• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.4
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• pp.352-362
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• 2010

The simultaneous operation of multiple UAV's makes it possible to enhance the mission accomplishment efficiency. In order to achieve this, easily scalable control algorithms are required, and swarm intelligence having such characteristics as flexibility, robustness, decentralized control, and self-organization based on behavioral model comes into the spotlight as a practical substitute. Recently, evolutionary robotics is applied to the control of UAV's to overcome the weakness of difficulties in the logical design of behavioral rules. In this paper, a neural network controller evolved by evolutionary robotics is applied to the control of multiple UAV's which have the mission of searching limited area. Several numerical demonstrations show the proposed algorithm has superior results to those of behavior based neural network controller which is designed by intuition.

• Journal of Korea Multimedia Society
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• v.16 no.5
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• pp.637-646
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• 2013

In order to model a variety of natural trees that are appropriate to outdoor terrains consisting of multiple trees, this study proposes a modeling method of new growth rules(based on the convolution sums of divisor functions). Basically, this method uses an existing growth-volume based algorithm for efficient management of the branches and leaves that constitute a tree, as well as natural propagation of branches. The main features of this paper is to introduce the theory of convolution sums of divisor functions that is naturally expressed the growth or fate of branches and leaves at each growth step. Based on this, a method of modeling various tree is proposed to minimize user control through a number of divisor functions having generalized generation functions and modification of the growth rule. This modeling method is characterized by its consideration of both branches and leaves as well as its advantage of having a greater effect on the construction of an outdoor terrain composed of multiple trees. Natural and varied tree model creation through the proposed method was conducted, and using this, the possibility of constructing a wide nature terrain and the efficiency of the process for configuring multiple trees were evaluated experimentally.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.50 no.12
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• pp.566-574
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• 2001

In designing fuzzy models and controllers, we encounter a major difficulty in the identification f an optimized fuzzy rule base, which is traditionally achieved by a tedious trial-and-error process. This paper presents an approach to the evolutionary design of an optimal fuzzy rule base for modeling and control. Evolutionary programming is used to simultaneously evolve the structure and the parameter of fuzzy rule base for a given task. To check the effectiveness of the suggested approach, four numerical examples are examined. The performance of the identified fuzzy rule bases is demonstrated.

• Proceedings of the KIEE Conference
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• 1997.07b
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• pp.394-396
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• 1997

This paper describes RBF network controller based on fuzzy control rules for intelligent control of nonlinear systems. The proposed scheme is derived from the functional equivalence between RBF networks and fuzzy inference systems. The design procedure of the proposed scheme is realized by first transforming the fuzzy control rules into the parameters of RBF networks. The optimized RBF network controller is then performed through the gradient descent learning mechanism to an error function. The proposed method is rigorously tested using a nonlinear and unstable nonlinear system. Simulation is performed to demonstrate the feasibility and effectiveness of the proposed scheme.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.3
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• pp.233-238
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• 2010

This paper describes a multi-mobile robot system with fuzzy rule based structure in collision avoidance. Collision avoidance is an important function to perform a given task collaboratively and cooperatively in multi-mobile robot environments. So the important but challenging problem is handled in this paper. Considered obstacles for collision avoidance between multi mobile robots are static, dynamic, or both of them at the same time. Using the fuzzy rule based structure, distance and angle from a robot to obstacles are described as fuzzy linguistic values and steering angle for the robot are updated from the collision environments. As a result, the multi-mobile robot can modify a global path from a robot itself to its own target. In addition, avoiding collision with static or dynamic obstacles for the robot system can be achieved. Simulation based experimental results are given to show usefulness of this method.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.15 no.1
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• pp.1-14
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• 2015

To conform to new emerging computing paradigm, various researches and challenges are being done. New information technologies make easy to access and acquire information in various ways. In other side, however, it also makes illegal access more powerful and various threat to system security. In this paper, we suggest a new extended access control method that make it possible to conform to security policies enforcement even with discrepancy between policy based constraints rules and query based constraints rules, based on their semantic information. New method is to derive security policy rules using context tree structure and to control the exceed granting of privileges through the degree of the semantic discrepancy. In addition, we illustrate prototype system architecture and make performance comparison with existing access control methods.

• Journal of Drive and Control
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• v.15 no.3
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• pp.8-13
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• 2018

This paper presents a phase portrait analysis-based safety control algorithm for excavators, using adaptive sliding mode control. Since working postures and material types cause the excavator's rotational inertia to vary, the rotational inertia was estimated, and this estimation was used to design an adaptive sliding mode controller for collision avoidance of the excavator. In order to estimate the rotational inertia, the recursive least-squares estimation with multiple forgetting was applied with the information of the swing velocity of the excavator. For realistic evaluation, an actual working scenario-based performance evaluation was conducted. Based on the estimated rotational inertia and an analysis of estimation errors, sliding mode control inputs were computed. The actual working scenario-based performance evaluation of the designed safety algorithm was conducted, and the results showed that the developed safety control algorithm can efficiently avoid a collision with an object in consideration of rotational inertia variations.

• Journal of Digital Convergence
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• v.10 no.6
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• pp.189-196
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• 2012

In this paper, we propose a Scorm-based Sequencing & Navigation Model for Collaborative Learning. It is an e-Learning process control model that is used to efficiently and graphically defining Scorm's content aggregation model and its sequencing prerequistites through a formal approach. To define a process based model uses the expanded ICN(Information Control Net) model. which is called SCOSNCN(SCO Sequencing & Navigation Control Net). We strongly believe that the process-driven model delivers a way of much more convenient content aggregating work and system, in terms of not only defining the intended sequence and ordering of learning activities, but also building the runtime environment for sequencing and navigation of learning activities and experiences.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.49 no.2
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• pp.1-9
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• 2012

In this paper, we design and implement a DCS (Distributed Control System) based on dual field-bus for ship engine. For monitoring and controlling the condition of the ship engine, an implemented DCS is consisted of two-tier communication structure by using CAN (Controller Area Network) and MODBUS protocols. The first-tier is consisted of CAN protocol for sharing the condition of the ship engine by each implemented monitoring system. By using MODBUS protocol, the second-tier is used for communicating the monitoring data from an implemented DCS to AMS(Alarm Monitoring System). We verified and tested our scheme and implemented DCS by KR (Korea Register) technical rules through experimental tests.

• Proceedings of the Korean Information Science Society Conference
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• 2006.06d
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• pp.73-75
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• 2006

오버레이 네트워크 환경에서 이동 사용자에게 최적의 서비스를 제공하기 위해서 효율적인 수직 핸드오버 기술은 필수적이다. 이에 본 논문에서는 비실시간 응용의 성능을 최대화할 수 있는 종단 간 이동성 지원 방안을 기반으로 한 수직 핸드오버 메커니즘을 제안하였다. 본 논문의 특징은 먼저 수직 핸드오버 트리거링 방법과 수직 핸드오버 결정 규칙을 정의하였고, 비실시간 응용의 성능을 최대화하는 새로운 혼잡제어 메커니즘을 제안하였다. 마지막으로 핑퐁 현상이 전송성능에 미치는 영향을 줄이기 위하여 stability period 정의하였다. 추후 시뮬레이션을 통해 제안하는 방안의 성능을 평가하고자 한다.