• Proceedings of the KIEE Conference
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• 2005.05a
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• pp.30-32
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• 2005

Mobility of an indoor wheeled robot is affected by adhesion force that is related to various floor conditions. When the adhesion force between driving wheels and floor decreases suddenly, the robot begins slip. In order to overcome this slip problem, optimal slip velocity must be decided for stable movement of wheeled robot. First of all, this paper shows that conventional PI control can not be applied to a wheeled robot of the light weight. Secondly, proposed fuzzy logic is applied to the Takagi-Sugeno model for the configuration of fuzzy sets. For the design of Takagi-Sugeno model and fuzzy rule, proposed algorithm uses FCM(Fuzzy c-mean clustering method) algorithm. The proposed fuzzy logic controller(FLC) is pretty useful with prevention of the slip phenomena for the controller performance in the re-adhesion control strategy.

• Proceedings of the Korean Information Science Society Conference
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• 2000.04b
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• pp.313-315
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• 2000

클러스터링에 있어서 K-means와 FCM(Fuzzy C-means)와 같은 기존의 알고리즘들은 지역적 최소 해에 수렴될 문제와 사전에 클러스터 개수를 결정해야 하는 문제점을 가지고 있다. 본 논문에서는 병렬 탐색을 통해 최적 해를 찾는 진화 알고리즘을 사용하여 지역적 최소 해에 수렴되는 문제점을 개선하였으며, 클러스터의 특성을 표준편차 벡터를 계산하여 중심으로부터 포함된 데이터가 얼마나 분포되어 있는지 알 수 있는 분산도와 임의의 데이터와 모든 중심들간의 거리의 비율로서 얻어지는 소속정도를 고려하여 클러스터간의 간격을 알 수 있는 분리도를 정의함으로써 자동으로 클러스터 개수를 결정할 수 있게 하였다. 실험데이터와 가우시안 분포에 의해 생성된 다차원 실험데이터를 사용하여 제안한 알고리즘이 이러한 문제점들을 해결하고 있음을 보인다.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.49 no.3
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• pp.82-89
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• 2012

This paper presents the intelligent tracking algorithm for maneuvering target using the positional error compensation of the maneuvering target. The difference between measured point and predict point is separated into acceleration and noise. Fuzzy c-mean clustering and predicted impact point are used to get the optimal acceleration value. The membership function is determined for acceleration and noise which are divided by fuzzy c-means clustering and the characteristics of the maneuvering target is figured out. Divided acceleration and noise are used in the tracking algorithm to compensate computational error. The filtering process in a series of the algorithm which estimates the target value recognize the nonlinear maneuvering target as linear one because the filter recognize only remained noise by extracting acceleration from the positional error. After filtering process, we get the estimates target by compensating extracted acceleration. The proposed system improves the adaptiveness and the robustness by adjusting the parameters in the membership function of fuzzy system. To maximize the effectiveness of the proposed system, we construct the multiple model structure. Procedures of the proposed algorithm can be implemented as an on-line system. Finally, some examples are provided to show the effectiveness of the proposed algorithm.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.1
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• pp.99-106
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• 2015

In this study, we propose Radial basis function Neural Network(RBFNN) using Recursive Weighted Least Square Estimation(RWLSE) to effectively deal with big data class meteorological radar data. In the condition part of the RBFNN, Fuzzy C-Means(FCM) clustering is used to obtain fitness values taking into account characteristics of input data, and connection weights are defined as linear polynomial function in the conclusion part. The coefficients of the polynomial function are estimated by using RWLSE in order to cope with big data. As recursive learning technique, RWLSE which is based on WLSE is carried out to efficiently process big data. This study is experimented with both widely used some Machine Learning (ML) dataset and big data obtained from meteorological radar to evaluate the performance of the proposed classifier. The meteorological radar data as big data consists of precipitation echo and non-precipitation echo, and the proposed classifier is used to efficiently classify these echoes.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.620-622
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• 2004

Mobility of an indoor wheeled robot is affected by adhesion force that is related to various floor conditions. When the adhesion force between driving wheels and the floor decreases suddenly, the robot has a slip state. In order to overcome this slip problem, optimal slip velocity must be decided for stable movement of wheeled robot. First of all, this paper shows that conventional PI control can not be applied to a wheeled robot of the light weigh. Secondly, reposed fuzzy logic applied by the Takagi-Sugeno model for the configuration of fuzzy sets. For the design of Takaki-Sugeno model and fuzzy rule, proposed algorithm uses FCM(Fuzzy c-mean clustering method) algorithm. In additionally, this algorithm controls recovered driving torque for the restrain the re-slip. The proposed fuzzy logic controller(FLC) is pretty useful with prevention of the slip phenomena through that compare fuzzy with PI control for the controller performance in the re-adhesion control strategy. These procedures are implemented using a Pioneer 2-DXE wheeled robot parameter.

• Journal of Korea Society of Industrial Information Systems
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• v.16 no.4
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• pp.87-98
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• 2011

Detecting a moving object from videos and tracking it are basic and necessary preprocessing steps in many video systems like object recognition, context aware, and intelligent visual surveillance. In this paper, we propose a method that is able to detect a moving object quickly and accurately in a condition that background and light change in a real time. Furthermore, our system detects strongly an object in a condition that the target object is covered with other objects. For effective detection, effective Eigen-space and FCM are combined and employed, and a CONDENSATION algorithm is used to trace a detected object strongly. First, training data collected from a background image are linear-transformed using Principal Component Analysis (PCA). Second, an Eigen-background is organized from selected principal components having excellent discrimination ability on an object and a background. Next, an object is detected with FCM that uses a convolution result of the Eigen-vector of previous steps and the input image. Finally, an object is tracked by using coordinates of an detected object as an input value of condensation algorithm. Images including various moving objects in a same time are collected and used as training data to realize our system that is able to be adapted to change of light and background in a fixed camera. The result of test shows that the proposed method detects an object strongly in a condition having a change of light and a background, and partial movement of an object.

• Proceedings of the IEEK Conference
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• 1999.06a
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• pp.583-586
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• 1999

In this paper, the wavelet transform is performed in the input 256$\times$256 color image and decomposes a image into low-pass and high-pass components. Since the high-pass band contains the components of three directions, edges are detected by combining three parts. After finding the position of face using the histogram of the edge component, a face region in low-pass band is cut off. Since RGB color image is sensitively affected by luminances, the image of low pass component is normalized, and a facial region is detected using face color informations. As the wavelet transform decomposes the detected face region into three layer, the dimension of input image is reduced. In this paper, we use the 3000 images of 10 persons, and KL transform is applied in order to classify face vectors effectively. FCM(Fuzzy C-Means) algorithm classifies face vectors with similar features into the same cluster. In this case, the number of cluster is equal to that of person, and the mean vector of each cluster is used as a codebook. We verify the system performance of the proposed algorithm by the experiments. The recognition rates of learning images and testing image is computed using correlation coefficient and Euclidean distance.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.4
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• pp.354-359
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• 2013

In this paper, we suggested the method for implementation of unsupervised nonlinear classification using Binary Harmony Search (BHS) algorithm, which is known as a optimization algorithm. Various algorithms have been suggested for classification of feature vectors from the process of machine learning for pattern recognition or EEG signal analysis processing. Supervised learning based support vector machine or fuzzy c-mean (FCM) based on unsupervised learning have been used for classification in the field. However, conventional methods were hard to apply nonlinear dataset classification or required prior information for supervised learning. We solved this problems with proposed classification method using heuristic approach which took the minimal Euclidean distance between vectors, then we assumed them as same class and the others were another class. For the comparison, we used FCM, self-organizing map (SOM) based on artificial neural network (ANN). KEEL machine learning datset was used for simulation. We concluded that proposed method was superior than other algorithms.

• Journal of KIISE:Software and Applications
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• v.29 no.1_2
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• pp.80-90
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• 2002

Clustering is a useful technique for grouping data points such that points within a single group/cluster have similar characteristics. Many clustering algorithms have been developed and used in engineering applications including pattern recognition and image processing etc. Recently, it has drawn increasing attention as one of important techniques in data mining. However, clustering algorithms such as K-means and Fuzzy C-means suffer from difficulties. Those are the needs to determine the number of clusters apriori and the clustering results depending on the initial set of clusters which fails to gain desirable results. In this paper, we propose a new clustering algorithm, which solves mentioned problems. In our method we use evolutionary algorithm to solve the local optima problem that clustering converges to an undesirable state starting with an inappropriate set of clusters. We also adopt a new measure that represents how well data are clustered. The measure is determined in terms of both intra-cluster dispersion and inter-cluster separability. Using the measure, in our method the number of clusters is automatically determined as the result of optimization process. And also, we combine heuristic that is problem-specific knowledge with a evolutionary algorithm to speed evolutionary algorithm search. We have experimented our algorithm with several sets of multi-dimensional data and it has been shown that one algorithm outperforms the existing algorithms.

• Journal of Korea Multimedia Society
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• v.11 no.11
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• pp.1501-1514
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• 2008

The face shape extracted by the depth values has different appearance as the most important facial information. The face images decomposed into frequency subband are signified personal features in detail. In this paper, we develop a method for recognizing the range face images by multiple frequency domains for each depth image using the modified fuzzy c-mean algorithm. For the proposed approach, the first step tries to find the nose tip that has a protrusion shape on the face from the extracted face area. And the second step takes into consideration of the orientated frontal posture to normalize. Multiple contour line areas which have a different shape for each person are extracted by the depth threshold values from the reference point, nose tip. And then, the frequency component extracted from the wavelet subband can be adopted as feature information for the authentication problems. The third step of approach concerns the application of eigenface to reduce the dimension. And the linear discriminant analysis (LDA) method to improve the classification ability between the similar features is adapted. In the last step, the individual classifiers using the modified fuzzy c-mean method based on the K-NN to initialize the membership degree is explained for extracted coefficient at each resolution level. In the experimental results, using the depth threshold value 60 (DT60) showed the highest recognition rate among the extracted regions, and the proposed classification method achieved 98.3% recognition rate, incase of fuzzy cluster.