• Journal of the Korea Institute of Information and Communication Engineering
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• v.23 no.8
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• pp.936-942
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• 2019

Autonomous driving of drone indoor must move along a narrow path and overcome other factors such as lighting, topographic characteristics, obstacles. In addition, it is difficult to operate the drone in the hallway because of insufficient texture and the lack of its diversity comparing with the complicated environment. In this paper, we study an autonomous drone navigation using Convolution Neural Network(CNN) in indoor environment. The proposed method receives an image from the front camera of the drone and then steers the drone by predicting the next path based on the image. As a result of a total of 38 autonomous drone navigation tests, it was confirmed that a drone was successfully navigating in the indoor environment by the proposed method without hitting the walls or doors in the hallway.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1996.10a
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• pp.27-34
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• 1996

GENIE is a learning-based engine for building intelligent systems. Learning in GENIE proceeds by incrementally modeling its human or technical environment using a neural network and a genetic algorithm. The neural network is used to represent the knowledge for solving a given task and has the ability to grow its structure. The genetic algorithm provides the neural network with training examples by actively exploring the example space of the problem. Integrated into the training examples by actively exploring the example space of the problem. Integrated into the GENIE system architecture, the genetic algorithm and the neural network build a virtually self-teaching autonomous learning system. This paper describes the structure of GENIE and its learning components. The performance is demonstrated on a robot learning problem. We also discuss the lessons learned from experiments with GENIE and point out further possibilities of effectively hybridizing genetic algorithms with neural networks and other softcomputing techniques.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.423-426
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• 2003

In this paper, we use the modular neural network and recurrent neural network structure to implement the artificial brain information processing. We also select related adaptive learning methods to learn the entirely new input in the existed neural network. With this, a part of information process in brain is implemented as and autonomous and adaptive model by neural network and further more, the entire model for information process in brain can be introduced.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1014-1019
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• 2005

In this paper, a neural network technique for automatic steering control of a four wheel drive autonomous highway snowplow vehicle is presented. Controllers are designed by the LQR method based on the vehicle model. Then, neural network is used as an auxiliary controller to minimize lateral tracking error under the presence of load. Simulation studies of LQR control and neural network control are conducted for the vehicle model under a virtual snowplowing situation. Tracking performances are also compared for two and four wheeled steering vehicles.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.2 no.1
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• pp.1-8
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• 2002

It has been integrated into several navigation systems. This paper shows that system recognizes difficult indoor roads without any specific marks such as painted guide line or tape. In this method the robot navigates with visual sensors, which uses visual information to navigate itself along the read. The Neural Network System was used to learn driving pattern and decide where to move. In this paper, I will present a vision-based process for AMR(Autonomous Mobile Robot) that is able to navigate on the indoor read with simple computation. We used a single USB-type web camera to construct smaller and cheaper navigation system instead of expensive CCD camera.

• International Journal of Computer Science & Network Security
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• v.23 no.12
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• pp.151-160
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• 2023

Breast cancer is the most dangerous and deadly form of cancer. Initial detection of breast cancer can significantly improve treatment effectiveness. The second most common cancer among Indian women in rural areas. Early detection of symptoms and signs is the most important technique to effectively treat breast cancer, as it enhances the odds of receiving an earlier, more specialist care. As a result, it has the possible to significantly improve survival odds by delaying or entirely eliminating cancer. Mammography is a high-resolution radiography technique that is an important factor in avoiding and diagnosing cancer at an early stage. Automatic segmentation of the breast part using Mammography pictures can help reduce the area available for cancer search while also saving time and effort compared to manual segmentation. Autoencoder-like convolutional and deconvolutional neural networks (CN-DCNN) were utilised in previous studies to automatically segment the breast area in Mammography pictures. We present Automatic SegmenAN, a unique end-to-end adversarial neural network for the job of medical image segmentation, in this paper. Because image segmentation necessitates extensive, pixel-level labelling, a standard GAN's discriminator's single scalar real/fake output may be inefficient in providing steady and appropriate gradient feedback to the networks. Instead of utilising a fully convolutional neural network as the segmentor, we suggested a new adversarial critic network with a multi-scale L1 loss function to force the critic and segmentor to learn both global and local attributes that collect long- and short-range spatial relations among pixels. We demonstrate that an Automatic SegmenAN perspective is more up to date and reliable for segmentation tasks than the state-of-the-art U-net segmentation technique.

• The Journal of the Korea institute of electronic communication sciences
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• v.18 no.6
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• pp.1259-1268
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• 2023

This study proposes a throttle and steering control technology using visual sensors based on deep learning's convolutional and recurrent neural networks. It collects camera image and control value data while driving a training track in clockwise and counterclockwise directions, and generates a model to predict throttle and steering through data sampling and preprocessing for efficient learning. Afterward, the model was validated on a test track in a different environment that was not used for training to find the optimal model and compare it with a CNN (Convolutional Neural Network). As a result, we found that the proposed deep learning model has excellent performance.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.2
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• pp.180-188
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• 1999

The objective of this paper is, based upon the principles of artificial life, to induce emergent behaviors of multiple autonomous mobile robots which complex global intelligence form from simple local interactions. Here, we propose an architecture of neural network learning with reinforcement signals which perceives the neighborhood information and decides the direction and the velocity of movement as mobile robots navigate in a group. As the results of the simulations, the optimum weight is obtained in real time, which not only prevent the collisions between agents and obstacles in the dynamic environment, but also have the mobile robots move and keep in various patterns.

• Journal of Electrical Engineering and Technology
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• v.11 no.5
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• pp.1492-1502
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• 2016

• Smart Structures and Systems
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• v.24 no.6
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• pp.745-757
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• 2019

Road surface deteriorations such as potholes have caused motorists heavy monetary damages every year. However, effective road condition monitoring has been a continuing challenge to road owners. Depth cameras have a small field of view and can be easily affected by vehicle bouncing. Traditional image processing methods based on algorithms such as segmentation cannot adapt to varying environmental and camera scenarios. In recent years, novel object detection methods based on deep learning algorithms have produced good results in detecting typical objects, such as faces, vehicles, structures and more, even in scenarios with changing object distances, camera angles, lighting conditions, etc. Therefore, in this study, a Deep Learning Pothole Detector (DLPD) based on the deep region-based convolutional neural network is proposed for autonomous detection of potholes from images. About 900 images with potholes and road surface conditions are collected and divided into training and testing data. Parameters of the network in the DLPD are calibrated based on sensitivity tests. Then, the calibrated DLPD is trained by the training data and applied to the 215 testing images to evaluate its performance. It is demonstrated that potholes can be automatically detected with high average precision over 93%. Potholes can be differentiated from manholes by training and applying a manhole-pothole classifier which is constructed using the convolutional neural network layers in DLPD. Repeated detection of the same potholes can be prevented through feature matching of the newly detected pothole with previously detected potholes within a small region.