• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.1
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• pp.1-6
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• 2012

In this paper, we present an obstacle avoidance control algorithm for mobile robots based on SFLC (single-input fuzzy logic controller) with an efficient fuzzy logic look-up table to replace the traditional complicated operation. This method achieves better performance than traditional methods in terms of efficiency. The output of a SFLC leads the robot to the target automatically although many obstacles on the path. Our experiments show that the robot has good performance in the view of path tracking and other efficiency.

• Journal of Advanced Marine Engineering and Technology
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• v.28 no.8
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• pp.1299-1312
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• 2004

This paper suggests the simple form of a fuzzy PID controller and describes the design principle, tracking performance, stability analysis and changes of parameters of a suggested fuzzy PID controller. A fuzzy PID controller is derived from the design procedure of fuzzy control. It is well known that a fuzzy PID controller has a simple structure of the conventional PID controller but posses its self-tuning control capability and the gains of a fuzzy PID controller become nonlinear functions of the inputs. Nonlinear calculation during fuzzification, defuzzification and the fuzzy inference require more time in computation. To increase the applicability of a fuzzy PID controller to digital computer, a simple form of a fuzzy PID controller is introduced by the backward difference mapping and the analysis of the fuzzy input space. To guarantee the BIBO stability of a suggested fuzzy PID controller, ‘small gain theorem’ which proves the BIBO stability of a fuzzy PI and a fuzzy PD controller is used. After a detailed stability analysis using ‘small gain theorem’, from which a simple and practical method to decide the parameters of a fuzzy PID controller is derived. Through the computer simulations for the linear and nonlinear plants, the performance of a suggested fuzzy PID controller will be assured and the variation of the gains of a fuzzy PID controller will be investigated.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.5 no.5
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• pp.931-940
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• 2001

In this paper, I propose Fuzzy Policing Mechanism(FPM) over ATM networks for the control of traffic which is unpredictable and bursty source. The FPM is consist of counter, subtracter and Fuzzy Logic Controller(FLC). The FLC is divided to fuzzifier, inference engine and defuzzifer The output of FLC inputs to the subtractor and it controls the counter. The counter works as a switch in transmission of cells. In simulation, I compared the FPM with the Leaky Bucket algorithm(LBM) in cell loss probability and performance characteristics. As a result, FPM gives lower cell loss probability than that of LBM and has good response behavior The FPM efficiently controls the transmission of packets which are variable traffic source and, it also has good selectivity.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2744-2746
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• 2001

이 논문에서는 이동 로봇을 위하여 퍼지이론과 Dempster-Shafer 이론을 이용한 불확실한 환경에서의 센서기반 네비게이션 방법을 제안한다. 제안된 제어기는 장애물 회피 동작과 목적지 찾기 동작을 위한 2개의 행동 모듈로 구성되어 있다. 2개의 행동 모듈은 각각 퍼지 이론으로 학습되었고, 적절한 행동 선택 방법으로 선택되게끔 하였다. 견고한 퍼지 제어기를 가진 로봇이 실험 환경내에서 안전하게 움직이기 위하여 자동으로 지도를 구축(Map Building) 하도록 하였다. 이 실험에서 구성된 맵은 평면상의 격자를 중심으로 작성되었고 로봇의 센서에서 읽어들인 센서 값은 D-S 추론 이론을 이용하여 기존의 맵과 혼합되어진다. 즉, 로봇이 움직일때 마다 실험 환경내에서 새로운 정보를 읽어 들이고, 그 정보로 인하여 기존의 지도가 새로운 지도로 갱신되는 것이다. 이러한 작업을 거치면서 로봇은 장애물과 충돌없이 배회하는 것 뿐 아니라 설정된 목적지까지도 쉽게 찾아갈 수가 있다. 실험에 대한 안정성과 확신을 검증 받기 위하여 실제 로봇에 적용하기보다는 먼저 이동 로봇의 시뮬레이션으로 실험 해 보고자 한다.

• Journal of Welding and Joining
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• v.16 no.3
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• pp.129-140
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• 1998

An interface system was developed to offer the welding capability to a robot controller which had not any embedded function for arc welding before, and also an arc sensor algorithm was proposed for weld seam tracking of the welding robot. For the interface system between the robot controller and welding equipments, data communication software and interface connections were composed. The interface system was mae to correspond welding condition, correction data, operation sequence and current status with the robot controller by mutual had shaking and digital signal transfer. Graphic user interface program developed under the environment of windows made it easy to monitor data communication and operation status, and to control welding and sensing sequence. Arc sensing algorithm proposed in this study to compensate torch position error was based on a fuzzy logic with the variables of current difference and current differenced change at torch weaving extremities. The developed interface system could be successfully implemented in between welding equipments and the robot controller, and showed normal status and exact function in data and signal communication between the systems. The whole robot welding system was then examined to verify its welding and seam tracking capabilities in horizontal fillet, vertical fillet, and 3-dimensional fillet weldment. The experiments revealed sound weld bead shapes and also good seam tracing results.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.2
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• pp.127-136
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• 2005

In this paper, a new architecture and comprehensive design methodology of genetically optimized Rule-based Fuzzy Polynomial Neural Networks(gRFPNN) are introduced and a series of numeric experiments are carried out. The architecture of the resulting gRFPNN results from asynergistic usage of the hybrid system generated by combining rule-based Fuzzy Neural Networks(FNN) with polynomial neural networks (PNN). FNN contributes to the formation of the premise part of the overall rule-based structure of the gRFPNN. The consequence part of the gRFPNN is designed using PNNs. At the premise part of the gRFPNN, FNN exploits fuzzy set based approach designed by using space partitioning in terms of individual variables and comes in two fuzzy inference forms: simplified and linear. As the consequence part of the gRFPNN, the development of the genetically optimized PNN dwells on two general optimization mechanism: the structural optimization is realized via GAs whereas in case of the parametric optimization we proceed with a standard least square method-based learning. To evaluate the performance of the gRFPNN, the models are experimented with the use of several representative numerical examples. A comparative analysis shows that the proposed gRFPNN are models with higher accuracy as well as more superb predictive capability than other intelligent models presented previously.

• Fisheries and Aquatic Sciences
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• v.25 no.3
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• pp.158-166
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• 2022

The complete mitochondrial genome of Tremoctopus violaceus was sequenced to analyze its organization and phylogenetic status within the order Octopoda. The mitochondrial genome of T. violaceus had a structure and organization similar to that of other Octopoda. The content of the nucleotides A, C, G, and T was 31.68 %, 7.71 %, 20.02 %, and 40.58 %, respectively. All protein-coding genes (PCG) began with the ATG codon, excluding ND4 and ATP6, which began with ATC and ATT, respectively, and terminated with TAG, TAA, TA, or T. Codons for isoleucine were the most used codons, whereas those for arginine were used the least. Two extra tRNAs, trnN and trnL, were found in the control region. These tRNAs have a D-armless structure. The control region had excess A + T content (83.16 %) and a stem-loop structure with two elements, which is reported for the first time in Octopoda by our study. Bayesian inference using 13 PCG revealed that Octopus and Octopodidae were polyphyletic, and that Tremoctopodidae diverged relatively earlier within Octopoda. The mitochondrial genome of T. violaceus and its characteristics may help to understand the evolutionary history of Octopoda and establish a marine biodiversity conservation strategy.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.7
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• pp.902-906
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• 2004

A separation principle of the Takagj-Sugeno (T-S) fuzzy-model-based observer-control is investigated. When the premise variables are able to be measured or directly computed from the outputs of the T-S fuzzy system and the fuzzy inference rules for the plant, control, and observer share the premise parts, the T-S fuzzy-model-based observer and the T-S fuzzy-model-based control can be separately designed such that the global stabilizability is guaranteed by the fuzzy observer-based output-feedback control. In this case, the global separation principle is well established. On the other hand, when the premise variables are unmeasurable or cannot be computed from the outputs, they should also be estimated. We examine the separation principle of this case. If the decay rates of the T-S fuzzy-model-based control and observer are sufficiently fast, the global separation is assured. Otherwise we show that the separation principle holds locally.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.9
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• pp.1727-1736
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• 2006

In a fuzzy control system to vocess fuzzy data in high-speed for intelligent systems, one of the important problems is the improvement of the execution speed in the fuzzy inference and defuzzification stages. Especially, it is more important to have high-speed operations in the consequent Pan and defuzzification stage. Therefore, in this paper, to improve the speedup of the fuzzy controllers for intelligent systems, we propose novel integer fuzzy operation method without mulitplications and divisions by only integer addition to convert real values in the fuzzy membership functions in the consequent part to integer grid pixels $(400{\times}30)$ without [0, 1] real operations. Also we apply the proposed system to the truck backer-upper control system. As a result, this system shows a real-time very high speed fuzzy control as compared as the conventional methods. This system will be applied to the real-time high-speed intelligent systems such as robot arm control.

• Journal of Advanced Marine Engineering and Technology
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• v.38 no.3
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• pp.292-301
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• 2014

This paper describes development of distributed type independent electro-hydraulic ballast valve remote control system with diagnostic function based on fuzzy inference using redundant Modbus communication and ethernet Modbus TCP/IP. Diagnostic function estimate degradation of system components and diagnose system faults, which results in shortage of fault maintenance time and improvement of system safety. Slave devices which control each valve and master device which command, monitor and diagnose slave system are developed. Slave devices are connected to master device with redundant Modbus networks and master device is connected to ship's integrated control system with Modbus TCP/IP. Also this paper describes development of simulator to test and confirm whether developed system can be integrated with ship's integrated control and monitoring system.