• Journal of the Korean Institute of Intelligent Systems
• /
• v.23 no.4
• /
• pp.304-309
• /
• 2013

This paper proposes a intelligent approach on range decision of figure of merit. Unknown range of the underwater target and the non-fixed signal excess make the uncertainty for the tracking process. Using the input data of signal excess related to the range, we establish the rule of the fuzzy set and the original data acquired by sonar can be transformed to the fuzzified data set. To reduce the error arisen from the unexpected data, we use the new data transformed in fuzzy set. The piecewise relations of the min value, max one, and the mean one are calculated. The three values are used for the expected range of the underwater target. By analysing the fluctuation of the data, we can expect the target's position and the characteristics of the maneuvering. The examples are presented to show the performance and the effectiveness of the proposed method.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.23 no.6
• /
• pp.551-557
• /
• 2013

In intelligent robot research, hand gesture recognition has been an important issue. And techniques that recognize simple gestures are commercialized in smart phone, smart TV for swiping screen or volume control. For gesture recognition, robust hand detection is important and necessary but it is challenging because hand shape is complex and hard to be detected in cluttered background, variant illumination. In this paper, we propose efficient hand detection algorithm for detecting pointing hand for recognition of place where user pointed. To minimize false detections, ROIs are generated within the compact search region using skin color detection result. The ROIs are verified by HOG-SVM and pointing direction is computed by both detection results of head-shoulder and hand. In experiment, it is shown that proposed method shows good performance for hand detection.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.15 no.3
• /
• pp.375-381
• /
• 2005

Usually genetic algorithms are used to design optimal system. However the performance of the algorithm is determined by the fitness function and the system environment. It is expected that a co-evolutionary algorithm, two populations are constantly interact and co-evolve, is one of the solution to overcome these problems. In this paper we propose three types of co-evolutionary algorithm to solve GA-Hard problem. The first model is a competitive co-evolutionary algorithm that solution and environment are competitively co-evolve. This model can prevent the solution from falling in local optima because the environment are also evolve according to the evolution of the solution. The second algorithm is schema co-evolutionary algorithm that has host population and parasite (schema) population. Schema population supply good schema to host population in this algorithm. The third is game model-based co-evolutionary algorithm that two populations are co-evolve through game. Each algorithm is applied to visual servoing, robot navigation, and multi-objective optimization problem to verify the effectiveness of the proposed algorithms.

• The Journal of the Korea Contents Association
• /
• v.7 no.3
• /
• pp.1-8
• /
• 2007

The images, which were acquired from various systems such as CCTV and Robot, include many human faces. Because of a rapid increase in visual data, we cannot process these manually; rather we need to do these automatically. Furthermore, companies require automatic security systems to protect their new technology. There are various options available to us, including face recognition, iris recognition and fingerprint recognition. Face recognition is preferable since it does not require direct contact. However, the standard 2-Dimensional method is limited, so Morphable Models may be recommended as an alternative. The original morphable model, made by MPI, contains a large quantity of data such as texture and geometry data. This paper presents a Geometrix-based morphable model designed to reduce this data capacity.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.21 no.1
• /
• pp.19-24
• /
• 2011

This paper presents a method about amorphous obstacles avoidance for local path planning in the two-dimensional sensor environment. In particular, the proposed method is extended from some of the recent studies about a point obstacle avoidance. In the paper, repulsive forces of two types are proposed in order that the robot avoids from the amorphous obstacle with various size and form. A judgment of curvatures in the proposed method simplifies the recognition of obstacles to make the path-planning efficient. In addition, the line of sight(LOS) and the range of recognition are considered in the environment. By simulation results, the proposed method for amorphous obstacle avoidance shows better performance than the related existing method and we confirmed advantages of proposed method.

• The Magazine of the IEIE
• /
• v.22 no.8
• /
• pp.33-43
• /
• 1995

생산시스템 분야에서의 다중로봇시스템에 대한 필요성이 증가되고 있기 때문에, 이에 대한 시스템 성능분석이 우선적으로 필요하다. 본 논문에서는 다중로봇시스템의 성능평가를 위한 컴퓨터 시뮬레이션 방법을 제시한다. 먼저 오류회복 기능만을 고려한 다중로봇시스템에 대하여 여러 가지의 모델링 방법 중에서 확장 페트리 네트 모델을 기초로 하여 컴퓨터 시뮬레이션 하는 과정을 제시하고 제시된 시뮬레이션 방법의 유효성을 입증하기 위하여 부가적으로 큐잉모델을 기초로 한 해석적 수식을 유도하여 두 가지의 결과를 비교해 본다. 그 다음, 오류회복 기능에 덧붙여서 충돌회피 기능을 고려한 다중로봇시스템은 해석적 수식을 유도하기 위해서는 강력한 가정들이 필요하며 이러한 가정들 때문에 실제 시스템을 정확히 모델에 반영하기 어려워진다. 따라서, 그 유효성이 입증된 컴퓨터 시뮬레이션을 이용하면 필요한 최적의 운용 변수를 용이하게 선택할 수 있을 것이다. Since there are Increasing demands for multirobot interconnection systems(MRIS) in Industrial manufacturing system, the performance evaluation of the MRIS is first needed. This thesis presents a computer simulation technique for the performance evaluation of the MRIS. First, we consider a error recoverable MRIS. We adopt the extended Petri net model as a computer simulation model that allows an easy evaluation of the performance. To verify the significance of the proposed computer simulation method, mathematical analysis, which is based on the given queueing model, is carried out with some design issues for the MRIS. In addition to this, it is required to analyze the MRIS considering collision avoidance as well as error recovery. In this case, methematial analysis needs hard assumptions which are the constraints for the precise description of real environment. Thus, we present a computer simulation model and its results suggest an optimal operational strategy for the MRIS under given conditions.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.39C no.9
• /
• pp.841-851
• /
• 2014

Wireless technologies sharing the same frequency band and operating in the same environment often interfere with each other, causing severe decrease in performance. In this paper, we propose a algorithm based on traffic scheduling techniques that mitigate interference between different wireless systems operating in the 2.4-GHz industrial, medical, and scientific band. In particular, we consider IEEE 802.11 wireless local area networks (WLANs) and Bluetooth data transfer, showing that the proposed algorithms can work when the two systems are able to exchange information as well as when they operate independently of one another. Results indicate that the proposed algorithm remarkably mitigate the interference between the WLAN and Bluetooth technologies at the expense of a small additional delay in the data transfer.

• Journal of Institute of Control, Robotics and Systems
• /
• v.12 no.1
• /
• pp.33-40
• /
• 2006

We present a new technological concept named RCP (Robotic Cellular Phone), which combines RT and CP. That is an ubiquitous robot. RCP consists of 3 sub-modules, RCP Mobility, RCP interaction, and RCP Integration. RCP Interaction is the main focus of this paper. It is an interactive emotion system which provides CP with multi-emotional signal receiving functionalities. RCP Interaction is linked with communication functions of CP in order to interface between CP and user through a variety of emotional models. It is divided into a tactile, an olfactory and a visual mode. The tactile signal receiving module is designed by patterns and beat frequencies which are made by mechanical-vibration conversion of the musical melody, rhythm and harmony. The olfactory signal receiving module is designed by switching control of perfume-injection nozzles which are able to give the signal receiving to the CP-called user through a special kind of smell according to the CP-calling user. The visual signal receiving module is made by motion control of DC-motored wheel-based system which can inform the CP-called user of the signal receiving through a desired motion according to the CP-calling user. In this paper, a prototype system is developed far multi-emotional signal receiving modes of CP. We describe an overall structure of the system and provide experimental results of the functional modules.

• Journal of the HCI Society of Korea
• /
• v.10 no.2
• /
• pp.45-55
• /
• 2015

In recent years, keypoint recognition and tracking technologies are considered as crucial task in many practical systems for markerless augmented reality. The keypoint recognition and technologies are widely studied in many research areas, including computer vision, robot navigation, human computer interaction, and etc. Moreover, due to the rapid growth of mobile market related to augmented reality applications, several effective keypoint-based matching and tracking methods have been introduced by considering mobile embedded systems. Therefore, in this paper, we extensively analyze the recent research trends on keypoint-based recognition and tracking with several core components: keypoint detection, description, matching, and tracking. Then, we also present one of our research related to mobile augmented reality, named mobile tour guide system, by real-time recognition and tracking of tour maps on mobile devices.

• Korean Journal of Weed Science
• /
• v.31 no.1
• /
• pp.8-23
• /
• 2011

Weeds are one of the major constraints to crop production in organic farming systems. This paper reviews major results and techniques achieved with physical, cultural, and biological weed control and their perspectives in organic agriculture. Physical methods includes mechanical, thermal, lighting, electrocution, pneumatic, autonomous robot weeding control techniques. Cultural weed control methods includes mulching, tillage, crop rotation, cover crops and crop competition. Physical and cultural weed control techniques are especially important in organic farming crops where other weed control options are limited or not available without use of herbicides. Biological weed control includes mycoherbicides, innundative biological control, broad-spectrum biological control and allelopathy. Successful weed management in organic farming requires well managed integrated systems of mechanical control using newly developed machines, cultural control and biological control methods. Weed management decision-aid models may also needed to develop to provide greater assurance of achieving profitability and appropriate long-term weed management in organic farming in the future.