• Journal of the Institute of Electronics Engineers of Korea TE
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• v.39 no.3
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• pp.97-104
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• 2002

In this paper we describe the method which optimizes the partition of the input space by means of measure of fuzziness for fuzzy neural network. It covers its generation of fuzzy rules for input sub space. It verifies the performance of the system depended on the various time interval of the input. This method divides the input space into several fuzzy regions and assigns a degree of each of the generated rules for the partitioned subspaces from the given data using the Shannon function and fuzzy entropy function generating the optimal knowledge base without the irrelevant rules. In this scheme the basic idea of the fuzzy neural network is to realize the fuzzy rule base and the process of reasoning by neural network and to make the corresponding parameters of the fuzzy control rules be adapted by the steepest descent algorithm. According to the input interval the proposed inference procedure proves that the fast convergence of root mean square error (RMSE) owes to the optimal partition of the input space

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.17 no.5
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• pp.1339-1355
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• 2023

Localization is a hot research spot for many areas, especially in the mobile robot field. Due to the weak signal of the global positioning system (GPS), the alternative schemes in an indoor environment include wireless signal transmitting and receiving solutions, laser rangefinder to build a map followed by a re-localization stage and visual positioning methods, etc. Among all wireless signal positioning techniques, Wi-Fi is the most common one. Wi-Fi access points are installed in most indoor areas of human activities, and smart devices equipped with Wi-Fi modules can be seen everywhere. However, the localization of a mobile robot using a Wi-Fi scheme usually lacks orientation information. Besides, the distance error is large because of indoor signal interference. Another research direction that mainly refers to laser sensors is to actively detect the environment and achieve positioning. An occupancy grid map is built by using the simultaneous localization and mapping (SLAM) method when the mobile robot enters the indoor environment for the first time. When the robot enters the environment again, it can localize itself according to the known map. Nevertheless, this scheme only works effectively based on the prerequisite that those areas have salient geometrical features. If the areas have similar scanning structures, such as a long corridor or similar rooms, the traditional methods always fail. To address the weakness of the above two methods, this work proposes a coarse-to-fine paradigm and an improved localization algorithm that utilizes Wi-Fi to assist the robot localization in a geometrically similar environment. Firstly, a grid map is built by using laser SLAM. Secondly, a fingerprint database is built in the offline phase. Then, the RSSI values are achieved in the localization stage to get a coarse localization. Finally, an improved particle filter method based on the Wi-Fi signal values is proposed to realize a fine localization. Experimental results show that our approach is effective and robust for both global localization and the kidnapped robot problem. The localization success rate reaches 97.33%, while the traditional method always fails.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.5
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• pp.431-437
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• 2006

In this paper vector code correlation(VCC) method and an algorithm to promote the image-processing performance in building an effective measurement system using cameras are described far automatically berthing and controlling the ship equipped with side-thrusters. In order to realize automatic ship berthing, it is indispensable that the berthing assistant system on the ship should continuously trace a target in the berth to measure the distance to the target and the ship attitude, such that we can make the ship move to the specified location. The considered system is made up of 4 apparatuses compounded from a CCD camera, a camera direction controller, a popular PC with a built-in image processing board and a signal conversion unit connected to parallel port of the PC. The object of this paper is to reduce the image-processing time so that the berthing system is able to ensure the safety schedule against risks during approaching to the berth. It could be achieved by composing the vector code image to utilize the gradient of an approximated plane found with the brightness of pixels forming a certain region in an image and verifying the effectiveness on a commonly used PC. From experimental results, it is clear that the proposed method can be applied to the measurement system for automatic ship berthing and has the image-processing time of fourfold as compared with the typical template matching method.

• Journal of the Korea Society of Computer and Information
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• v.10 no.6 s.38
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• pp.209-218
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• 2005

In this paper, we present an Active Optical Network(AON) . The AON uses the Dense Wavelength Division Multiplexing(DWDM) from optical communication access network of ring type, and will be able to provide the smoothly service in the Bandwidth on Demand by using DWDM. It supports the connection of the multiple wavelength and the Sub-Carrier from the optical gigabit ethernet switch. The Wavelength Add Drop Multiplexer(WADM) extracts a specific wavelength, and composes a node of the ring network. The specific wavelength becomes demultiplexing in the Sub-Carrier and it is distributed in the user The active connection of optical gigabit ethernet switch where the distribution of access network is started and access terminal connection equipment is possible. By the BoD from the AON it compares the buffer size which changes, and it analyzes. Also the Time delay of bit compares with the throughput of server The limit of amount of time is decided. Consequently it will be able to realize the dynamic use protocol and an efficient algorithm of the network.

• Journal of Broadcast Engineering
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• v.17 no.2
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• pp.223-236
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• 2012

We develop a video processing method that allows the more advanced human perception oriented video coding. The proposed method necessarily reflects all influences by the rate-distortion based optimization and the human visual perception that is affected by the visual saliency, the limited space-time resolution and the regional moving history. For reflecting the human perceptual effects, we devise an online moving pattern classifier using the Hedge algorithm. Then, we embed the existing visual saliency into the proposed moving patterns so as to establish a human visual perception model. In order to realize the proposed human visual perception model, we extend the conventional foveation filtering method. Compared to the conventional foveation filter only smoothing less stimulus video signals, the developed foveation filter can locally smooth and enhance signals according to the human visual perception without causing any artifacts. Due to signal enhancement, the developed foveation filter more efficiently transfers the bandwidth saved at smoothed signals to the enhanced signals. Performance evaluation verifies that the proposed video processing method satisfies the overall video quality, while improving the perceptual quality by 12%~44%.

• Journal of The Korean Society of Agricultural Engineers
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• v.63 no.1
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• pp.37-48
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• 2021

The automatic-spreader of bedding materials was developed to reduce labor cost, and to achieve successful biosecurity in duck houses. Algorithm of the device was designed to realize a concept of the automatic unmanned operation including entire processes such as loading and spreading of the bedding materials. From the field measurement, the relationship between the expected water content reduction and weight of bedding materials per unit area according to the operation condition of the devices was induced. In the case of the measurement of particulate matters during the process of spreading works, the results of using both conventional manual-spreader and automatic-spreader were exceeded the allowable limit of inhalable and respirable dust, respectively. But, workers using automatic-spreader could be free from harmful aero-condition because they did not stay inside the facility during the spreading works. In addition, from the Duck hepatitis virus PCR test, influence on pulmonary tissue of the duck was not found. It could be expected that the development of the automatic-spreader of bedding materials for duck house can contribute to the advancement of duck breeding facilities.

• Journal of Computing Science and Engineering
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• v.2 no.3
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• pp.249-273
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• 2008

Epidemic protocols have two fundamental assumptions. One is the availability of a mechanism that provides each node with a set of log(N) (fanout) nodes to gossip with at each cycle. The other is that the network size N is known to all member nodes. While it may be trivial to support these assumptions in small systems, it is a challenge to realize them in large open dynamic systems, such as peer-to-peer (P2P) systems. Technically, since the most fundamental parameter of epidemic protocols is log(N), without knowing the system size, the protocols will be limited. Further, since the network churn, frequently observed in P2P systems, causes rapid membership changes, providing a different set of log(N) at each cycle is a difficult problem. In order to support the assumptions, the fanout nodes should be selected randomly and uniformly from the entire membership. This paper investigates one possible solution which addresses both problems; providing at each cycle a different set of log(N) nodes selected randomly and uniformly from the entire network under churn, and estimating the dynamic network size in the number of nodes. This solution improves the previously developed distributed algorithm called Shuffle to deal with churn, and utilizes the Shuffle infrastructure to estimate the dynamic network size. The effectiveness of the proposed solution is evaluated by simulation. According to the simulation results, the proposed algorithms successfully handle network churn in providing random log(N0 fanout nodes, and practically and accurately estimate the network size. Overall, this work provides insights in designing epidemic protocols for large scale open dynamic systems, where the protocols behave autonomically.

• Proceedings of the Korean Society of Medical Physics Conference
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• 2002.09a
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• pp.373-375
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• 2002

4D CT is a dynamic volume imaging system of moving organs with an image quality comparable to conventional CT, and is realized with continuous and high-speed cone-beam CT. In order to realize 4D CT, we have developed a novel 2D detector on the basis of the present CT technology, and mounted it on the gantry frame of the state-of-the-art CT-scanner. In the present report we describe the design of the first model of 4D CT-scanner as well as the early results of performance test. The x-ray detector for the 4D CT-scanner is a discrete pixel detector in which pixel data are measured by an independent detector element. The numbers of elements are 912 (channels) ${\times}$ 256 (segments) and the element size is approximately 1mm ${\times}$ 1mm. Data sampling rate is 900views(frames)/sec, and dynamic range of A/D converter is 16bits. The rotation speed of the gantry is l.0sec/rotation. Data transfer system between rotating and stationary parts in the gantry consists of laser diode and photodiode pairs, and achieves net transfer speed of 5Gbps. Volume data of 512${\times}$512${\times}$256 voxels are reconstructed with FDK algorithm by parallel use of 128 microprocessors. Normal volunteers and several phantoms were scanned with the scanner to demonstrate high image quality.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.168-173
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• 2003

In this paper, we will present a deeper look on optimal design methods that are related to path-planning for a mobile robot. To control the motion of a mobile robot in a clustered environment, it's necessary to know a suitable trajectory assuming certain start and goal point. Up to now, there are many literatures that concern optimal path planning for an obstacle avoided mobile robot. Among those literatures, we have chosen 2 novel methods for our further analysis. The first approach [4] is based on HJB(Hamilton-Jacobi-Bellman) equation whose solution is the return-function that helps to generate a shortest path to the goal. The later [5] is called polynomial-path-planning approach, in this method, a shortest polynomial-shape path would become a solution if it was a collision-free path. The camera network plays the role as sensors to generate updated map which locates the static and dynamic objects in the space. Therefore, the exhibition of both path planning and dynamic obstacle avoidance by the updated map would be accomplished simultaneously. As we mentioned before, our research will include the motion control of a true mobile robot on those optimal planned paths which were generated by above algorithms. Base on the kinematic and dynamic simulation results, we can realize the affection of moving speed to the stable of motion on each generated path. Also, we can verify the time-optimal trajectory through velocity tuning. To simplify for our analysis, we assumed the obstacles are cylindrical circular objects with the same size.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.25 no.11
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• pp.1676-1686
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• 2021

In this paper, we propose a general cross-chain solution based on the idea of modularity, abstraction, and layering, which decoupling the cross-chain function from the consensus algorithm and specific application logic, and utilize a Merkle proof to ensure the validity and legality of cross-chain operations. Since the underlying implementations of homogeneous and heterogeneous blockchains are different, we treat them separately. For homogeneous blockchains, we suggest a TCP-like cross-chain transport protocol (CCTP). While for heterogeneous blockchains, we present a method to construct the relay chain to realize the cross-chain function. The proposed scheme can enable the correct, effective, reliable, orderly, and timely transmission of cross-chain data. However, the essential difference between the operations within a single blockchain and the interoperability between different blockchains is that the trust domain is different. Cross-chain interoperation itself breaks the completeness of the blockchain, therefore, some efficiency and safety must sacrifice to trade-off.