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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 21, Issue 6 - Dec 2011
Volume 21, Issue 5 - Oct 2011
Volume 21, Issue 4 - Aug 2011
Volume 21, Issue 3 - Jun 2011
Volume 21, Issue 2 - Apr 2011
Volume 21, Issue 1 - Feb 2011
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A Controller Based on Velocity Estimator for a Wheeled Inverted Pendulum Running on the Inclined Road
Lee, Se-Han ; Rhee, Sang-Yong ;
Journal of Korean Institute of Intelligent Systems, volume 21, issue 3, 2011, Pages 283~289
DOI : 10.5391/JKIIS.2011.21.3.283
In this research a controller based on velocity estimator for a Wheeled Inverted Pendulum (WIP) is designed and various numerical simulation studies are carried out. The WIP has stable and unstable equivalent points. To Keep the unstable equilibrium point, a controller should control carefully the wheels persistently. There are angle, angular velocity, displacement, and velocity of the WIP for controller inputs. The velocity is obtained by differentiating the encoder signals from the motor and is subject to the resolution of the encoder. An improved velocity detection method is proposed based on low resolution encoder and velocity estimator. Various numerical simulations are carried out for showing the validation of the velocity estimator in case of the inclined road condition.
A Study on Ship Collision Avoidance Algorithm by COLREG
Kim, Dong-Gyun ; Jeong, Jung-Sik ; Park, Gyei-Kark ;
Journal of Korean Institute of Intelligent Systems, volume 21, issue 3, 2011, Pages 290~295
DOI : 10.5391/JKIIS.2011.21.3.290
On the basis of DCPA(Distance to Closest Point of Approach) and TCPA(Time to CPA), the conventional algorithms for collision avoidances have a drawback that the `72 CORLEGs(International Regulations for Preventing Collisions at Sea, 1972) has not taken into account to prevent collisions between ships. In this paper, the proposed algorithm decides whether the own ship is a give-way vessel or a stand-on vessel by observing the relative bearing of the encountered ship. To determine the ship position and time for collision avoidance, the proposed algorithm utilizes the ellipse model for ship safety domain. The computer simulation is done to represent the process of adversive behavior. Using the proposed method, the past maritime accident is analyzed. The proposed method can be effectively applied to collision avoidance by CORLEGs even when the target ship`s navigational lights is invisible in poor weather and/or in the restricted visibility.
Simultaneous Localization and Mapping For Swarm Robot
Mun, Hyun-Su ; Shin, Sang-Geun ; Joo, Young-Hoon ;
Journal of Korean Institute of Intelligent Systems, volume 21, issue 3, 2011, Pages 296~301
DOI : 10.5391/JKIIS.2011.21.3.296
This paper deals with the simultaneous localization and mapping system using cooperative robot. For recognizing environment, swarm robot uses the ultrasonic sensors and vision sensor. Ultrasonic sensors measure the distance information, and vision sensor recognizes the predefined landmark. we used SURF with excellent quality and fast matching in order to recognize landmark. Due to measurement error of sensors, we fusion them using particle filter for accurate localization and mapping. Finally, we show the feasibility of the proposed method through some experiments.
Design of T-S Fuzzy-Model-Based Controller for Control of Autonomous Underwater Vehicles
Jun, Sung-Woo ; Kim, Do-Wan ; Lee, Ho-Jae ;
Journal of Korean Institute of Intelligent Systems, volume 21, issue 3, 2011, Pages 302~306
DOI : 10.5391/JKIIS.2011.21.3.302
This paper presents Takagi-Sugeno (T-S) fuzzy-model-based controller for depth control of autonomous underwater vehicles(AUVs). Through sector nonlinearity methodology, The nonlinear AUV is represented by T-S fuzzy model. By using the Lyapunov function, the design condition of controller is derived to guarantee the performance of depth control in the format of linear matrix inequality (LMI). An example is provided to illustrate the effectiveness of the proposed methodology.
Intelligent Navigation Safety Information System using Blackboard
Kim, Do-Yeon ; Yi, Mi-Ra ;
Journal of Korean Institute of Intelligent Systems, volume 21, issue 3, 2011, Pages 307~316
DOI : 10.5391/JKIIS.2011.21.3.307
The majority of maritime accidents happened by human factor. For that reason, navigation experts want to an intelligent support system for navigation safety, without officer involvement. The expert system which is one of artificial intelligence skills for navigation support is an important tool that a machine can substitute for an expert through the design of a knowledge base and inference engine using the experience or knowledge of an expert. Further, in the real world, a complex situation requires synthetic estimation with the input of experts in various fields for the correct estimation of the situation, not any one expert. In particular, synthetic estimation is more important for navigation situations than in other cases, because of diverse potential threats. This paper presents the method of knowledge fusion pertaining to navigation safety knowledge from various expert systems, using a blackboard system. Then we will show the validity of the method via a design and implementation of test system effort.
Factor Analysis for Improving Adults` Internet Addiction Diagnosis
Kim, Jong-Wan ; Kim, Hee-Jae ;
Journal of Korean Institute of Intelligent Systems, volume 21, issue 3, 2011, Pages 317~322
DOI : 10.5391/JKIIS.2011.21.3.317
Korean adults` internet addiction diagnosis measure, K-scale developed by Korea National Information Society Agency (NIA), has composed of 4 categories including 20 items. This scale can diagnose user`s internet addiction with individual`s questionnaire items. Most of previous research works were tried to know reasons of internet addiction and to judge whether adolescents are addicted or not with their samples. In this research, it is the goal to find the key component to judge individual`s internet addiction by using a decision tree in the data mining field and a principal component analysis in statistics. From the experimental results, we would discover that tolerance and preoccupation factor is the most important one to affect adult`s internet addiction.
Intelligent 3-D Obstacle Avoidance Algorithm for Autonomous Control of Underwater Flight Vehicle
Kim, Hyun-Sik ; Jin, Tae-Seok ; Sur, Joo-No ;
Journal of Korean Institute of Intelligent Systems, volume 21, issue 3, 2011, Pages 323~328
DOI : 10.5391/JKIIS.2011.21.3.323
In real system application, the 3-D obstacle avoidance system for the autonomous control of the underwater flight vehicle (UFV) operates with the following problems: the sonar offers the range/bearing information of obstacles in a local detection area, it requires the system that has reduced acoustic noise and power consumption in terms of the autonomous underwater vehicle (AUV), it has the UFV operation constraints such as maximum pitch and depth, and it requires an easy design procedure in terms of its structures and parameters. To solve these problems, an intelligent 3-D obstacle avoidance algorithm using the evolution strategy (ES) and the fuzzy logic controller (FLC), is proposed. To verify the performance of the proposed algorithm, the 3-D obstacle avoidance of UFV is performed. Simulation results show that the proposed algorithm effectively solves the problems in the real system application.
Location Estimation and Obstacle tracking using Laser Scanner for Indoor Mobile Robots
Choi, Bae-Hoon ; Kim, Beom-Seong ; Kim, Eun-Tai ;
Journal of Korean Institute of Intelligent Systems, volume 21, issue 3, 2011, Pages 329~334
DOI : 10.5391/JKIIS.2011.21.3.329
This paper presents the method for location estimation with obstacle tracking method. A laser scanner is used to implement the system, and we assume that the map information is known. We matches the measurement of the laser scanner to estimate the location of the robot by using sequential monte carlo (SMC) method. After estimating the robot`s location, the pose of obstacles are detected and tracked, hence, we can predict the collision risk of them. Finally, we present the experiment results to verify the proposed method.
Control of a Mobile Robot Based on a Tangible Interface using iPhone
Jung, Hah-Min ; Kim, Dong-Hun ;
Journal of Korean Institute of Intelligent Systems, volume 21, issue 3, 2011, Pages 335~340
DOI : 10.5391/JKIIS.2011.21.3.335
In the study, a tangible interface using iPhone is proposed to control a mobile robot, instead of remote control by a joystick or buttons. The robot is controlled by iPhone like a handle bar, since acceleration sensors of iPhone are used in the proposed method. The sensors measure the angles changed on the xyz coordinates of iPhone. And their sensor values are stabilized by digital filters. Bluetooth is chosen for communication between a mobile robot and iPhone. In this paper, four type methods are considered and one of the methods is selected for remote control of a mobile robot. Experimental results show that the robot is easily and conveniently controled by the tangible interface based on iPhone.
Vacant Technology Forecasting using Ensemble Model
Jun, Sung-Hae ;
Journal of Korean Institute of Intelligent Systems, volume 21, issue 3, 2011, Pages 341~346
DOI : 10.5391/JKIIS.2011.21.3.341
A vacant technology forecasting is an important issue in management of technology. The forecast of vacant technology leads to the growth of nation and company. So, we need the results of technology developments until now to predict the vacant technology. Patent is an objective thing of the results in research and development of technology. We study a predictive method for forecasting the vacant technology quantitatively using patent data in this paper. We propose an ensemble model that is to vote some clustering criteria because we can`t guarantee a model is optimal. Therefore, an objective and accurate forecasting model of vacant technology is researched in our paper. This model combines statistical analysis methods with machine learning algorithms. To verify our performance evaluation objectively, we make experiments using patent documents of diverse technology fields.
Entropy and AMBE-based Threshold Selection
Kwon, Soon-H. ;
Journal of Korean Institute of Intelligent Systems, volume 21, issue 3, 2011, Pages 347~352
DOI : 10.5391/JKIIS.2011.21.3.347
Entropy used for measuring the richness in details of the image and absolute mean brightness error(AMBE) providing a change in the image global appearance are two quantitative measures generally used for measuring quality of images. In this paper, we propose an entropy and AMBE-based thresholding method to binalize a given image. The effectiveness of the proposed method is demonstrated by thresholding experiments on nine test images and comparison with other conventional thresholding methods, that is, Otsu method and entropy-based method.
Modeling and RPY Motion Analysis of Bipedal Walking Robots
Kim, Byoung-Ho ;
Journal of Korean Institute of Intelligent Systems, volume 21, issue 3, 2011, Pages 353~358
DOI : 10.5391/JKIIS.2011.21.3.353
This paper presents a virtual-legged walking model for bipedal robots and analyzes its fundamental RPY(Roll, Pitch, and Yaw) motion effects by simulation. For the purpose of identifying the motion effects of the bipedal walking, we assign some arbitrary trajectories both at the center of mass and at the center of pressure of the robot based on human walking. And then we verify the major moments to the roll, pitch, and yaw directions of the robot. As a result, it is shown that those motions are natural in the process of bipedal walking and they are deeply dependent on the step distance, the vertical level of the center of mass, and the acceleration of the robot. The importance of trajectory planning for the footstep location during a bipedal walking is finally addressed in terms of balance.
Development of RGBW Dimming Control Sensitivity Lighting System based on the Intelligence Algorithm
Oh, Sung-Kwun ; Lim, Sung-Joon ; Ma, Chang-Min ; Kim, Jin-Yul ;
Journal of Korean Institute of Intelligent Systems, volume 21, issue 3, 2011, Pages 359~364
DOI : 10.5391/JKIIS.2011.21.3.359
The study uses department of the sensitivity and fuzzy reasoning, one of artificial intelligence algorithms, so that develop LED lighting system based on fuzzy reasoning for systematical control of the LED color temperature. In the area of sensitivity engineering, by considering the relation between color and emotion expressed as an adjective word, the corresponding sensitivity word can be determined, By taking into consideration the relation between the brain wave measured from the human brain and the color temperature, the preferred lesson subject can be determined. From the decision of the sensitivity word and the lesson subject, we adjust the color temperature of RGB (Red, Green, Blue) LED. In addition, by using the information of the latitude and the longitude from GPS(Global Positioning System), we can calculate the on-line moving altitude of sun. By using the sensor information of both temperature and humidity, we can calculate the discomfort index. By considering the altitude of sun as well as the value of the discomfort index, the illumination of W(white) LED and the color temperature of RGB LED can be determined. The (LED) sensitivity lighting control system is bulit up by considering the sensitivity word, the lesson subject, the altitude of sun, and the discomfort index The developed sensitivity lighting control system leads to more suitable atmosphere and also the enhancement of the efficiency of lesson subjects as well as business affairs.
Automatic Extraction of UV patterns for Paper Money Inspection
Lee, Geon-Ho ; Park, Tae-Hyoung ;
Journal of Korean Institute of Intelligent Systems, volume 21, issue 3, 2011, Pages 365~371
DOI : 10.5391/JKIIS.2011.21.3.365
Most recently issued paper money includes security patterns that can be only identified by ultra violet (UV) illuminations. We propose an automatic extraction method of UV patterns for paper money inspection systems. The image acquired by camera and UV illumination is transformed to input data through preprocessing. And then, the Gaussian mixture model (GMM) and split-and-merge expectation maximization (SMEM) algorithm are applied to segment the image represented by input data. In order to extract the UV pattern from the segmented image, we develop a criterion using the area of covariance vector and the weight value. The experimental results on various paper money are presented to verify the usefulness of the proposed method.
Robust Stability Analysis of Hybrid Magnetic Bearing System
Sung, Hwa-Chang ; Park, Jin-Bae ; Tark, Myung-Hwan ; Joo, Young-Hoon ;
Journal of Korean Institute of Intelligent Systems, volume 21, issue 3, 2011, Pages 372~377
DOI : 10.5391/JKIIS.2011.21.3.372
This paper propose the robust stability algorithm for controlling a hybrid magnetic bearing system. The control object in the magnetic bearing system enables the rotor to rotate without any physical contact by using magnetic force. Generally, the system dynamics of the magnetic bearing system has severe nonlinearity and uncertainty so that it is not easy to obtain the control objective. For solving these problems, we propose the fuzzy modelling and robust control algorithm for hybrind magnetic bearing system. The sufficient conditions for robust controller are obtained in terms of solutions to linear matrix inequalities (LMIs). Simulation results for HMB are demonstrated to visualize the feasibility of the proposed method.
Fuzzy Analysis for Consciousness Structure of Core Competency of Manufacturing Workers
Gi, Jong-Dai ; Hwang, Seung-Gook ;
Journal of Korean Institute of Intelligent Systems, volume 21, issue 3, 2011, Pages 378~382
DOI : 10.5391/JKIIS.2011.21.3.378
This paper develops the core competencies of manufacturing workers, analyze the consciousness structure on the core competencies. As the analyzing method of consciousness structure, ISM(Interpretive Structural Modeling) and FSM(Fuzzy Structural Modeling) are used to classify layers and determine the connection state. However, the element of each layer is frequently changed by data. This paper suggests the method with the point of view that the structure is determined basically and the connection state of the structure model is changeable depending on the method; first to determine structure model by ISM, second to determine connection by FSM. By using this method, the objective structure model, analyzing the consciousness on the core competencies of manufacturing workers, is suggested with specialist confirm.
Accuracy Improvement of Laser Navigation System using FIS and Reliability
Jung, Eun-Kook ; Kim, Jung-Min ; Jung, Kyung-Hoon ; Kim, Sung-Shin ;
Journal of Korean Institute of Intelligent Systems, volume 21, issue 3, 2011, Pages 383~388
DOI : 10.5391/JKIIS.2011.21.3.383
This paper presents to study the accuracy improvement of the laser navigation using FIS(fuzzy inference system) and the reliability. As wireless guidance system, the top-mounted laser with the laser navigation can rotate
with phototransistor or other optical sensors that read the return signal from reflectors mounted at the perimeter of the workspace. The type of major existing guidance systems is a wire guidance system. Because they have high accuracy and fast response time, they are used to most industries. However, their installation cost is very expensive and maintenance is very difficult because their sensors are placed approximately 1 inch below the ground or embedded in the floor. To solve those problems, the laser navigation was developed as a wire guidance system. It does not need to reconstruct a floor or ground. And it can reduce costs of installation and maintenance because changing the layout is easy. However, it is difficult to apply to an industrial field because it is easily affected by disturbances which cause loss and damage of data, and has slow respond time. Therefore, we study the accuracy improvement of the laser navigation. The proposed method is a correction method using reliability of the laser navigation. here, reliability is calculated by FIS which is designed with the analyzed characteristics of the laser navigation. For performance comparison, we use original position data form the laser navigation and position data corrected by original reliability from the laser navigation. In experimental result, we verified that the performance of the proposed method compared the others is improved by about 50% or more.
Generalized Intuitionistic Fuzzy Soft Sets
Park, Jin-Han ; Kwun, Young-Chel ; Hwang, Jin-Soo ;
Journal of Korean Institute of Intelligent Systems, volume 21, issue 3, 2011, Pages 389~394
DOI : 10.5391/JKIIS.2011.21.3.389
The notion of generalized intuitionistic fuzzy soft set theory is proposed. Our generalized intuitionistic fuzzy soft set theory is a combination of the generalized intuitionistic fuzzy set theory and the soft set theory. In other words, our generalized intuitionistic fuzzy soft set theory is an extension of the intuitionistic fuzzy soft set theory. The complement, "and" and "or" operations are defined on the generalized intuitionistic fuzzy soft sets. Their basic properties for the generalized intuitionistic fuzzy soft sets are also presented and discussed.
Development of Facial Emotion Recognition System Based on Optimization of HMM Structure by using Harmony Search Algorithm
Ko, Kwang-Eun ; Sim, Kwee-Bo ;
Journal of Korean Institute of Intelligent Systems, volume 21, issue 3, 2011, Pages 395~400
DOI : 10.5391/JKIIS.2011.21.3.395
In this paper, we propose an study of the facial emotion recognition considering the dynamical variation of emotional state in facial image sequences. The proposed system consists of two main step: facial image based emotional feature extraction and emotional state classification/recognition. At first, we propose a method for extracting and analyzing the emotional feature region using a combination of Active Shape Model (ASM) and Facial Action Units (FAUs). And then, it is proposed that emotional state classification and recognition method based on Hidden Markov Model (HMM) type of dynamic Bayesian network. Also, we adopt a Harmony Search (HS) algorithm based heuristic optimization procedure in a parameter learning of HMM in order to classify the emotional state more accurately. By using all these methods, we construct the emotion recognition system based on variations of the dynamic facial image sequence and make an attempt at improvement of the recognition performance.
Study on Improvement of Convergence in Harmony Search Algorithms
Lee, Sang-Kyung ; Ko, Kwang-Enu ; Sim, Kwee-Bo ;
Journal of Korean Institute of Intelligent Systems, volume 21, issue 3, 2011, Pages 401~406
DOI : 10.5391/JKIIS.2011.21.3.401
In order to solve a complex optimization problem more efficiently than traditional approaches, various meta-heuristic algorithms such as genetic algorithm, ant-colony algorithm, and harmony search algorithm have been extensively researched. Compared with other meta-heuristic algorithm, harmony search algorithm shows a better result to resolve the complex optimization issues. Harmony search algorithm is inspired by the improvision process of musician for most suitable harmony. In general, the performance of harmony search algorithm is determined by the value of harmony memory considering rate, and pitch adjust rate. In this paper, modified harmony search algorithm is proposed in order to derive best harmony. If the optimal solution of a specific problem can not be found for a certain period of time, a part of original harmony memory is updated as the selected suitable harmonies. Experimental results using test function demonstrate that the updated harmony memory can induce the approximation of reliable optimal solution in the short iteration, because of a few change of fitness.