of optimal swarm behavior in dynamically changing environment.For the purpose of applying immune system to DARS, a robot is regarded as a B lymphocyte(B cell), each environmental condition as an antigen, and a behavior strategy as an antibody respectively. The executing process of proposed method is as follows. When the environmental codintion changes, a robot select an appropriate beharior stategy. And its behavior stategy is stimulated and suppressed by other robot using communiation. Finally much stimulated strategy is adopted as a swarm behavior strategy. This control scheme is based on clonal selection and idotopic network hypothesis. And it is used for decision making of optimal swarm stragegy.

• 제어로봇시스템학회논문지
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• 제13권8호
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• pp.760-768
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• 2007

This paper introduces an emotional behavior decision model based on linear system for intelligent service robots. An emotional model should make different behavior decisions according to the purpose of the robots. We propose an emotional behavior decision model which can change the character of intelligent service robots and make different behavior decisions although the situation and environment remain the same. We defined each emotional element such as reactive dynamics, internal dynamics, emotional dynamics, and behavior dynamics by state dynamic equations. The proposed system model is a linear dynamic system. If you want to add one external stimulus or behavior, you need to add just one dimensional vector to the matrix of external stimulus or behavior dynamics. The case of removing is same. The change of reactive dynamics, internal dynamics, emotional dynamics, and behavior dynamics also follows the same procedure. We implemented a cyber robot and an emotional head robot using 3D character for verifying the performance of the proposed emotional behavior decision model.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제8권1호
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• pp.305-325
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• 2014

In cloud computing infrastructure, current virtual machine trust measurement methods have many shortcomings in dynamism, security and concurrency. In this paper, we present a new method to measure the trust of virtual machine. Firstly, we propose "behavior trace" to describe the state of virtual machine. Behavior trace is a sequence of behaviors. The measurement of behavior trace is conducted on the basis of anticipated trusted behavior, which not only ensures security of the virtual machine during runtime stage but also reduces complexity of the trust measurement. Based on the behavior trace, we present a Dynamic Tree Style Trust Measurement Model (DTSTM). In this model, the measurement of system domain and user domain is separated, which enhances the extensibility, security and concurrency of the measurement. Finally, based on System Call Interceptor (SCI) and Virtual Machine Introspection (VMI) technology, we implement a DTSTM prototype system for virtual machine trust measurement. Experimental results demonstrate that the system can effectively verify the trust of virtual machine and requires a relatively low performance overhead.

• 정보보호학회논문지
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• 제24권1호
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• pp.145-154
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• 2014

본 논문에서는 범죄수사에서 사용되는 프로파일링 기법을 이용한 모바일 악성코드 행위 프로파일링을 통하여 효율적인 모바일 악성코드 분류 방법론 Andro-profiler를 제안한다. Andro-profiler는 클라이언트/서버 형태로, 클라이언트 앱이 모바일기기에 설치되어 사용자가 사용하고 있는 앱에 대한 정보를 서버에 전송하고, 서버에서는 해당 앱을 동적 분석 도구인 Droidbox가 설치된 에뮬레이터에서 실행시키면서 발생되는 시스템 콜과 에뮬레이터 로그를 이용하여 해당 앱의 행동을 프로파일링하며, 해당 앱의 프로파일링 목록을 저장된 악성코드 프로파일링 DB와 비교하여 악성유무를 판단하고, 악성코드로 판단될 경우 분류를 실시하여 클라이언트에게 결과를 통보한다. 실험결과, Andro-profiler는 1MB의 악성코드를 분류하는데 평균 55초가 소요되었고, 99%의 정확도로 악성코드를 분류하는 것을 확인하였으며, 기존 방법론보다 더 정확하게 악성코드를 분류할 수 있다.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2019년도 춘계학술대회
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• pp.281-282
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• 2019

In recent years welfare of animals is the biggest challenge because animals, especially dogs are widely recognized as pet as well as they are using as service animals. So, for the wellbeing of the dog it is necessary to perform objective assessment to track their behavior in everyday life. In this paper, we have proposed an automatic behavior assessment system for dogs based on a neck worn and tail worn accelerometer and gyroscope platform, and data analysis techniques that recognize typical dog activities. We evaluate the system based on the analysis of 8 behavior traits in 3 dogs, incorporating 2 breeds of various sizes. Our proposed framework able to reproduce the manual assessment that is based on the video recording which is treated as gold standard that exhibits the real-life use case of automated dog behavior analysis.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1177-1180
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• 1996

In this paper, we propose an algorithm that realizes cooperative behavior by construction of autonomous mobile robot system. Each robot is able to sense other robots and obstacles, and it has the rule of behavior to achieve the goal of the system. In this paper, to improve performance of the whole system, we use Genetic Programming based on Natural Selection. Genetic Programming's chromosome is a program of tree structure and it's major operators are crossover and mutation. We verify the effectiveness of the proposed scheme from the several examples.

• 제어로봇시스템학회논문지
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• 제18권5호
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• pp.465-470
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• 2012

This paper proposes a distributed autonomous control method of swarm robot behavior strategy based on artificial immune system and an optimization strategy for artificial immune system. The behavior strategies of swarm robot in the system are depend on the task distribution in environment and we have to consider the dynamics of the system environment. In this paper, the behavior strategies divided into dispersion and aggregation. For applying to artificial immune system, an individual of swarm is regarded as a B-cell, each task distribution in environment as an antigen, a behavior strategy as an antibody and control parameter as a T-cell respectively. The executing process of proposed method is as follows: When the environmental condition changes, the agent selects an appropriate behavior strategy. And its behavior strategy is stimulated and suppressed by other agent using communication. Finally much stimulated strategy is adopted as a swarm behavior strategy. In order to decide more accurately select the behavior strategy, the optimized parameter learning procedure that is represented by stimulus function of antigen to antibody in artificial immune system is required. In this paper, particle swarm optimization algorithm is applied to this learning procedure. The proposed method shows more adaptive and robustness results than the existing system at the viewpoint that the swarm robots learning and adaptation degree associated with the changing of tasks.