• International Journal of Fuzzy Logic and Intelligent Systems
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• v.15 no.1
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• pp.35-44
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• 2015

The main purpose of image enhancement is to improve certain characteristics of an image to improve its visual quality. This paper proposes a method for image contrast enhancement that can be applied to both medical and natural images. The proposed algorithm is designed to achieve contrast enhancement while also preserving the local image details. To achieve this, the proposed method combines local image contrast preserving dynamic range compression and contrast limited adaptive histogram equalization (CLAHE). Global gain parameters for contrast enhancement are inadequate for preserving local image details. Therefore, in the proposed method, in order to preserve local image details, local contrast enhancement at any pixel position is performed based on the corresponding local gain parameter, which is calculated according to the current pixel neighborhood edge density. Different image quality measures are used for evaluating the performance of the proposed method. Experimental results show that the proposed method provides more information about the image details, which can help facilitate further image analysis.

• Journal of the Korean Institute of Intelligent Systems
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• v.8 no.2
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• pp.50-59
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• 1998

This paper presents stabilization and adaptive control of flexible single link robot manipulator system by self-recurrent neural networks that is one of the neural networks and is effective in nonlinear control. The architecture of neural networks is a modified model of self-recurrent structure which has a hidden layer. The self-recurrent neural networks can be used to approximate any continuous function to any desired degree of accuracy and the weights are updated by feedback-error learning algorithm. When a flexible manipulator is rotated by a motor through the fixed end, transverse vibration may occur. The motor toroque should be controlled in such a way that the motor rotates by a specified angle, while simultaneously stabilizing vibration of the flexible manipuators so that it is arresed as soon as possible at the end of rotation. Accurate vibration control of lightweight manipulator during the large changes in configuration common to robotic tasks requires dynamic models that describe both the rigid body motions, as well as the flexural vibrations. Therefore, a dynamic models for a flexible single link robot manipulator is derived, and then a comparative analysis was made with linear controller through an simulation and experiment. The results are proesented to illustrate thd advantages and imporved performance of the proposed adaptive control ove the conventional linear controller.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.2
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• pp.93-100
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• 2007

The mobile robots to rescue a life in a disaster area and to explore planets demand high mobility as well as recognition of the environment. To avoid unknown obstacles exactly in unknown environment, accurate sensing is required. This paper proposes a sensor fusion to recognize unknown obstacles accurately by using low-cost sensors. Ultrasonic sensors and infrared sensors are used in this paper to avoid obstacles. If only one of these sensors is used alone, it is not useful fer the mobile robots to complete their tasks in the real world since the surrounding environment in the real world is complex and composed of many kinds of materials. So infrared sensor may not recognize transparent or reflective obstacles and ultrasonic sensor may not recognize narrow obstacles, far example, columns of small diameter. Therefore, I selected six ultrasonic sensors and five infrared sensors to detect obstacles. Then, I fused ultrasonic sensors with infrared sensors in order that both advantages and disadvantages of each sensor are utilized together. In fusing sensors, fuzzy algorithm is used to cope with the uncertainties of each sensor. TAMRY which is terrain-adaptive mobile robot is used as the mobile robot for experiments.

• Proceedings of the KIEE Conference
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• 2006.07b
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• pp.729-730
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• 2006

The paper is proposed maximum torque control of SynRM drive using adaptive fuzzy neural network(A-FNN) controller and artificial neural network(ANN). For each control mode, a condition that determines the optimal d-axis current $i_d$ for maximum torque operation is derived. The proposed control algorithm is applied to SynRM drive system controlled A-FNN and ANN controller, the operating characteristics controlled by maximum torque control are examined in detail. Also, this paper is proposed the analysis results to verify the effectiveness of the A-FNN and ANN controller.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.55 no.3
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• pp.110-114
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• 2006

Interior permanent magnet synchronous motor(IPMSM) has become a popular choice in electric vehicle applications, due to their excellent power to weight ratio. In this paper maximum torque control of IPMSM drive using artificial intelligent(AI) controller is proposed. The control method is applicable over the entire speed range and considered the limits of the inverter's current and voltage rated value. For each control mode, a condition that determines the optimal d-axis current $i_d$ for maximum torque operation is derived. This paper considers the design and implementation of novel technique of high performance speed control for IPMSM using AI controller. This paper is proposed speed control of IPMSM using adaptive learning mechanism fuzzy neural network(ALM-FNN) and estimation of speed using artificial neural network(ANN) controller. The back propagation neural network technique is used to provide a real time adaptive estimation of the motor speed. The proposed control algorithm is applied to IPMSM drive system controlled ALM-FNN and ANN controller, the operating characteristics controlled by maximum torque control are examined in detail. Also, this paper is proposed the experimental results to verify the effectiveness of AI controller.

• Journal of the Korean Institute of Intelligent Systems
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• v.12 no.6
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• pp.571-576
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• 2002

There have been a lot of considerations dealing with improving the performance of neuro-fuzzy system. The studies on the neuro-fuzzy modeling have largely been devoted to two approaches. First is to improve performance index of system. The other is to reduce the structure size. In spite of its satisfactory result, it should be noted that these are difficult to extend to high dimensional input or to increase the membership functions. We propose a novel neuro-fuzzy system based on the efficient clustering method for initializing the parameters of the premise part. It is a very useful method that maintains a few number of rules and improves the performance. It combine the various algorithms to improve the performance. The Expectation-Maximization algorithm of Gaussian mixture model is an efficient estimation method for unknown parameter estimation of mirture model. The obtained parameters are used for fuzzy clustering method. The proposed method satisfies these two requirements using the Gaussian mixture model and neuro-fuzzy modeling. Experimental results indicate that the proposed method is capable of giving reliable performance.

• Journal of the Korea Society of Computer and Information
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• v.14 no.7
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• pp.33-40
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• 2009

Edge detection is very significant in low level image processing. However, majority edge detection methods are not only effective enough cause of the noise points' influence, even not flexible enough to different input images. In order to sort these problems, in this paper an algorithm is presented that has an extra noise reduction stage at first, and then automatically selects the both thresholds depending on gradient amplitude histogram and intra class minimum variance. Using this algorithm, can fade out almost all of the sensitive noise points, and calculate the propose thresholds for different images without setting up the practical parameters artificially, and then choose edge pixels by fuzzy algorithm. In finally, get the better result than the former Canny algorithm.

• Proceedings of the KIEE Conference
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• 1991.11a
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• pp.140-143
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• 1991

This paper describes a compensation method for the rotor resistance variation of induction machines in speed sensor-less vector control system using MRAS(model reference adaptive system). In case of rotor resistance variation, the analysis of the conventional speed sensor-less vector control system using MRAS is presented and the compensation method for rotor resistance variation using Fuzzy logic is proposed. In order to confirm the performance of the proposed algorithm, computer simulation is performed.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.11 no.1
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• pp.49-53
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• 2011

Path following of the mobile robot is one research hot for the mobile robot navigation. For the control system of the wheeled mobile robot(WMR) being in nonhonolomic system and the complex relations among the control parameters, it is difficult to solve the problem based on traditional mathematics model. In this paper, we presents a simple and effective way of implementing an adaptive following controller based on the PID for mobile robot path following. The method uses a non-linear model of mobile robot kinematics and thus allows an accurate prediction of the future trajectories. The proposed controller has a parallel structure that consists of PID controller with a fixed gain. The control law is constructed on the basis of Lyapunov stability theory. Computer simulation for a differentially driven nonholonomic mobile robot is carried out in the velocity and orientation tracking control of the nonholonomic WMR. The simulation results of wheel type mobile robot platform are given to show the effectiveness of the proposed algorithm.

• Proceedings of the KIEE Conference
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• 2006.10c
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• pp.257-259
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• 2006

The paper is proposed maximum torque control of SynRM drive using adaptive learning mechanism-fuzzy neural network(ALM-FNN) controller and artificial neural network(ANN). The control method is applicable over the entire speed range and considered the limits of the inverter's current and voltage rated value. For each control mode, a condition that determines the optimal d-axis current $^{i}d$ for maximum torque operation is derived. The proposed control algorithm is applied to SynRM drive system controlled ALM-FNN and ANN controller, the operating characteristics controlled by maximum torque control are examined in detail. Also, this paper is proposed the analysis results to verify the effectiveness of the ALM-FNN and ANN controller.