• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1993.06a
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• pp.861-864
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• 1993

This research provides the results of a trial to generate the chaos by using nonlinear function constructed by fuzzy inference rules. The chaos generation function or chaotic behavior can be obtained by using Takagi-Sugeno fuzzy model with some constraint of the relationship of its parameters. Two examples are shown in this research. The first is simple example that construct of logistic image by fuzzy model. The second is more complicated one that provide the chaotic time series by non-linear autoregression based on fuzzy model. Simulated results are shown in these examples.

• Journal of the Korean Institute of Intelligent Systems
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• v.11 no.7
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• pp.591-597
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• 2001

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. These features can be applied to decision making of optimal swarm behavior in dynamically changing environment. For 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-cell 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 school is based on 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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• 1998.06a
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• pp.170-175
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• 1998

Transporting a large table using multiple robotic agents requires at least two group behaviors of homing and herding which are to bo coordinated in a proper sequence. Existing GP methods for multi-agent learning are not practical enough to find an optimal solution in this domain. To evolve this kind of complex cooperative behavior we use a novel method called fitness switching. This method maintains a pool of basis fitness functions each of which corresponds to a primitive group behavior. The basis functions are then progressively combined into more complex fitness functions to co-evolve more complex behavior. The performance of the presented method is compared with that of two conventional methods. Experimental results show that coevolutionary fitness switching provides an effective mechanism for evolving complex emergent behavior which may not be solved by simple genetic programming.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.5 no.3
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• pp.189-195
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• 2005

One of the major components of any pervasive system is its proactive behavior. Various models have been developed to provide system wide changes which would enable proactive behavior. A major drawback of these approaches is that they do not address the need to make use of existing applications without modifying the applications. To overcome this drawback, a middleware architecture called 'Concord' is proposed. Concord is based on a simple model which consists of Lookup Server and Database. The rewards for this simple model are many. First, Concord uses the existing computing infrastructure. Second, Concord standardizes the interfaces for all services and platforms. Third, new services can be added dynamically without any need for reconfiguration. Finally, Concord consists of Database that can maintain and publish the active set of available resources. Thus Concord provides a solid system for integration of various entities to provide seamless connectivity and enable proactive behavior.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.06a
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• pp.275-276
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• 2008

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.6
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• pp.720-725
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• 2004

Robot systems have applied to manufacturing or industrial field for reducing the need for human presence in dangerous and/or repetitive tasks. However, robot applications are transformed from industrial field to human life in recent tendency Nowadays, final goal of robot is to make a intelligent robot that can understand what human say and learn by itself and have internal emotion. For example Home service robots are able to provice functions such as security, housework, entertainment, education and secretary To provide various functions, home robots need to recognize human`s requirement and environment, and it is indispensable to use artificial intelligence technology for implementation of home robots. In this paper, implemented robot system takes data from several sensors and fuses the data to recognize environment information. Also, it can select a proper behavior for environment using soft computing method. Each behavior is composed with intuitive motion and sound in order to let human realize robot behavior well.

• 한국HCI학회:학술대회논문집
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• 2007.02a
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• pp.156-161
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• 2007

본 연구는 모바일 환경에서의 Character Intelligent Agent (CIA)의 사용 행태를 연구하여 CIA가 나아갈 방향을 제시하는 것을 목적으로 한다. 이를 위해 문헌연구를 진행하고 이를 바탕으로 사용자와의 1대 1 심층 개인 인터뷰를 실시하여 사용자와 CIA의 상호작용 시 영향을 주는 행동, 대화, 말투 등의 사용자와 CIA의 요소를 확인하였다. 여기서 더 나아가 CIA를 대하는 사용자의 인식이 생물과 무생물로 나누어 지고, 이는 다시 사람과 애완동물, 기계와 장난감으로 나누어 지며 이에 따라 사용자가 CIA를 사용하는 행태에 차이를 보이는 것을 알아내었다. 특히, 사람으로 인식하는 사용자의 행태와 기계로 인식하는 사용자의 행태가 더 많은 차이를 나타내었으며, 사람으로 인식하는 행태가 캐릭터에 대한 긍정적 요소를 더 많이 포함하고 있다는 것을 알아내었다. 또한 추후 연구를 통해 각 요소 간의 관계를 파악하는 것을 목표로 한다.

• Steel and Composite Structures
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• v.35 no.4
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• pp.545-554
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• 2020

The present paper explores nonlinear dynamical properties of piezo-magnetic beams based on a nonlocal refined higher-order beam formulation and piezoelectric phase effect. The piezoelectric phase increment may lead to improved vibrational behaviors for the smart beams subjected to magnetic fields and external harmonic excitation. Nonlinear governing equations of a nonlocal intelligent beam have been achieved based upon the refined beam model and a numerical provided has been introduced to calculate nonlinear vibrational curves. The present study indicates that variation in the volume fraction of piezoelectric ingredient has a substantial impact on vibrational behaviors of intelligent nanobeam under electrical and magnetic fields. Also, it can be seen that nonlinear free/forced vibrational behaviors of intelligent nanobeam have dependency on the magnitudes of induced electrical voltages, magnetic potential, stiffening elastic substrate and shear deformation.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.9 no.1
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• pp.10-15
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• 2009

With the development of techniques, robots are getting smaller, and the number of robots needed for application is greater and greater. How to coordinate large number of autonomous robots through local interactions has becoming an important research issue in robot community. Swarm Robot Systems (SRS) is a system that independent autonomous robots in the restricted environments infer their status from pre-assigned conditions and operate their jobs through the cooperation with each other. In the SRS, a robot contains sensor part to percept the situation around them, communication part to exchange information, and actuator part to do a work. Especially, in order to cooperate with other robots, communicating with other robots is one of the essential elements. Because Bluetooth has many advantages such as low power consumption, small size module package, and various standard protocols, it is rated as one of the efficient communicating technologies which can apply to small-sized robot system. In this paper, we will develop Bluetooth communicating system for autonomous robots. And we will discuss how to construct and what kind of procedure to develop the communicating system for group behavior of the SRS under intelligent space.

• The Journal of Korea Robotics Society
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• v.19 no.2
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• pp.169-175
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• 2024

In this study, we developed control system for stable teleoperation of supermicrosurgical robot platform. The supermicrosurgical robot platform is designed to perform precise anastomosis with micro vessels ranging from 0.3 mm to 0.7 mm. The robotic assistance could help more precise manipulation then manual surgery with the help of motion scaling and tremor filtering. However, since the robotic system could cause several vulnerabilities, control system for stable teleoperation should be preceded. Therefore, we first designed control system including inverse kinematics solver, clutch error interpolator and finite state machine. The inverse kinematics solver was designed to minimized inertial motion of the manipulator and tested by applying orientational motion. To make robot slowly converges to the leader's orientation when orientational error was occurred during clutch, the SLERP was used to interpolate the error. Since synchronized behavior of two manipulators and independent behavior of manipulator both exist, two layered finite state machines were designed. Finally, the control system was evaluated by experiment and showed intended behavior, while maintaining low pose error.