• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.1
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• pp.29-34
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• 2015

Brain-computer interface (BCI) is being studied for convenient life in various application fields. The purpose of this study is to investigate a changing electroencephalography (EEG) for precise motion of a robot or an artificial arm. Three subjects who participated in this experiment performed three-task: Grip, Move, Relax. Acquired EEG data was extracted feature data using two feature extraction algorithm (power spectrum analysis and multi-common spatial pattern). Support vector machine (SVM) were applied the extracted feature data for classification. The classification accuracy was the highest at Grip class of two subjects. The results of this research are expected to be useful for patients required prosthetic limb using EEG.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.1
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• pp.78-84
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• 2015

Depth estimation is often required for robot vision, 3D modeling, and motion control. Previous method is based on the focus measures which are calculated for a series of image by a single camera at different distance between and object. This method, however, has disadvantage of taking a long time for calculating the focus measure since the mask operation is performed for every pixel in the image. In this paper, we estimates the depth by using the focus measure of the boundary pixels located between the objects in order to minimize the depth estimate time. To detect the boundary of an object consisting of a straight line and a circle, we use the Hough transform and estimate the depth by using the focus measure. We performed various experiments for PCB images and obtained more effective depth estimation results than previous ones.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.4
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• pp.345-350
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• 2002

In recent years, as changing the habit of eating, the pathology in the colon grows up annually. The colonoscopy is generalized, but if requires much time to acquire a dexterous skill to perform an operation and the procedure is painful to the patient. biomedical and robotic researchers are developing a locomotive colonoscope that can travel safe1y in colon. In this paper, we propose a new actuator and concept of semi-autonomous colonoscope. The micro robot comprises camera and LED for diagnosis, steer- ing system to pass through the loop, pneumatic actuator and bow-shaped flexible supporters to control a contact force and to pass over haustral folds in colon. For locomotion of semi-autonomous colonoscope, we suggest an actuator that is based on impact force between a cylinder and a piston. In order to validate the concept and the performance of the actuator, we carried out the simulation of moving characteristics and the preliminary experiments in rigid pipes and on the colon of pig.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.2
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• pp.39-47
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• 2020

The fire protection system for high-rise buildings is currently confined to the preparation of sprinklers, emergency stairs, and exit and monitoring systems. On the other hand, an integrated system, including the model with scenario-based actions, is required for effective fire protection. An integrated fire protection system is needed to operate and manage the total cycle of the fire protection. In this study, an integrated fire protection system, which included sensing and consequent processes related to fire emergencies, was designed and implemented. The designed scheme can gather and analyze the data of the production, operation, and consumption patterns as it integrates fire protection systems for fire fighters and evacuating people. The integrated fire protection technology and system, which has target performance with satisfied 1/2 sec transaction response time and 1.2 transactions per second, is expected to contribute to market creation in converged technology-based fire protection fields.

• Journal of Korea Multimedia Society
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• v.12 no.2
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• pp.231-243
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• 2009

Currently interests of embedded software in various areas such as automotive field, ship field, robot field is increasing according to expand market of embedded systems. Various researches such as embedded operating systems, embedded software modeling technique, embedded software testing, and so on are going in progress. However systematic engineering approach in embedded system development is poor because embedded areas focus on hardware parts until now. Furthermore, framework-based de sign technique considering reusability is not reflected in embedded system development. Those development results in many of dead codes scattered in system, and results in poor reusability of system. This paper suggests a framework of embedded system for reusability and a static meta-model for reuse framework. Proposed meta-model expresses not only the structure of reuse framework, but also allows a designer to extend and design easily models of embedded system based on reuse framework according to various embedded system types.

• Journal of Positioning, Navigation, and Timing
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• v.6 no.4
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• pp.167-179
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• 2017

In this paper, a simplified Cubature Kalman Filter (SCKF) is proposed to reduce the computation load of CKF, which is then used as a filter for transfer alignment of shipboard INS. CKF is an approximate Bayesian filter that can be applied to non-linear systems. When an initial estimation error is large, convergence characteristic of the CKF is more stable than that of the Extended Kalman Filter (EKF), and the reliability of the filter operation is more ensured than that of the Unscented Kalman Filter (UKF). However, when a system degree is large, the computation amount of CKF is also increased significantly, becoming a burden on real-time implementation in embedded systems. A simplified CKF is proposed to address this problem. This filter is applied to shipboard inertial navigation system (INS) transfer alignment. In the filter design for transfer alignment, measurement type and measurement update rate should be determined first, and if an application target is a ship, lever-arm problem, flexure of the hull, and asynchronous time problem between Master Inertial Navigation System (MINS) and Slave Inertial Navigation System (SINS) should be taken into consideration. In this paper, a transfer alignment filter based on SCKF is designed by considering these problems, and its performance is validated based on simulations.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.17 no.1
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• pp.114-122
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• 2018

In this paper, we propose new water pressure measurement system to measure the water pressure of water pipe laid underground beneath the manhole efficiently. For this purpose, we installed water pressure sensor(IoT) which has built-in bluetooth module at valve of water pipe. The proposed system can be managed through collected data which measured at sensor and then transmitted to smart phone through bluetooth connectivity and re-transmitted to server on this system. By checking out water pressure data stored in server from remote location, the persons in charge can confirm the leakage of water pipe or propriety of water pressure in management area. By this procedure, they can detect the existence of condition of water pipe and manage water pressure of water pipe efficiently.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.2
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• pp.224-229
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• 2005

Generally, genetic algorithm (GA) has too much time and space complexity when it is running in the typical processor. Therefore, we are forced to use the high-performance and expensive processor by this reason. It also works as a barrier to implement real device, such a small mobile robot, which is required only simple rules. To solve this problem, this paper presents and proposes enhanced processor-architecture for the faster GA processing. A typical processor architecture can be enhanced and specialized by two approaches: one is a sorting network, the other is a residue number system (RNS). A sorting network can improve the time complexity of which needs to compare the populations' fitness. An RNS can reduce the magnitude of the largest bit that dictates the speed of arithmetic operation. Consequently, it can make the total logic size smaller and innovate arithmetic operation speed faster.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.4
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• pp.493-498
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• 2004

A novel approach for path planning of a polygonal robot is presented. Traditional path planners perform extensive geometric searching to find the optimal path or to prove that there is no solution. The computation required to prove that there is no solution is equivalent to exhaustive search of the motion space, which is typically very expensive. Humans seems to use a set of several different path planning strategies to analyse the situation of the obstacles in the environment, and quickly recognize whether the path-planning problem is easy to solve, hard to solve or has no solution. This human path-planning strategies have motivated the development of the presented algorithm that combines qualitative shape reasoning and exhaustive geometric searching to speed up the path planning process. It has three planning stages consisting of identification of no-solution cases based on an enclosure test, a qualitative reasoning stage, and finally a complete search algorithm in case the previous two stages cannot determine of the existence of a solution path.

• Journal of the Korean Institute of Intelligent Systems
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• v.10 no.5
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• pp.506-512
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• 2000

In this paper, we propose a Fuzzy Classifier System(FCS) makes the classifier system be able to carry out the mapping from continuous inputs to outputs. The FCS is based on the fuzzy controller system combined with machine learning. Therefore the antecedent and consequent of a classifier in FCS are the same as those of a fuzzy rule. In this paper, the FCS modifies input message to fuzzified message and stores those in the message list. The FCS constructs rule-base through matching between messages of message list and classifiers of fuzzy classifier list. The FCS verifies the effectiveness of classifiers using Bucket Brigade algorithm. Also the FCS employs the Genetic Algorithms to generate new rules and modifY rules when performance of the system needs to be improved. Then the FCS finds the set of the effective rules. We will verifY the effectiveness of the poposed FCS by applying it to Autonomous Mobile Robot avoiding the obstacle and reaching the goal.