• Journal of the Korean Society for Precision Engineering
• /
• v.20 no.11
• /
• pp.79-90
• /
• 2003

In this paper, we propose a multisensor-based navigation algorithm for a mobile robot, which is intelligently searching the goal location in unknown dynamic environments using multi-ultrasonic sensor. Instead of using “sensor fusion” method which generates the trajectory of a robot based upon the environment model and sensory data, “command fusion” method by fuzzy inference is used to govern the robot motions. The major factors for robot navigation are represented as a cost function. Using the data of the robot states and the environment, the weight value of each factor using fuzzy inference is determined for an optimal trajectory in dynamic environments. For the evaluation of the proposed algorithm, we performed simulations in PC as well as experiments with IRL-2002. The results show that the proposed algorithm is apt to identify obstacles in unknown environments to guide the robot to the goal location safely.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.66 no.8
• /
• pp.1265-1271
• /
• 2017

In this paper, the speech parameter fusion method is studied to improve the performance of the conventional emotion recognition system. For this purpose, the combination of the parameters that show the best performance by combining the cepstrum parameters and the various pitch parameters used in the conventional emotion recognition system are selected. Various pitch parameters were generated using numerical and statistical methods using pitch of speech. Performance evaluation was performed on the emotion recognition system using Gaussian mixture model(GMM) to select the pitch parameters that showed the best performance in combination with cepstrum parameters. As a parameter selection method, sequential feature selection method was used. In the experiment to distinguish the four emotions of normal, joy, sadness and angry, fifteen of the total 56 pitch parameters were selected and showed the best recognition performance when fused with cepstrum and delta cepstrum coefficients. This is a 48.9% reduction in the error of emotion recognition system using only pitch parameters.

• Smart Structures and Systems
• /
• v.11 no.3
• /
• pp.283-297
• /
• 2013

An innovative cage for spinal fusion surgery is presented within this work. The cage utilizes shape memory alloy for its hinge actuation. Because of the use of SMA, a smaller incision is needed which makes the cage deployment minimally invasive. In the development of the cage, a model for predicting the torsional behavior of SMAs was developed and verified experimentally. The prototype design of the cage was developed and manufactured. The prototype was subjected to static tests per ASTM specifications. The cage survived all of the tests, alluding to its safety within the body.

• Journal of the Korean Society of Industry Convergence
• /
• v.21 no.2
• /
• pp.95-101
• /
• 2018

This paper presents a collision free mobile robot navigation based on the fuzzy inference fusion model in unkonown environments using multi-ultrasonic sensor. Six ultrasonic sensors are used for the collision avoidance approach where CCD camera sensors is used for the trajectory following approach. The fuzzy system is composed of three inputs which are the six distance sensors and the camera, two outputs which are the left and right velocities of the mobile robot's wheels, and three cost functions for the robot's movement, direction, obstacle avoidance, and rotation. For the evaluation of the proposed algorithm, we performed real experiments with mobile robot with ultrasonic sensors. The results show that the proposed algorithm is apt to identify obstacles in unknown environments to guide the robot to the goal location safely.

• Computers and Concrete
• /
• v.20 no.5
• /
• pp.521-527
• /
• 2017

This paper proposes using the multi-type sensor vibration measurements, such as from a relative displacement sensors and a traditional accelerometer for the damage detection of shear connectors in composite bridge under moving loads. Hilbert-Huang Transform (HHT) spectra of these responses will be fused with a data fusion approach i.e., Dempster-Shafer method, to detect the damage of shear connectors. Experimental studies on a composite bridge model in the laboratory are conducted to demonstrate the effectiveness and performance of using the proposed approach in detecting the damage of shear connectors in composite bridges. Both undamaged and damaged scenarios are considered. The detection results with the data fusion of multi-type sensor measurements show a more reliable and robust performance and accuracy, avoiding the false identifications.

• Journal of Korean Society for Quality Management
• /
• v.19 no.2
• /
• pp.96-107
• /
• 1991

At the design stage of a plant, the plausible causes and pathways of release of hazardous materials are not clearly known. Thus there exist large amount of uncertainties on the consequences resulting from the operation of a fusion plant. In order to better handle such uncertain circumstances, we utilize the Probabilistic Risk Assessment(PRA) for the safety analyses on fusion power plant. In this paper, we concentrate on the tritium release accident. We develop a simple model that describes the process and flow of tritium, by which we figure out the locations of tritium inventory and their vulnerability. We construct event tree models that lead to various levels of tritium release from abnormal initiating events. Branch parameters on the event tree are assessed from the fault tree analysis. Based on the event tree models we construct influence diagram models which are more useful for the parameter updating and analysis. We briefly discuss the parameter updating scheme, and finally develop the methodology to obtain the predictive distribution of consequences resulting from the operating a fusion power plant. We also discuss the way to utilize the results of testing on sub-systems to reduce the uncertain ties on over all system.

• Molecular & Cellular Toxicology
• /
• v.3 no.2
• /
• pp.145-149
• /
• 2007

Studies of relationship between structure and toxicity of azo dyes have been performed with comparative molecular field analysis (CoMFA) techniques. 3D QSTR analyses indicate that the steric and electrostatic interactions are important. The steric field based model gives strong correlation ($q^2$=0.57, $r^2$= 0.92). The steric field in conjunction with electrostatic field give more strong correlation ($q^2$=0.57, $r^2$=0.95). All study indicates that a bulky and electronegative group at benzene ring and a small group at position 3 of aniline ring might be significant to reduce the mutagenicity.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.3 no.1
• /
• pp.27-31
• /
• 2003

This paper proposes a robust on-line signature verification system based on a new segmentation method and fusion scheme. The proposed segmentation method resolves the problem of segment-to-segment comparison where the variation between reference signature and input signature causes the errors in the location and the number of segments. In addition, the fusion scheme is adopted, which discriminates genuineness by calculating each feature vector's fuzzy membership degree yielded from the proposed segmentation method. Experimental results show that the proposed signature verification system has lower False Reject Rate(FRR) for genuine signature and False Accept Rate(FAR) for forgery signature.

• Nuclear Engineering and Technology
• /
• v.38 no.8
• /
• pp.793-802
• /
• 2006

The design concept of a bending magnet to be installed in the KSTAR NBI system is presented. It is the function of a bending magnet that removes unconverted ions from the main beam stream and produces an 8 MW, 120 keV deuterium neutral beam. In order to determine the proper size and shape of the bending magnet, a parametric study on the B-field pattern was carried out by changing the dimensions of the pole face model. In addition, the detailed trajectories of the dominant ion species produced in the beam line were calculated. The electrical and cooling parameters of the coil assembly were also estimated.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.28 no.4
• /
• pp.403-411
• /
• 2010

This research demonstrates a 3D virtual visualization of urban environment and video fusion for effective damage prevention and surveillance system using open standard. We present the visualization and interaction simulation method to increase the situational awareness and optimize the realization of environmental monitoring through the CCTV video and 3D virtual environment. New camera prototype was designed based on the camera frustum view model to project recorded video prospectively onto the virtual 3D environment. The demonstration was developed by the X3D, which is royalty-free open standard and run-time architecture, and it offers abilities to represent, control and share 3D spatial information via the internet browsers.