• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2337-2341
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• 2005

This paper presents the target detection method using Support Vector Machines(SVMs) and the navigation system using behavior-based fuzzy controller. SVM is a machine-learning method based on the principle of structural risk minimization, which performs well when applied to data outside the training set. We formulate detection of target objects as a supervised-learning problem and apply SVM to detect at each location in the image whether a target object is present or not. The behavior-based fuzzy controller is implemented as an individual priority behavior: the highest level behavior is target-seeking, the middle level behavior is obstacle-avoidance, the lowest level is an emergency behavior. We have implemented and tested the proposed method in our mobile robot "Pioneer2-AT". Comparing with a neural-network based detection method, a SVM illustrate the excellence of the proposed method.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.10a
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• pp.604-607
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• 2005

In the electro-discharge machining the machining performance is closely related to the characteristics of discharge which can be identified from electrical behavior in gap between workpiece and electrode. Therefore, the accurate prediction of electrical behavior in electro-discharge machining (EDM) is useful to process control and optimization. However, any simulation model fur prediction of electrical behavior in EDM process has never been reported until now. In this study, a simulation model is developed to analyze the electrical behavior of electro-discharge plasma which significantly influences electrical behavior in EDM process. For the purpose of this the fundamentals of electro-discharge mechanism such as inception, propagation, formation of plasma channel and termination are investigated to accurately predict the cycle of discharge plasma in EDM. As a result, a mathematical model of electro-discharge plasma is constructed with considering the fundamentals of electro-discharge plasma. Consequently, it is demonstrated that the developed model can predict the electrical behavior of plasma such as electron density in various conditions.

• Biomolecules & Therapeutics
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• v.4 no.2
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• pp.167-173
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• 1996

This study was undertaken to evaluate a behavior-electroencephalogram (EEG) pattern relationship in pilocarpine- and kainic acid-induced convulsions of rats. Also we intended to examine the effect of a noncompetitive N-methyl-D-aspartate (NMDA) receptor antagonist, MK-801, and diazepam on the pilocarpine-induced behavioral and electrical seizures in rats. The electrical activities at frontal and hippocampal areas and behavior activities were measured in freely moving rats. At the beginning of the experiments, the rats displayed an exploratory behavior. This awake and moving phase with a low amplitude, irregular, 4-10 Hz wave was followed by a still phase. Pilocarpine (400 mg/kg, i.p.) and kainic acid (0.5 mg/kg, i.c.v.) induced tonic and clonic seizures. The pilocarpine-induced change in electrical activities exhibited a weak correlation with behavioral convulsion at all stages. The amplitude and duration of the electrical response were not linear with the degree of behavioral score. An application of MK-801 (dizocilpine, 7.5 mg/kg) did not affect the amplitudes of the convulsant-induced electrical activities, though the same dose of this drug caused the deformation of the electrical pattern. There was no effect of MK-801 on the behavioral and electrical activities as expected. Diazepam (1 mg/kg) did not affect the amplitude of the electrical activities induced by pilocarpine but changed the pattern of these activities. Our study shows that there is no linear relationship between degree of behavior and amplitude of electrical activities of convulsants. This may indicate that the NMDA receptor stimulation can be processed by the neocortical or hippocampal network in a different way between behavioral and electrical activities.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1776-1780
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• 2004

In this paper, we propose the new emotion model and the robot behavior decision model based on proposed emotion model. As like in human, emotions are hierarchicalized in four levels (momentary emotions, mood, attitude, and personality) and are determined from the robot behavior and human responses. They are combined with motivation (which is determined from the external stimuli) to determine the robot behavior.

• Transactions on Electrical and Electronic Materials
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• v.11 no.5
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• pp.216-221
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• 2010

The microstructure, electrical properties, and DC-accelerated aging behavior of the Zn-Pr-Co-Cr-Y-Er (ZPCC-YE) varistors were investigated for different amounts of erbium oxide ($Er_2O_3$). The microstructure consisted of zinc oxide grain and an intergranular layer ($Pr_6O_{11}$, $Y_2O_3$, and $Er_2O_3$-rich phase) as a secondary phase. The increase of $Er_2O_3$ amount decreased the average grain size and increased the sintered density. As the $Er_2O_3$ amount increased, the breakdown field increased from 5094 V/cm to 6966 V/cm and the nonlinear coefficient increased from 27.8 to 45.1. The ZPCC-YE varistors added with 0.5 to 1.0 mol% $Er_2O_3$ are appropriate for high voltage, with high nonlinearity and stability against DC-accelerated aging stress.

• Proceedings of the KIEE Conference
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• 1998.07g
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• pp.2186-2188
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• 1998

In this paper, Fundamental rules governing group intelligence "arrangement" behavior of multiple number of autonomous mobile robots are represented by a small number of fuzzy rules. Complex lifelike behavior is considered as local interactions between simple individuals under small number of fundamental rules. The fuzzy rules for arrangement are generated from clustering the input-output data obtained from the arrangement algorithm. Simulation shows the fuzzy rules successfully realizes fundamental rules of the flocking group behavior.

• The Korean Journal of Ceramics
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• v.4 no.2
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• pp.68-71
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• 1998

The effect of Mn and Nb additions on the electrical properties of BaTiO$_3$ has been studied by means of equilibrium electrical conductivity as a function of temperature, oxygen partial pressure(Po$_2$) and composition. If the manganese ion is added to the normal Ti site, i.e. BaTi$_{1-x}Mn_xO_{\delta-6}$, the equilibrium conductivity shows strong evidence of acceptor-doped behavior. The conductivity minimum, corresponding to the transition from oxygen excess, p-type behavior to oxygen deficient, n-type behavior with decreasing Po$_2$, is displaced to lower Po$_2$ and is broadened and flattened. The partial replacement of Mn ion with Nb decreases the acceptor-doped effect and the total replacement exhibits a typical donor-doped behavior. It was confirmed that unlike undoped or other acceptor-doped behavior. It was confirmed that unlike undoped or other acceptor-doped samples, for the p-type region, the electrical conductivity follows the 1/6th power dependence of oxygen partial pressure.

• KIEE International Transactions on Electrophysics and Applications
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• v.3C no.3
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• pp.81-85
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• 2003

This paper describes the results of experiments made to examine the behavior of water droplet on the polymer surface and influence of the charge. In this experiment, water droplet was put on the polymer surface in an applied AC electric field and the investigations of its behavior were done with a high-speed video camera. It can be observed that the droplet elongates and vibrates with being pulled towards the positive electrode in a wave synchronism with the frequency of the power source. The volume and conductivity of water droplet are shown to have a marked effect on the mode of discharge development. These behaviors may be caused by the change of electric field of applied AC voltage and induced charges in/on the water droplet.

• International Journal of Control, Automation, and Systems
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• v.6 no.2
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• pp.282-287
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• 2008

In distributed mobile robot systems, autonomous robots accomplish complicated tasks through intelligent cooperation with each other. This paper presents behavior learning and online distributed evolution for cooperative behavior of a group of autonomous robots. Learning and evolution capabilities are essential for a group of autonomous robots to adapt to unstructured environments. Behavior learning finds an optimal state-action mapping of a robot for a given operating condition. In behavior learning, a Q-learning algorithm is modified to handle delayed rewards in the distributed robot systems. A group of robots implements cooperative behaviors through communication with other robots. Individual robots improve the state-action mapping through online evolution with the crossover operator based on the Q-values and their update frequencies. A cooperative material search problem demonstrated the effectiveness of the proposed behavior learning and online distributed evolution method for implementing cooperative behavior of a group of autonomous mobile robots.

• Proceedings of the KIEE Conference
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• 2001.11a
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• pp.121-123
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• 2001

We synthesized dendrimers containing light switchable units such as azobenzene group at the air/water interface. Their chemical structure was verified by using NMR study and UV spectroscopy. We firstly investigated the monolayer behavior and by light irradiation using $\pi$-A isotherm at the air/water interface. As a result, the monolayer of dendrimer with azobenzene group showed the reversible photo-switching behavior by the isomerization of azobenzene group in their periphery. This suggests that optical behavior and morphological change are affected by the functional group and the symmetric chain.