• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2005.11a
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• pp.309-312
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• 2005

본 논문에서는 비젼 시스템과 후각 센서를 이용하여 모바일 로봇의 냄새 발생지 탐색 기능을 구현 하였다. 모바일 로봇에서의 비젼 시스템은 많은 연구가 진행되어진 센싱 방식이지만, 후각 기능은 새롭게 지능 시스템의 센싱 방식으로 주목 받고 있는 추세이다. 이에 본 논문은 이전까지의 연구에서 보여준 임베디드 시스템에서의 가스 센싱 기능 구현을 벗어나 신경망 알고리즘을 이용하여 냄새를 구별 할 수 있는 후각 기능을 구현 하였으며, 비젼 시스템과 후각 센서의 복합적인 알고리즘을 통하여 냄새 발생지를 탐색하는 방법을 제시하였다. 또한 이를 실험하기 위해 AMOR(Autonomous Mobile Olfactory Robot)을 구현하여 남새 발생지 탐색 알고리즘의 효용성을 입증 하였다.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.24 no.11
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• pp.1437-1444
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• 2020

With the development of computer vision systems, many advances have been made in the fields of surveillance, biometrics, medical imaging, and autonomous driving. In the field of autonomous driving, in particular, the object detection technique using deep learning are widely used, and the paved road detection is a particularly crucial problem. Unlike the ROI detection algorithm used in general object detection, the structure of paved road in the image is heterogeneous, so the ROI-based object recognition architecture is not available. In this paper, we propose a deep neural network architecture for atypical paved road detection using Semantic segmentation network. In addition, we introduce the multi-scale semantic segmentation network, which is a network architecture specialized to the paved road detection. We demonstrate that the performance is significantly improved by the proposed method.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.16 no.5
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• pp.403-412
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• 1991

This paper proposes a type of self organizing neural network which recognizes arbitrary symbols as well as numerical or alphabetic characters. The proposed algorithm autonomically organizes and classifies similar patterns on the basis of the distribution types of characteristics in the input images. Thus it can be appliced for the recognition of arbitrary images when it is difficult to establish a learning rule. It performs a stale recognition process with in the limit of the memory capacity. The cheme was applied and tested to 50 different image patterns with increased noise level up to 44%(SNR 2dB). The implementation results demonstrate that the proposed algorithm successfully recognizes the image patterns changed due to the various noise levels and thus proves excellent antinoise characteristics.

• Journal of the Korean Institute of Intelligent Systems
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• v.10 no.5
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• pp.395-400
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• 2000

In this paper, we propose a new neuro-fuzzy controller based on reinforcement learning. The proposed system is composed of neuro-fuzzy controller which decides the behaviors of an agent, and dynamic recurrent neural networks(DRNNs) which criticise the result of the behaviors. Neuro-fuzzy controller is learned by reinforcement learning. Also, DRNNs are evolved by genetic algorithms and make internal reinforcement signal based on external reinforcement signal from environments and internal states. This output(internal reinforcement signal) is used as a teaching signal of neuro-fuzzy controller and keeps the controller on learning. The proposed system will be applied to controller optimization and adaptation with unknown environment. In order to verifY the effectiveness of the proposed system, it is applied to collision avoidance of an autonomous mobile robot on computer simulation.

• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.6
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• pp.698-703
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• 2006

This paper proposes an approach to search for the odor source using an autonomous mobile robot equipped with vision and odor sensors. The robot is initially navigating around the specific area with vision system until it looks for an object in the camera image. The robot approaches the object found in the field of view and checks it with the odor sensors if it is releasing odor. If so, the odor is classified and localized with the classification algorithm based on neural network The AMOR(Autonomous Mobile Olfactory Robot) was built up and used for the experiments. Experimental results on the classification and localization of odor sources show the validity of the proposed algorithm.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2006.05a
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• pp.90-93
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• 2006

본 논문에서는 자율신경망 중 ART2(Adaptive Resonance Theory 2)를 이용하여 지문의 매칭알고리즘에 적용하였다. 지문의 영상을 센서로부터 입력 받아, 전 처리와 후처리 과정을 거친 후 각각의 지문에 대한 특징값을 구하고, 지문 영상을 분류 및 매칭 할 수 있도록 하였다. 다음으로 제시한 알고리즘을 바탕으로 PC(Personal Computer) 없이 독립적으로 사용 할 수 있는 실시간 임베디드 지문 인식 시스템을 구현 하였다. 실시간 임베디드 지문 인식 시스템 설계에 있어 크기와 기능면을 고려해 메인 모듈의 프로세서로 최근 신호 처리에 많이 사용되고 있는 DSP(Digital Signal Processor)를 사용 하였으며, 지문을 입력 받기 위한 센서로는 반도체 지문 센서를 사용하였다. 메인 모듈과 센서를 가지고 간단한 디스플레이 및 통신 테스트를 위해 PIC Micro-Processor를 사용해 컨트롤 보드를 제작하여 간단한 인식 테스트를 하였다. 제작한 보드를 가지고 다양한 어플리케이션이 가능하나, 본 논문에서는 하드웨어나 소프트웨어 개발에 사용 가능한 RDK(Reference Design Kit)를 최종으로 구현하였다.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2007.10a
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• pp.377-382
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• 2007

본 논문에서는 애견 질병에 대한 전문적인 지식이 부족한 일반인들을 대상으로 자신의 애견 건강상태를 파악 할 수 있는 진단 시스템을 제안한다. 제안된 진단 시스템은 105가지 질병과 각 질병의 증상을 데이터베이스에 구축하여 입력된 증상을 통해서 애견의 질병을 도출한다. 본 논문에서는 신경망의 자율 학습 방법인 ART2 알고리즘을 적용하여 질병을 클러스터링 하고 그 결과 값인 클러스터의 출력값과 연결강도를 데이터베이스에 저장한다. 각 질병의 증상과 관련된 질의 결과를 입력 벡터로 제시하여 학습된 질병 정보와 비교하여 애견의 건강 상태를 진단한다. 애견의 건강 상태를 진단하는데 있어서 질병과 증상의 정확한 정보는 매우 중요하다. 따라서 본 논문에서는 질병과 증상의 정보를 데이터베이스로 구축하고 질병과 증상 정보를 효율적으로 관리할 수 있도록 하였다. 제안된 진단 시스템을 구현하여 수의학 전문의가 분석한 결과, 본 논문에서 제안한 시스템이 애견 질병의 보조 진단 시스템으로서의 가능성을 확인하였다.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.19 no.5
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• pp.162-177
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• 2020

The perception of traffic environment based on various sensors in autonomous driving system has a direct relationship with driving safety. Recently, as the perception model based on deep neural network is used due to the development of machine learning/in-depth neural network technology, a the perception model training and high quality of a training dataset are required. However, there are several realistic difficulties to collect data on all situations that may occur in self-driving. The performance of the perception model may be deteriorated due to the difference between the overseas and domestic traffic environments, and data on bad weather where the sensors can not operate normally can not guarantee the qualitative part. Therefore, it is necessary to build a virtual road environment in the simulator rather than the actual road to collect the traning data. In this paper, a training dataset collection process is suggested by diversifying the weather, illumination, sensor position, type and counts of vehicles in the simulator environment that simulates the domestic road situation according to the domestic situation. In order to achieve better performance, the authors changed the domain of image to be closer to due diligence and diversified. And the performance evaluation was conducted on the test data collected in the actual road environment, and the performance was similar to that of the model learned only by the actual environmental data.

• Journal of the Korean Institute of Intelligent Systems
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• v.11 no.9
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• pp.849-854
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• 2001

GTM(Generative Topographic Mapping) model is a probabilistic version of the SOM(Self Organizing Maps) which was proposed by T. Kohonen. The GTM is modelled by latent or hidden variables of probability distribution of data. It is a unique characteristic not implemented in SOM model, and, therefore, it is possible with GTM to analyze data accurately, thereby overcoming the limits of SOM. In the present investigation we proposed a BGTM(Bayesian GTM) combined with Bayesian learning and GTM model that has a small mis-classification ratio. By combining fast calculation ability and probabilistic distribution of data of GTM with correct reasoning based on Bayesian model, the BGTM model provided improved results, compared with existing models.

• Journal of Biomedical Engineering Research
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• v.20 no.2
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• pp.191-198
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• 1999

Biofeedback training is one of physiological self control methods for patients who has psychological problem and rehabilitational problem. It has been used to control blood pressure, heart rate, peripheral temperature, respiration, electromyography (ENG), and other biological signals-ENG, respiration, heat rate, peripheral temperature, skin conductance level-was developed in house. We applied this system to alcohol dependent patients to perform biofeedback training. In this experiment, the relaxation biofeedback training for alcohol dependent patient was carried out and the tension state for the change of biological signals were estimated using the fuzzy theory after relaxation biofeenback training. Eight alcohol dependent patients were agreed to participate in this experiment. Result showed that 1) the tension degree of patients were higher than the tension degree of normal subject. 2) The tension degree of patients were decreased as the training numbers were increased.