• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.2
• /
• pp.169-175
• /
• 2009

A new wire detection algorithm for power line inspection by a mobile robot has been proposed in this paper. There have been a lot of studies in order to support the high-quality electric power. For the high-quality power supply, it is necessary to investigate the power lines and insulators before the lines or insulators were disconnected or damaged. Although Korea Electric power Corp. has made many efforts for the quality improvement, it is not enough to inspect all the power lines by human inspectors. According to this problem, it is decided to replace the human operators by the power line inspection robot. When the robots are used for the inspection, there could be several advantages, for example, the working efficiency and the prevention of accident. And also the shortage of human power for dangerous jobs can be resolved. In this paper, as a part of the development of power line inspection robot, DICRO, the sensor fusion and fuzzy control algorithms are developed to detect the wire and slope of the wire. The effectiveness of the proposed algorithms is proved by the real experiments with DICRO which is under development so far.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.1408-1412
• /
• 2004

This paper presents a method that a mobile robot finds location of doors in complex environments and safely traverses the door. A robot must be able to find the door in order that it achieves the behavior that is scheduled after traversing a door. PCA(Principal Component Analysis) algorithm using the vision sensor is used for a robot to find the location of door. Fuzzy controller using sonar data is used for a robot to avoid an obstacle and traverse the doors.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2005.11a
• /
• pp.1203-1206
• /
• 2005

현재 무선 센서 네트워크에서 에너지 효율성을 고려한 많은 라우팅 프로토콜이 연구되고 있다. 하지만 기존에 제안된 무선 센서 네트워크 라우팅 프로토콜은 특정 상황 및 응용에 특화되어 있기 때문에, 동적으로 변화하는 네트워크 상에서는 데이터 전달의 정확성 및 에너지 효율성이 떨어지는 문제점이 있다. 본 연구에서는 이러한 문제점을 개선하기 위하여 퍼지 추론 시스템을 이용한 라우팅 프로토콜 선택 기법과 라우팅 프로토콜의 동적 배치 기법을 기반으로 한 퍼지 적응형 라우팅(FAR) 알고리즘을 제안한다.

• Journal of Korea Society of Industrial Information Systems
• /
• v.4 no.4
• /
• pp.7-14
• /
• 1999

The measuring systems of auto-parts are most of greater part very expensive. This paper tries to study to make a low-cost measuring equipment there's several kinds of parts in automobile. In this study, we take aircon-switch called magnet coil-housing as the object of measurements. The measurements of this product is currently in difficult situations at factory. In the case of the mesuring objects being big sizes and camera sensor having under 410000 pixels, the key point is the number of pixels not to be changed whenever the same object is measured under the same position. We modified and used fuzzy c-means algorithm to get mostly without the change of the numbers of pixels exactly. Also, the standardized ruler is necessary to measure the length of the object but it is not easy to get the precised ruler. Therefore, the standard length has been taken as the mean value of the pixels in the previous passed objects manually obtained at factory. The results are displayed on monitor and transferred these signals to the microprocessor through RSC-232 port to determine a good or bad of products.

• Proceedings of the Korea Society for Industrial Systems Conference
• /
• 1999.12a
• /
• pp.315-323
• /
• 1999

The measuring systems of auto-parts are most of greater part very expensive. This paper tries to study to make a low-cost measuring equipment. There's several kinds of parts in automobile. In this study, we take aircon-switch called magnet coil-housing as the object of measurements. The measurements of this product is currently in difficult situations at factory. In the case of the mesuring objects being big sizes and camera sensor having under 410000 pixels, the key point is the number of pixels not to be changed whenever the same object is measured under the same position. We modified and used fuzzy c-means algorithm to get mostly without the change of the numbers of pixels exactly. Also, the standardized ruler is necessary to measure the length of the object but it is not easy to get the precised ruler. Therefore, the standard length has been taken as the mean value of the pixels in the previous passed objects manually obtained at factory. The results are displayed on monitor and transferred these signals to the microprocessor through RSC-232 port to determine a good or bad of products.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.31 no.4B
• /
• pp.278-284
• /
• 2006

In thispaper, we designed a intelligent autonomous driving robot by using Fuzzy algorithm. The object of designed robot is recognition of obstacle, avoidance of obstacle and safe arrival. We append a suspension system to auxiliary wheel for improvement in stability and movement. The designed robot can arrive at destination where is wanted to go by the old and the weak and the handicapped at indoor hospital and building.

• The Transactions of the Korean Institute of Electrical Engineers B
• /
• v.48 no.8
• /
• pp.426-430
• /
• 1999

In this paper, a speed sensorless algorithm for a high-speed induction motor is proposed. The proposed algorithm simply estimates rotor speed by integrating the deviation between the command current value of a controller and the real current value of the motor. To estimate rotor speed without a speed sensor, a fuzzy speed controller and a neural network speed estimator are applied. Computer simulation and implementation of the proposed system is described.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.52 no.8
• /
• pp.29-39
• /
• 2015

This paper describes a design and implementation of fuzzy-based algorithm for hand-shake state detection and error compensation in the mobile optical image stabilization(OIS) motion detector. Since the gyro sensor output of the OIS motion detector includes inherent error signals, accurate error correction is required for prompt hand-shake error compensation and stable hand-shake state detection. In this research with a little computation overhead of fuzzy-based algorithm, the hand-shake error compensation could be improved by quickly reducing the angle and phase error for the hand-shake frequencies. Further, stability of the OIS system could be enhanced by the hand-shake states of {Halt, Little vibrate, Big vibrate, Pan/Tilt}, classified by subdividing the hand-shake angle. The performance and stability of the proposed algorithm in OIS motion detector is quantitatively and qualitatively evaluated with the emulated hand-shaking of ${\pm}0.5^{\circ}$, ${\pm}0.8^{\circ}$ vibration and 2~12Hz frequency. In experiments, the average error compensation gain of 3.71dB is achieved with respect to the conventional BACF/DCF algorithm; and the four hand-shake states are detected in a stable manner.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
• /
• v.22 no.5
• /
• pp.86-94
• /
• 2008

In this paper proposed the solar tracking system to use a fuzzy based on PC in of order to increase an output of the PV(Photovoltaic) array. The solar tracking system operated two DC motors driving by signal of photo sensor. The control of dual axes is not an easy task due to nonlinear dynamics and unavailability of the parameters. Recently, artificial intelligent control of the fuzzy control, neural-network and genetic algorithm etc. have been studies. The fuzzy control made a nonlinear dynamics to well perform and had a robust and highly efficient characteristic about a parameter variable as well as a nonlinear characteristic. Hence the fuzzy control was used to perform the tracking system after comparing with error values of setting-up, nonlinear altitude and azimuth. In this paper designed a fuzzy controller for improving output of PV array and evaluated comparison with efficient of conventional PI controller. The data which were obtained by experiment were able to show a validity of the proposed controller.

• Proceedings of the KIEE Conference
• /
• 2005.10b
• /
• pp.133-137
• /
• 2005

In this paper, we investigate visual and quantitative analysis of different tastes in the liquids using multi-array chemical sensor (MACS) based on the ion-selective electrodes (ISEs), which is so called the electronic tongue (E-Tongue) system. We apply the Fuzzy C-means (FCM) algorithm combined with Principal Component Analysis (PCA), which can be used to reduce multi-dimensional data to two- or three-dimensional data, to classify visually data patterns detected by E-Tongue system. The proposed technique can be determined the cluster centers and membership grade of patterns through the unsupervised way. The membership grade of an unknown pattern, which does not shown previously, can be visually and analytically determined. Throughout the experimental trails, the E-tongue system combined with the proposed algorithms is demonstrated robust performance for visual and quantitative analysis for different tastes in the liquids.