• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.4
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• pp.476-480
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• 2012

In this paper, artificial potential field(APF) is applied to formation control for the leader-following swarm robot. Furthermore, APF is constructed by applying the electrical field model. Moreover, to model the obstacle effectively, each obstacle has different form due to the electrical field equation. The proposed method is formed as two sub-objective: path planning for the leader-robot and following-robots following the leader-robot. Finally, simulation example is given to prove the validity of proposed method.

• 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.

• Journal of the Korean Institute of Intelligent Systems
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• v.10 no.6
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• pp.584-590
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• 2000

Urban traffic situations are extremely complex and highly interactive. The multi-agent systems approach can provide a new desirable solution. Currently, a traffic simulator is needed to understand and explore the difficulties in an agent-oriented traffic control. This paper presents an agent-oriented fuzzy logic controller for multiple crossroads simulation. A fuzzy logic control simulation with variables of arrival, queue, and traffic volume could alleviate traffic congestion. We developed an agent-oriented simulator suitable for traffic junctions with η$\times$η intersections in Visual C++. The proposed method adaptively controls the cycle of traffic signals even though the traffic volume varies. The effectiveness of this method was shown through simulation of multiple intersections.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.03a
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• pp.127-130
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• 1998

In this paper, we propose a method of cooperative control(T-cell modeling) and selection of group behavior strategy(B-cell modeling) based on immune system in distributed autonomous robotic system(DARS). Immune system is living body's self-protection and self-maintenance system. Thus these features can be applied to decision making of optimal swarm behavior in dynamically changing environment. For the purpose of applying immune system to DARS, a robot is regarded as a B cell, each environmental condition as an antigen, a behavior strategy as an antibody and control parameter as a T-call respectively. The executing process of proposed method is as follows. When the environmental condition changes, a robot selects an appropriate behavior strategy. And its behavior strategy is stimulated and suppressed by other robot using communication. Finally much stimulated strategy is adopted as a swarm behavior strategy. This control scheme is based of clonal selection and idiotopic network hypothesis. And it is used for decision making of optimal swarm strategy. By T-cell modeling, adaptation ability of robot is enhanced in dynamic environments.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2005.04a
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• pp.247-250
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• 2005

In numerous occasions, there is need to reconstruct partially occluded facial image. Typical examples include the recognition of criminals whose facial images are captured by surveillance cameras- ln such cases a significant part of the face is occluded making the process of identification extremely difficult, both for automatic face recognition systems and human observers. To overcome these difficulties, we consider the application of Kernel PCA-based denoising method to partially occluded facial image in this paper.

• Journal of Electrical Engineering and information Science
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• v.2 no.6
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• pp.177-182
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• 1997

A visual servoing method is proposed for a robot with a camera in hand. Specifically, vanishing point features are suggested by employing a viewing model of perspective projection to calculate the relative rolling, pitching and yawing angles between the object and the camera. To compensate dynamic characteristics of the robot, desired feature trajectories for the learning of visually guided line-of-sight robot motion are obtained by measuring features by the camera in hand not in the entire workspace, but on a single linear path along which the robot moves under the control of a commercially provided function of linear motion. And then, control actions of the camera are approximately found by fuzzy-neural networks to follow such desired feature trajectories. To show the validity of proposed algorithm, some experimental results are illustrated, where a four axis SCARA robot with a B/W CCD camera is used.

• Journal of Electrical Engineering and Technology
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• v.9 no.3
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• pp.1043-1050
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• 2014

Obsolescent control systems for power systems are evolving into intelligent systems and connecting with smart devices to give intelligence to the power systems. As networks of the control system are growing, vulnerability is also increasing. The communication network of distribution areas in the power system connects closely to vulnerable environments. Many cyber-attacks have been founded in the power system, and they could be more critical as the power system becomes more intelligent. From these environment, new communication network architecture and mitigation method against cyber-attacks are needed. Availability and Fault Tree analysis used to show that the proposed system enhances performance of current control systems.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.6
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• pp.477-486
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• 2001

Many physical systems can be modeled by incorporating continuous and discrete event nature together. Such hybrid systems contain both continuous and discrete states that influence the dynamic be-havior of the systems. There has been an increasing interest in thers types of systems during the last dec-ade, mostly due to the growing usage of computers in the control of physical plants but also as a result of the hybrid nature of physical processes. The stability theory for hybrid systems is considered as extension of Lyapunov theory where the existence of an abstract energy function satisfying certain properties verifies stability, called multiple Lyapunov theory. In this paper, a hybrid stabilizing controller is proposed using the control Lyapunov function method and multiple Lyapunov theory, and the proposed method is applied to lon-gitudinal spacing control in a vehicle platoon for intelligent transportation systems(ITS).

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.06a
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• pp.579-584
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• 1998

In this work, we present a method to deal with the interval valued decision making systems. First, we propose a new type of equality measure based on the Ordered Weighted Averaging (OWA) operator. The proposed equality measure has a structure to render the extreme values of the measure by choosing a suitable weighting vector of the OWA operator. From this property, we derive a bidirectional fuzzy inference network which can be applied for the decisionmaking systems requiring the inverval valued decisions.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.156-156
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• 2000

In this paper, a new method for colour measuring is presented using fuzzy modeling technique. The fuzzy and polynomial inferences are used for obtaining RGB characteristic curve. The eight RGB real data from expert dye-stuff manufacturer, are simulated. The results show that the proposed method will is more excellent than other methods, in the colour measuring process of textile field.