• Proceedings of the Korea Inteligent Information System Society Conference
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• 2005.05a
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• pp.215-221
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• 2005

In this paper, we propose a method to a synchronization of chaotic UAVs that have unstable limit cycles in a chaos trajectory surface. We assume all obstacles in the chaos trajectory surface have a Van der Pol equation with an unstable limit cycle. The proposed methods are assumed that if one of two chaotic UAVs receives the synchronization command, the other UAV also follows the same trajectory during chaotic UAVs search on the arbitrary surface.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.12 no.6
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• pp.2895-2921
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• 2018

Security has become one of the major concerns in mobile adhoc networks (MANETs). Data and voice communication amongst roaming battlefield entities (such as platoon of soldiers, inter-battlefield tanks and military aircrafts) served by MANETs throw several challenges. It requires complex securing strategy to address threats such as unauthorized network access, man in the middle attacks, denial of service etc., to provide highly reliable communication amongst the nodes. Intrusion Detection and Prevention System (IDPS) undoubtedly is a crucial ingredient to address these threats. IDPS in MANET is managed by Command Control Communication and Intelligence (C3I) system. It consists of networked computers in the tactical battle area that facilitates comprehensive situation awareness by the commanders for timely and optimum decision-making. Key issue in such IDPS mechanism is lack of Smart Learning Engine. We propose a novel behavioral based "Smart Multi-Instance Multi-Label Intrusion Detection and Prevention System (MIML-IDPS)" that follows a distributed and centralized architecture to support a Robust C3I System. This protocol is deployed in a virtually clustered non-uniform network topology with dynamic election of several virtual head nodes acting as a client Intrusion Detection agent connected to a centralized server IDPS located at Command and Control Center. Distributed virtual client nodes serve as the intelligent decision processing unit and centralized IDPS server act as a Smart MIML decision making unit. Simulation and experimental analysis shows the proposed protocol exhibits computational intelligence with counter attacks, efficient memory utilization, classification accuracy and decision convergence in securing C3I System in a Tactical Battlefield environment.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.2 no.3
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• pp.242-247
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• 2002

According to increase of the factory-automation(FA) in the field of production, the importance of the autonomous guided vehicle's(AGV) role has also increased. This paper is about an active and effective controller which can flexibly prepare for changeable circumstances. For this study, research about an behavior-based system evolving by itself is also being considered. In this Paper, we constructed an active and effective AGV fuzzy controller to be able to carry out self-organization. To construct it, we tuned suboptimally membership function using a genetic algorithm(GA) and improved the control efficiency by self-correction and the generation of control rules.

• Convergence Security Journal
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• v.23 no.3
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• pp.65-71
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• 2023

The importance of combat drones has been highlighted through the recent outbreak of the Russia-Ukraine war. The combat drones play a significant role as a a game changer that alters the conventional wisdom of traditional warfare. Many pundits expect the role of combat swarm drones would be more crucial in the future warfare. In this regard, this paper aims to analyze the development of artificial intelligence-enabled combat swarm drones. To transform the human-operated swarm drones into fully autonomous weaponry system our suggestions are as follows. Developments of (1) AI algorithms for optimized swarm drone operations, (2) decentralized command and control system, (3) inter-drones' mission analysis and allocation technology, (4) enhanced drone communication security and (5) set up of ethical guideline for the autonomous system. Specifically, we suggest the development of AI algorithms for drone collision avoidance and moving target attacks. Also, in order to adjust rapidly changing military environment, decentralized command and control system and mission analysis allocation technology are necessary. Lastly, cutting-edging secure communication technology and concrete ethical guidelines are essential for future AI-enabled combat swarm drones.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.2
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• pp.87-93
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• 2018

This Study Propose A New Approach To Impliment A Intelligent Robot Control Based on Voice Recognition For Smart Factory Automation Since human usually communicate each other by voices, it is very convenient if voice is used to command humanoid robots or the other type robot system. A lot of researches has been performed about voice recognition systems for this purpose. Hidden Markov Model is a robust statistical methodology for efficient voice recognition in noise environments. It has being tested in a wide range of applications. A prediction approach traditionally applied for the text compression and coding, Prediction by Partial Matching which is a finite-context statistical modeling technique and can predict the next characters based on the context, has shown a great potential in developing novel solutions to several language modeling problems in speech recognition. It was illustrated the reliability of voice recognition by experiments for humanoid robot with 26 joints as the purpose of application to the manufacturing process.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.629-630
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• 2006

This paper present a design experience of supervisory control system platform for agile and intelligent manufacturing(AIM). Embodied integrated environment that can do in place that do work direction, analysis command file generation, achievement using Petrinet-type Graphical Language(PGL) in proposed Supervisory Control System. Also, embodying whole system software in Modular done form, did to have extensity to fit in developer's requirement.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.3
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• pp.304-309
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• 2004

This work proposes the wearable and intelligent system to control mobile vehicle instead of user. The system having the ability of assistance as well as portable can be applied to various controller. It is possible to observe the state of mobile vehicle and have a good command of robot instead of human. In this paper, the wearable system operating the mobile vehicle by deciding the velocity and rotation angle that are demanded for collision avoidance with the obtained driving information from mobile vehicle is implemented. To make the proposed wearable system have an intelligence, the hierarchical fuzzy logic and neural network are used.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2143-2147
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• 2005

Human-Robot interaction (HRI) has recently become one of the most important issues in the field of robotics. Understanding and predicting the intentions of human users is a major difficulty for robotic programs. In this paper we suggest an interaction method allows the robot to execute the human user's desires in an intelligent room-based domain, even when the user does not give a specific command for the action. To achieve this, we constructed a full system architecture of an intelligent room so that the following were present and sequentially interconnected: decision-making based on the Bayesian belief network, responding to human commands, and generating queries to remove ambiguities. The robot obtained all the necessary information from analyzing the user's condition and the environmental state of the room. This information is then used to evaluate the probabilities of the results coming from the output nodes of the Bayesian belief network, which is composed of the nodes that includes several states, and the causal relationships between them. Our study shows that the suggested system and proposed method would improve a robot's ability to understand human commands, intuit human desires, and predict human intentions resulting in a comfortable intelligent room for the human user.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2237-2242
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• 2005

The original RRT is iteratively expanded by applying control inputs that drive the system slightly toward randomly-selected states, as opposed to requiring point-to-point convergence, as in the probabilistic roadmap approach. It is generally known that the performance of RRTs can be improved depending on the selection of the metrics in choosing the nearest vertex and bias techniques in choosing random states. We designed a path planning algorithm based on the RRT method for a remote-controlled mobile robot. First, we considered a bias technique that is goal-biased Gaussian random distribution along the command directions. Secondly, we selected the metric based on a weighted Euclidean distance of random states and a weighted distance from the goal region. It can save the effort to explore the unnecessary regions and help the mobile robot to find a feasible trajectory as fast as possible. Finally, the constraints of the actuator should be considered to apply the algorithm to physical mobile robots, so we select control inputs distributed with commanded inputs and constrained by the maximum rate of input change instead of random inputs. Simulation results demonstrate that the proposed algorithm is significantly more efficient for planning than a basic RRT planner. It reduces the computational time needed to find a feasible trajectory and can be practically implemented in a remote-controlled mobile robot.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.16 no.10
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• pp.2129-2136
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• 2012

With the increased demand of ubiquitous home services, intelligent robots have wide attentions. This kind of robots offer various services through middleware components which can connect with remote servers. In this paper we present an UPnP(Universal Plug and Play) based open-source software framework which makes control the robots remotely. This UPnP architecture for home networking can provide various communication methodologies like command control, eventing, presentation with web services and so on. This paper shows successful implementation results on two real platforms.