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REFERENCE LINKING PLATFORM OF KOREA S&T JOURNALS
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Journal of Korean Institute of Intelligent Systems
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Korean Institute of Intelligent Systems
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Volume & Issues
Volume 20, Issue 6 - Dec 2010
Volume 20, Issue 5 - Oct 2010
Volume 20, Issue 4 - Aug 2010
Volume 20, Issue 3 - Jun 2010
Volume 20, Issue 2 - Apr 2010
Volume 20, Issue 1 - Feb 2010
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On a Simple and Stable Merging Algorithm
Kim, Pok-Son ; Kutzner, Arne ;
Journal of Korean Institute of Intelligent Systems, volume 20, issue 4, 2010, Pages 455~462
DOI : 10.5391/JKIIS.2010.20.4.455
We investigate the worst case complexity regarding the number of comparisons for a simple and stable merging algorithm. The complexity analysis shows that the algorithm performs O(mlog(n/m)) comparisons for two sequences of sizes m and n
. So, according to the lower bound for merging
(mlog(n/m)), the algorithm is asymptotically optimal regarding the number of comparisons. For proving the worst case complexity we divide the domain of all inputs into two disjoint cases. For either of these cases we will extract a special subcase and prove the asymptotic optimality for these two subcases. Using this knowledge for special cases we will prove the optimality for all remaining cases. By using this approach we give a transparent solution for the hardly tractable problem of delivering a clean complexity analysis for the algorithm.
Symmetrical model based SLAM : M-SLAM
Oh, Jung-Suk ; Sim, Kwee-Bo ;
Journal of Korean Institute of Intelligent Systems, volume 20, issue 4, 2010, Pages 463~468
DOI : 10.5391/JKIIS.2010.20.4.463
The mobile robot which accomplishes a work in explored region does not know location information of surroundings. Traditionally, simultaneous localization and mapping(SLAM) algorithms solve the localization and mapping problem in explored regions. Among the several SLAM algorithms, the EKF (Extended Kalman Filter) based SLAM is the scheme most widely used. The EKF is the optimal sensor fusion method which has been used for a long time. The odometeric error caused by an encoder can be compensated by an EKF, which fuses different types of sensor data with weights proportional to the uncertainty of each sensor. In many cases the EKF based SLAM requires artificially installed features, which causes difficulty in actual implementation. Moreover, the computational complexity involved in an EKF increases as the number of features increases. And SLAM is a weak point of long operation time. Therefore, this paper presents a symmetrical model based SLAM algorithm(called M-SLAM).
Experimental Studies of Controller Design for a Car-like Balancing Robot with a Variable Mass
Kim, Hyun-Wook ; Jung, Seul ;
Journal of Korean Institute of Intelligent Systems, volume 20, issue 4, 2010, Pages 469~475
DOI : 10.5391/JKIIS.2010.20.4.469
This paper presents controller design of a two wheeled mobile inverted pendulum robot for one man transportation vehicle. Since the overall mass is varying with different drivers, suitable controller gains are obtained through experimental studies. Variation of the center of gravity due to different masses also affects stable balancing control. Thus, the desired balancing angle si required to be modified with respect to different masses. To measure masses for different drivers, a weight scale is used and those data are used for balancing control through communication. The gain scheduling method of using data obtained from experimental studies allows the robot to have stable balancing performances.
Robust Path Tracking Control for Autonomous Underwater Vehicle with Variable Speed
Choi, Yoon-Ho ; Kim, Kyoung-Joo ;
Journal of Korean Institute of Intelligent Systems, volume 20, issue 4, 2010, Pages 476~482
DOI : 10.5391/JKIIS.2010.20.4.476
In this paper, we propose a robust path tracking control method for autonomous underwater vehicle with variable speed. The proposed path tracking controller consists of a kinematic controller and a dynamic controller. First, the kinematic controller computes the surge speed and yaw rate to follow the reference path with variable speed. Then the dynamic controller controls the thrust force and yaw torque to move the AUV actually. In the dynamic control, we assume that the sway speed is a disturbance. In addition the dynamic controller is designed based on sliding mode conrol. We also demonstrate the stability of the proposed control method by Lyapunov stability theory. Finally, simulation results illustrate the performance of the proposed control method.
Modeling and Comparison for Auto-association using Support Vector Regression (SVR) and Partial Least Square Regression (PLSR) in Online Monitoring Techniques
Kim, Seong-Jun ; Seo, In-Yong ;
Journal of Korean Institute of Intelligent Systems, volume 20, issue 4, 2010, Pages 483~488
DOI : 10.5391/JKIIS.2010.20.4.483
An online monitoring based upon sensor system is essential to assure both efficient operation and safety in the power plant. Of great importance is modeling for auto-association (AA) in online monitoring technique. The objective of auto-associative models lies in predicting true values of plant operation parameters from sensor signals transmitted. This paper presents two AA models using Support Vector Regression (SVR) and Partial Least Square Regression (PLSR). The presented models are useful, in particular, when there are many parameters to monitor in the power plant. Illustrative examples are given by using a real-world plant dataset. AA performances of SVR and PLSR are finally summarized in terms of accuracy and sensitivity. According to our results, SVR shows much higher accuracy and, however, its sensitivity is relatively degraded.
Extension of Self-organization for Swarm Systems to Three Dimensions
Kim, Jae-Hyun ; Kim, Dong-Hun ;
Journal of Korean Institute of Intelligent Systems, volume 20, issue 4, 2010, Pages 489~496
DOI : 10.5391/JKIIS.2010.20.4.489
In this paper, a self-organization framework for swarm systems in three dimensions is presented. The framework uses artificial potential functions(APFs) to direct the robots toward the goal as well as to keep them in a swarm system. This research extends conventional APFs used for self-organizations in two dimension environment to three dimensions. In three dimension environment, the ground potential for the boundary surfaces that commonly appear in three dimension environments is proposed. Accordingly, the comparison between the paths without and with the ground potentials shows the necessity and effect of ground potentials. Extensive simulations are given to show the effectiveness of the extended potentials and various properties in three dimension environments.
Robust Estimation of Position and Direction Based on Robot Velocity in the Inner GPS Environment
Kim, Sung-Suk ; Kim, Yong-Tae ;
Journal of Korean Institute of Intelligent Systems, volume 20, issue 4, 2010, Pages 497~502
DOI : 10.5391/JKIIS.2010.20.4.497
The accurate estimation of position and direction of the mobile robot is essential for preparing precise movement and works in the inner complex environment. In this paper, we propose a robust estimation method of location and direction using the velocity of mobile robot in the inner GPS environment. The estimation using the inner GPS with ultrasonic sensors have to consider with various acoustic noise and sensor errors. We design a robust estimation method using a membership function based on uncertainty of the obtained information and robot velocity. The simulation results of the proposed method show effectiveness in the contaminated environment with position errors.
The method for extraction of meaningful places based on behavior information of user
Lee, Seung-Hoon ; Kim, Bo-Keong ; Yoon, Tae-Bok ; Lee, Jee-Hyong ;
Journal of Korean Institute of Intelligent Systems, volume 20, issue 4, 2010, Pages 503~508
DOI : 10.5391/JKIIS.2010.20.4.503
Recently, the advance of mobile devices has made various services possible beyond simple communication. One of services is the predicting the future path of users and providing the most suitable location based service based on the prediction results. Almost of these prediction methods are based on previous path data. Thus, calculating similarities between current location information and the previous trajectories for path prediction is an important operation. The collected trajectory data have a huge amount of location information generally. These information needs the high computational cost for calculating similarities. For reducing computational cost, the meaningful location based trajectory model approaches are proposed. However, most of the previous researches are considering only the physical information such as stay time and the distance for extracting the meaningful locations. Thus, they will probably ignore the characteristics of users for meaningful location extraction. In this paper, we suggest a meaningful location extracting and trajectory simplification approach considering the stay time, distance, and additionally interaction information of user. The method collects the location information using GPS device and interaction information between the user and the others. Using these data, the proposed method defines the proximity of the people who are related with the user. The system extracts the meaningful locations based on the calculated proximities, stay time and distance. Using the selected meaningful locations the trajectories are simplified. For verifying the usability of the proposed method, we collect the behavioral data of smart phone users. Using these data, we measure the suitability of meaningful location extraction method, and the accuracy of prediction approach based on simplified trajectories. Following these result, we confirmed the usability of proposed method.
Development of a Legged Walking Robot Based on Jansen Kinetics
Kim, Sun-Wook ; Kim, Yeoun-Gyun ; Jung, Hah-Min ; Lee, Se-Han ; Hwang, Seung-Gook ; Kim, Dong-Hun ;
Journal of Korean Institute of Intelligent Systems, volume 20, issue 4, 2010, Pages 509~515
DOI : 10.5391/JKIIS.2010.20.4.509
In this paper, the mechanism that can walk efficiently in wet land or sand area is proposed. A vision camera is attached to the mechanism, which makes a kind of biologically inspired robot for coast guard. This visionary information enables the biologically inspired robot to react in peripheral environment by a soft-computing algorithm. In addition, the biologically inspired robot can achieve the mission appointed by a programmer connecting with outside, based on RF and Blue-tooth communication module. Therefore, the purpose of this research is the implementation of the biologically inspired robot that can operate most adaptively in sand and wet surface based on Theo Jansen mechanism.
Video-based Intelligent Unmanned Fire Surveillance System
Jeon, Hyoung-Seok ; Yeom, Dong-Hae ; Joo, Young-Hoon ;
Journal of Korean Institute of Intelligent Systems, volume 20, issue 4, 2010, Pages 516~521
DOI : 10.5391/JKIIS.2010.20.4.516
In this paper, we propose a video-based intelligent unmanned fire surveillance system using fuzzy color models. In general, to detect heat or smoke, a separate device is required for a fire surveillance system, this system, however, can be implemented by using widely used CCTV, which does not need separate devices and extra cost. The systems called video-based fire surveillance systems use mainly a method extracting smoke or flame from an input image only. The smoke is difficult to extract at night because of its gray-scale color, and the flame color depends on the temperature, the inflammable, the size of flame, etc, which makes it hard to extract the flame region from the input image. This paper deals with a intelligent fire surveillance system which is robust against the variation of the flame color, especially at night. The proposed system extracts the moving object from the input image, makes a decision whether the object is the flame or not by means of the color obtained by fuzzy color model and the shape obtained by histogram, and issues a fire alarm when the flame is spread. Finally, we verify the efficiency of the proposed system through the experiment of the controlled real fire.
Morphology-Based Homomorphic Filter for Contrast Enhancement of Mammographic Images
Hwang, Hee-Soo ;
Journal of Korean Institute of Intelligent Systems, volume 20, issue 4, 2010, Pages 522~527
DOI : 10.5391/JKIIS.2010.20.4.522
In this paper, a new MBHF(Morphology-Based Homomorphic filter) is presented to enhance contrast in mammographic images. The MBH filtering is performed based on the morphological sub-bands, in which an image is morphologically decomposed. The filter is designed to have optimal gain and structuring element in each sub-band through differential evolution. Experimental results show that the proposed method improves the contrast in mammographic images such that an evaluation criterion, WPSNR(Weighted Peak Signal to Noise Ratio) which takes into account human visual system is increased compared with a wavelet-based Homomorphic filter.
A Training Method for Emotionally Robust Speech Recognition using Frequency Warping
Kim, Weon-Goo ;
Journal of Korean Institute of Intelligent Systems, volume 20, issue 4, 2010, Pages 528~533
DOI : 10.5391/JKIIS.2010.20.4.528
This paper studied the training methods less affected by the emotional variation for the development of the robust speech recognition system. For this purpose, the effect of emotional variation on the speech signal and the speech recognition system were studied using speech database containing various emotions. The performance of the speech recognition system trained by using the speech signal containing no emotion is deteriorated if the test speech signal contains the emotions because of the emotional difference between the test and training data. In this study, it is observed that vocal tract length of the speaker is affected by the emotional variation and this effect is one of the reasons that makes the performance of the speech recognition system worse. In this paper, a training method that cover the speech variations is proposed to develop the emotionally robust speech recognition system. Experimental results from the isolated word recognition using HMM showed that propose method reduced the error rate of the conventional recognition system by 28.4% when emotional test data was used.
An Experimental Study on Smoothness Regularized LDA in Hyperspectral Data Classification
Park, Lae-Jeong ;
Journal of Korean Institute of Intelligent Systems, volume 20, issue 4, 2010, Pages 534~540
DOI : 10.5391/JKIIS.2010.20.4.534
High dimensionality and highly correlated features are the major characteristics of hyperspectral data. Linear projections such as LDA and its variants have been used in extracting low-dimensional features from high-dimensional spectral data. Regularization of LDA has been introduced to alleviate the overfitting that often occurs in a small-sized training data set and leads to poor generalization performance. Among them, a smoothness regularized LDA seems to be effective in the feature extraction for hyperspectral data due to its capability of utilizing the high correlatedness. This paper studies the performance of the regularized LDA in hyperspectral data classification experimentally with varying conditions of the training data. In addition, a new dual smoothness regularized LDA is proposed and evaluated that makes use of both the spectral-domain and spatial-domain correlations between neighboring pixels.
FuzzyES for Environmental Risk Assessment of Ship Navigation
Kim, Do-Yeon ; Yi, Mi-Ra ; Park, Gyei-Kark ;
Journal of Korean Institute of Intelligent Systems, volume 20, issue 4, 2010, Pages 541~547
DOI : 10.5391/JKIIS.2010.20.4.541
Marine accidents do not correspond with another accidents because of a serious loss of lives and property. The many marine accidents can be attributed to human error like as carelessness and decision faults, and hence there is a strong need for decision-support tools for marine navigation. Much of researchers have introduced the techniques about the tools, but they hardly consider environmental factors (water depth, the width of waterway, a fishing ground, a current, the number of surrounding marine accidents, marine obstacles, etc), which are very important to the decision making of officers. In a previous research, we proposed the conceptual model of environmental risk assessment of ship navigation using fuzzy. This paper describes the detailed design of the environmental factors based on the opinion of navigation experts, and shows the validity of the conceptual model through a prototype system.
Shape Image Recognition by Using Histogram-based Correlation
Cho, Yong-Hyun ;
Journal of Korean Institute of Intelligent Systems, volume 20, issue 4, 2010, Pages 548~553
DOI : 10.5391/JKIIS.2010.20.4.548
This paper presents an effective shape image recognition method using the correlation based on 4-dimensional histogram. The histogram-based correlation is accurately applied to express the similarity by comparing the positions of a corresponding dimension between the images, which is calculated by considering 4 directions of the shape image. The correlation measure by using the normalized cross-correlation is also applied to obtain the robust recognition to the geometrical variations such as shape, position, size, and rotation. The proposed method has been applied to the problem for recognizing the 8 shape images of 64*64 pixels and the 30 shape images of 256*256 pixels. The experimental results show that the proposed method has a superior recognition performance that appears the image characters well.
An Investigation on Semantic Web-based Business Support: Ontology development and inference framework for the course recommendation
Kim, Jin-S. ;
Journal of Korean Institute of Intelligent Systems, volume 20, issue 4, 2010, Pages 554~561
DOI : 10.5391/JKIIS.2010.20.4.554
As a fundamental knowledge source in a global learning environment, it is feasible to apply the relational database management systems (RDBMS), object-oriented database management systems (OODBMS), and other traditional DBMS. However, the traditional DBMSs are not feasible in semantic knowledge/ontology representation and inference. One of the reasonable ways to overcome the limitations is the semantic web-based business support framework. Especially, in this study, we focused on the development of semantic web ontology and natural language (NL)-based inference framework. To validate the efficiency of the proposed framework, we considered a reasonable scenario for course recommendation in a university.
A Study on the development of Servo Motor Control IP Core based on FPGA
Moon, Yong-Seon ; Roh, Sang-Hyun ; Jo, Kwang-Hun ; Lee, Young-Pil ; Bae, Young-Chul ;
Journal of Korean Institute of Intelligent Systems, volume 20, issue 4, 2010, Pages 562~568
DOI : 10.5391/JKIIS.2010.20.4.562
Until now, the implementation of servo motor control units which is being applied in various industrial ares such as industrial system, office equipment, home appliance and robotics, used the MCU and DSC(or DSP). However, MCU and DSC have limitations of not being able to maximize control efficiency of the motor and the flexibility. Thus, in this paper, we propose and implemented the designing method for development of servo motor control IP based on FPGA which have a structure to make the best motor control efficiency and flexibility of control,
Fuzzy r-minimal Preopen Sets And Fuzzy r-M Precontinuous Mappings On Fuzzy Minimal Spaces
Min, Won-Keun ; Kim, Young-Key ;
Journal of Korean Institute of Intelligent Systems, volume 20, issue 4, 2010, Pages 569~573
DOI : 10.5391/JKIIS.2010.20.4.569
We introduce the concept of fuzzy r-minimal preopen set on a fuzzy minimal space. We also introduce the concept of fuzzy r-M precontinuous mapping which is a generalization of fuzzy r-M continuous mapping, and investigate characterization of fuzzy r-M precontinuity.
Minimizing Algorithm of Baseline Wander for ECG Signal using Morphology-pair
Kim, Sung-Wan ; Kim, Se-Yun ; Kim, Tae-Hun ; Choi, Byung-Jae ; Park, Kil-Houm ;
Journal of Korean Institute of Intelligent Systems, volume 20, issue 4, 2010, Pages 574~579
DOI : 10.5391/JKIIS.2010.20.4.574
The baseline wander is most fatal noise, because it obstructs reliable diagnosis of cardiac disorder. Thus, in this paper, the morphology-pair is proposed for estimation of baseline wander except P, T-wave and QRS-complex. Proposed Morphology-pair is able to except P, R, T-wave which have characteristics of local maxima. Likewise Q, S-wave such as local minima are excepted by proposed Morphology-pair. The final baseline wander eliminated ECG signal is deducted by subtraction of original ECG and estimated baseline wander. The experimental results based on the MIT/BIH database show that the proposed algorithms produce promising results.
The Development of Object Tracking System Using C2H and Nios II Embedded Processor
Jung, Yong-Bae ; Kim, Dong-Jin ; Park, Young-Seak ; Kim, Tea-Hyo ;
Journal of Korean Institute of Intelligent Systems, volume 20, issue 4, 2010, Pages 580~585
DOI : 10.5391/JKIIS.2010.20.4.580
In this paper, The object Tracking System is designed by SOPC based Nios II embedded processor and C2H compiler. And this system using single PTZ camera can effectively control IPs in the platform of SOPC based Nios II Embedded Processor and creating IP by C2H(C-To-Hardware) compiler for image-in/output, image-processing and devices of communication that can supply various monitoring information to network or serial. Accordingly, Special quality and processing speed of object tracking using high-quality algorism in the system is improved by hardware/software programming methods.
Localization of Mobile Robot Using SURF and Particle Filter
Mun, Hyun-Su ; Joo, Young-Hoon ;
Journal of Korean Institute of Intelligent Systems, volume 20, issue 4, 2010, Pages 586~591
DOI : 10.5391/JKIIS.2010.20.4.586
In this paper, we propose the localization method of mobile robot using SURF(Speeded-Up Robust Features) and Particle filter. The proposed method is as follows: First, we seek the Landmark from the obtained image using SURF in order to find the first rigorous position of mobile robot. Second, we obtain the distance from obstacles using ultrasonic sensors in order to create the relative position of mobile robot. And then, we estimate the localization of mobile robot using Particle filter about movement of mobile robot. Finally, we show the feasibility of the proposed method through some experiments.
The Extended Operations for Generalized Quadratic Fuzzy Sets
Yun, Yong-Sik ; Park, Jin-Won ;
Journal of Korean Institute of Intelligent Systems, volume 20, issue 4, 2010, Pages 592~595
DOI : 10.5391/JKIIS.2010.20.4.592
The extended algebraic operations are defined by applying the extension principle to normal algebraic operations. And these operations are calculated for some kinds of fuzzy numbers. In this paper, we get exact membership function as a results of calculation of these operations for generalized quadratic fuzzy sets.
The Various Operations of Fuzzy Approximations
Kim, Yong-Chan ; Kim, Young-Sun ;
Journal of Korean Institute of Intelligent Systems, volume 20, issue 4, 2010, Pages 596~601
DOI : 10.5391/JKIIS.2010.20.4.596