• Korean Journal of Remote Sensing
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• v.19 no.3
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• pp.233-246
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• 2003

This paper presents a methodology to account for the partial or gradual changes of environmental phenomena in categorical map information for the fusion/integration of multiple spatial data. The fuzzy set based spatial data fusion scheme is applied in order to account for the fuzziness of boundaries in categorical information showing the partial or gradual environmental impacts. The fuzziness or uncertainty of boundary is represented as two kinds of fuzzy membership functions based on fuzzy object concept and the effects of them are quantitatively evaluated with the help of a cross validation procedure. A case study for landslide hazard assessment demonstrates the better performance of this scheme as compared to traditional crisp boundary representation.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.861-865
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• 1991

In general, the fusion of neural network and fuzzy logic theory is based on the fact that neural network and fuzzy logic theory have the common properties that 1) the activation function of a neuron is similar to the membership function of fuzzy variable, and 2) the functions of summation and products of neural network are similar to the Max-Min operator of fuzzy logics. In this paper, a fuzzy-neural network will be proposed and a force controller of the robot gripper, utilizing the fuzzy-neural network, will be presented. The effectiveness of the proposed strategy will be demonstrated by computer simulation.

• Journal of information and communication convergence engineering
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• v.11 no.1
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• pp.24-29
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• 2013

In this paper, we propose a fuzzy inference model for a navigation algorithm for a mobile robot that intelligently searches goal location in unknown dynamic environments. Our model uses sensor fusion based on situational commands using an ultrasonic sensor. Instead of using the "physical sensor fusion" method, which generates the trajectory of a robot based upon the environment model and sensory data, a "command fusion" method is used to govern the robot motions. The navigation strategy is based on a combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance based on a hierarchical behavior-based control architecture. To identify the environments, a command fusion technique is introduced where the sensory data of the ultrasonic sensors and a vision sensor are fused into the identification process. The result of experiment has shown that highlights interesting aspects of the goal seeking, obstacle avoiding, decision making process that arise from navigation interaction.

• ETRI Journal
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• v.39 no.2
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• pp.173-180
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• 2017

Multimodal medical image fusion is the process of retrieving valuable information from medical images. The primary goal of medical image fusion is to combine several images obtained from various sources into a distinct image suitable for improved diagnosis. Complexity in medical images is higher, and many soft computing methods are applied by researchers to process them. Intuitionistic fuzzy sets are more appropriate for medical images because the images have many uncertainties. In this paper, a new method, based on Sugeno's intuitionistic fuzzy set (SIFS), is proposed. First, medical images are converted into Sugeno's intuitionistic fuzzy image (SIFI). An exponential intuitionistic fuzzy entropy calculates the optimum values of membership, non-membership, and hesitation degree functions. Then, the two SIFIs are disintegrated into image blocks for calculating the count of blackness and whiteness of the blocks. Finally, the fused image is rebuilt from the recombination of SIFI image blocks. The efficiency of the use of SIFS in multimodal medical image fusion is demonstrated on several pairs of images and the results are compared with existing studies in recent literature.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.6 no.4
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• pp.293-298
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• 2006

In this paper, a sensor fusion based robot navigation method for the autonomous control of a miniature human interaction robot is presented. The method of navigation blends the optimality of the Fuzzy Neural Network(FNN) based control algorithm with the capabilities in expressing knowledge and learning of the networked Intelligent Robotic Space(IRS). States of robot and IR space, for examples, the distance between the mobile robot and obstacles and the velocity of mobile robot, are used as the inputs of fuzzy logic controller. The navigation strategy is based on the combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance. To identify the environments, a sensor fusion technique is introduced, where the sensory data of ultrasonic sensors and a vision sensor are fused into the identification process. Preliminary experiment and results are shown to demonstrate the merit of the introduced navigation control algorithm.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.12 no.4
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• pp.1714-1729
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• 2018

Change detection of remote sensing images is a profound challenge in the field of remote sensing image analysis. This paper proposes a novel change detection method for bitemporal remote sensing images based on feature fusion and fuzzy c-means (FCM). Different from the state-of-the-art methods that mainly utilize a single image feature for difference image construction, the proposed method investigates the fusion of multiple image features for the task. The subsequent problem is regarded as the difference image classification problem, where a modified fuzzy c-means approach is proposed to analyze the difference image. The proposed method has been validated on real bitemporal remote sensing data sets. Experimental results confirmed the effectiveness of the proposed method.

• Proceedings of the KIEE Conference
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• 1991.07a
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• pp.781-786
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• 1991

This paper introduces a new methodology for multisensor data fusion. The method makes use of fuzzy techniques and possibility distribution as a fuzzy restriction which acts as an elastic constraint on the values that may be assigned to a variable. We propose a simple sensor fuzzy modeling method which can be used for cluster validity analysis. As a result, the feasibility of these multisensor data fusion modules is demonstrated by computer simulation applicable to the problem of object identification.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.12 no.3
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• pp.245-249
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• 2012

In this paper, we propose a navigation algorithm for a mobile robot, which is intelligently searching the goal location in unknown dynamic environments using an 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 is used to govern the robot motions. The navigation strategy is based on the combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance. To identify the environments, a command fusion technique is introduced, where the sensory data of ultrasonic sensors and a vision sensor are fused into the identification process.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.4
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• pp.427-433
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• 2019

This paper propose a fuzzy inference model for map building and navigation for a mobile robot with an active camera, which is intelligently navigating to the goal location in unknown environments using sensor fusion, based on situational command using an active camera sensor. Active cameras provide a mobile robot with the capability to estimate and track feature images over a hallway field of view. In this paper, instead of using "physical sensor fusion" method which generates the trajectory of a robot based upon the environment model and sensory data. Command fusion method is used to govern the robot navigation. The navigation strategy is based on the combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance. To identify the environments, a command fusion technique is introduced, where the sensory data of active camera sensor for navigation experiments are fused into the identification process. Navigation performance improves on that achieved using fuzzy inference alone and shows significant advantages over command fusion techniques. Experimental evidences are provided, demonstrating that the proposed method can be reliably used over a wide range of relative positions between the active camera and the feature images.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.780-785
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• 1992

We present a multi-sensor fusion method in positioning control of a robot by using fuzzy logic. In general, the vision sensor is used in the gross motion control and the force/torque sensor is used in the fine motion control. We construct a fuzzy logic controller to combine the vision sensor data and the force/torque sensor data. Also, we apply the fuzzy logic controller to the peg-in-hole process. Simulation results uphold the theoretical results.