• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.78.5-78
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• 2002

We propose an evolutionary reinforcement learning (RL) system with time-varying parameters that can deal with a dynamic environment. The proposed system has three characteristics: 1) It can deal easily with a dynamic environment by using time-varying parameters; 2) The division of state space is acquired evolutionarily by genetic algorithm (GA); 3) One does not have to design the rules constructing an agent in advance. So far many RL systems have been proposed. These systems adjust constant or non time-varying parameters; by those systems it is difficult to realize appropriate behavior in complex and dynamic environment. Hence, we propose the RL system whose parameters can vary temporally. T...

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.532-532
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• 2000

Conventional artificial intelligence systems are not properly responding under dynamically changing environments. To overcome this problem, reactive planning systems implementing new Al principles, called behavior-based Al or emergent computation, have been proposed and confirmed their usefulness. As another alternative, biological information processing systems may provide many feasible ideas to these problems. Immune system, among these systems, plays important roles to maintain its own system against dynamically changing environments. Therefore, immune system would provide a new paradigm suitable for dynamic problem dealing with unknown environments. In this paper, a new approach to behavior-based Al by paying attention to biological immune system is investigated. The feasibility of this method is confirmed by applying to behavior control of an autonomous mobile robot in cluttered environment.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.12 no.12
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• pp.6057-6078
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• 2018

Smart home systems provide a safe, comfortable, and convenient living environment for users, whereby users enjoy featured home services supported by the data collected and generated by smart devices in smart home systems. However, existing smart devices lack sufficient protection in terms of data security and privacy, and challenging security and privacy issues inevitably emerge when using these data. This article aims to address these challenging issues by proposing a private blockchain-based access control (PBAC) scheme. PBAC involves employing a private blockchain to provide an unforgeable and auditable foundation for smart home systems, that can thwart illegal data access, and ensure the accuracy, integrity, and timeliness of access records. A detailed security analysis shows that PBAC could preserve data security against various attacks. In addition, we conduct a comprehensive performance evaluation to demonstrate that PBAC is feasible and efficient.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.5
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• pp.384-389
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• 2003

We propose a hierarchically structured navigation algorithm for multiple mobile robots under unknown dynamic environment based on fussy-neural algorithm. The proposed algorithm consists of two basic layers. The lower layer consists of two parts such as fuzzy algorithm for goal approach and fuzzy-neural algorithm for obstacle avoidance. The upper layer which is basically fuzzy algorithm adjusts the magnitude of the weighting factor depending on the environmental situation. In addition, The proposed algorithm provides an efficient method to escape local mimimum points as shown in the simulation result. The efficacy of the proposed method is demonstrated via some simulations.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.3
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• pp.657-663
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• 2010

Today, rapid evolution of Internet makes various types of services in ubiquitous environment are intelligent and active. As a result, user's demand on high quality of life increases and health care service based on ubiquitous environment draws a lot of attention. However, user's private information used for health care service is illegally distributed and exposed, causing serious individual and social problems. Therefore, this thesis is intended to suggest a secure health care service to prevent unauthorized third party's access and to protect user's privacy in health care systems. The proposed scheme establishes a session key through communication channel between health care system and user based on explicit mutual authentication and provides secure communication and access control, improving security as one of the leading health care systems.

• International Journal of Control, Automation, and Systems
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• v.3 no.spc2
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• pp.355-362
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• 2005

Deregulations and market practices in power industry have brought great challenges to the system planning area. In particular, they introduce a variety of uncertainties to system planning. New techniques are required to cope with such uncertainties. As a promising approach, probabilistic methods are attracting more and more attentions by system planners. In small signal stability analysis, generation control parameters play an important role in determining the stability margin. The objective of this paper is to investigate power system state matrix sensitivity characteristics with respect to system parameter uncertainties with analytical and numerical approaches and to identify those parameters have great impact on system eigenvalues, therefore, the system stability properties. Those identified parameter variations need to be investigated with priority. The results can be used to help Regional Transmission Organizations (RTOs) and Independent System Operators (ISOs) perform planning studies under the open access environment.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.8
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• pp.990-994
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• 1999

This paper proposes a new fuzzy-neural algorithm for navigation of a mobile robot with stationary and moving obstacles environment. The proposed algorithm uses fuzzy algorithm for its speed control and neuralnetwork for effective collision avoidance. Some computer simulation results for a mobile robot equipped with ultrasonic range sensors show that the suggested navigation algorithm is very effective to escape in stationary and moving obstacles environment.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.2
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• pp.133-139
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• 2007

An unmanned ground vehicle can perform its mission automatically without human control in unknown environment. To move up to a destination in various surrounding situation, navigational information is indispensible. In order to be adopted for an unmanned vehicle, the navigation box is small, light weight and low power consumption. This paper suggests navigation system using a low grade MEMS IMU for supplying position, velocity, and attitude of an unmanned ground vehicle. This system consists of low cost and light weight MEMS sensors and a GPS receiver to meet unmanned vehicle requirements. The sensors are basically integrated by loosely coupled method using Kalman filter and internal algorithms are divided into initial alignment, sensor error compensation, and complex navigation algorithm. The performance of the designed navigation system has been analyzed by real time field test and compared to commercial tactical grade GPS/INS system.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2001.05a
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• pp.199-202
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• 2001

We, Human beings, use both powers of reason and emotion simultaneously, which surely help us to obtain flexible adaptability against the dynamic environment. We assert that this principle can be applied into the general system. That is, it would be possible to improve the adaptability by covering a digital oriented information processing system with an analog oriented emotion layer. In this paper, we proposed a vertical slicing model with an emotion layer in it. And we showed that the emotion-based control allows us to improve the adaptability of a system at least under some conditions.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.11
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• pp.1044-1049
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• 2015

This paper proposes an autonomous navigation system of mobile robots for indoor corridor environment. The system uses a laser scanner but does not use reflectors. The laser scanner measures the distance between robot and structures such as wall, pillar, and fixtures. Adaptive breakpoint detector and modified IEPF (iterative endpoint fit) are developed to find mark points from the distance data. The robot path for corridor is then generated using the angle histogram of the mark points. The experimental results are finally presented to show the effectiveness of the proposed method.