• 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.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.7 no.3
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• pp.198-204
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• 2007

In mobile robotics, ultrasonic sensors became standard devices for collision avoiding. Moreover, their applicability for map building and navigation has exploited in recent years. In this paper, as the preliminary step for developing a multi-purpose autonomous carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as ultrasonic sensor, IR sensor for mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. The global map building based on multi-sensor data fusion is applied for recognition an obstacle free path from a starting position to a known goal region, and simultaneously build a map of straight line segment geometric primitives based on the application of the Hough transform from the actual and noisy sonar data. We will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, Hough transform, since there exist several recent thorough books and review paper on this paper. Experimental results with a real Pioneer DX2 mobile robot will demonstrate the effectiveness of the discussed methods.

• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.3
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• pp.383-388
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• 2006

SBR is one of the most general sewage/wastewater treatment processes and, particularly, has an advantage in high concentration wastewater treatment like sewage wastewater. A Kernel PCA based fault diagnosis system for biological reaction in full-scale wastewater treatment plant was proposed using only common bio-chemical sensors such as ORP(Oxidation-Reduction Potential) and DO(Dissolved Oxygen). During the SBR operation, the operation status could be divided into normal status and abnormal status such as controller malfunction, influent disturbance and instrumental trouble. For the classification and diagnosis of these statuses, a series of preprocessing, dimension reduction using PCA, LDA, K-PCA and feature reduction was performed. Also, the diagnosis result using differential data was superior to that of raw data, and the fusion data show better results than other data. Also, the results of combination of K-PCA and LDA were better than those of LDA or (PCA+LDA). Finally, the fault recognition rate in case of using only ORP or DO was around maximum 97.03% and the fusion method showed better result of maximum 98.02%.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.10a
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• pp.468-473
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• 1998

An intelligent multimode target tracking algorithm using fuzzy logic is presented. Multimode tracking represents a synergistic approach that utilizes a variety of tracking techniques(centroid, correlation, etc.) to overcome the limitations inherent in any single-mode tracker. The design challenge for this type of multimode tracker is the data fusion algorithm. designs for this algorithm are based on heuristic rather than analytical approaches. A correlation-tracking algorithm seeks to align the incoming target image with a reference in age of the target, but has a critical problem, so called drift phenomenon. In this paper we will suggest a robust correlation tracker with gradient preprocessor combined by centroid algorithm to overcome the drift problem.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.4
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• pp.310-316
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• 2013

Biometric techniques have been widely used for various areas including criminal identification due to their reliability. However, they have some drawbacks when the biometric information is divulged to illegal users. This paper proposed multimodal biometric system using a real fuzzy vault by RN-ECC for protecting fingerprint and face template. This proposed method has some advantages to regenerate a key value compared with face or fingerprint based verification system having non-regenerative nature and to implement advanced biometric verification system by fusion of both fingerprint and face recognition. From the various experiments, we found that the proposed method shows high recognition rates comparing with the conventional methods.

• The Journal of Industrial Distribution & Business
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• v.13 no.10
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• pp.1-8
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• 2022

Purpose: Support vector machines (SVMs) ensemble has been proposed to improve classification performance of Credit risk recently. However, currently used fusion strategies do not evaluate the importance degree of the output of individual component SVM classifier when combining the component predictions to the final decision. To deal with this problem, this paper designs a support vector machines (SVMs) ensemble method based on fuzzy integral, which aggregates the outputs of separate component SVMs with importance of each component SVM. Research design, data, and methodology: This paper designs a personal credit risk evaluation index system including 16 indicators and discusses a support vector machines (SVMs) ensemble method based on fuzzy integral for designing a credit risk assessment system to discriminate good creditors from bad ones. This paper randomly selects 1500 sample data of personal loan customers of a commercial bank in China 2015-2020 for simulation experiments. Results: By comparing the experimental result SVMs ensemble with the single SVM, the neural network ensemble, the proposed method outperforms the single SVM, and neural network ensemble in terms of classification accuracy. Conclusions: The results show that the method proposed in this paper has higher classification accuracy than other classification methods, which confirms the feasibility and effectiveness of this method.

• Journal of Intelligence and Information Systems
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• v.14 no.1
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• pp.35-45
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• 2008

In order to constructan ubiquitous computing environment, it is necessary to develop a technology that can recognize users and circumstances. In this regard, the question of recognizing and expressing user Context regardless of computer and language types has emerged as an important task under the heterogeneous distributed processing system. As a means to solve this task of representing user Context in the ubiquitous environment, this paper proposes to describe user Context as the most similar form of human thinking by using semantic web and fuzzy concept independentof language and computer types. Because the conventional method of representing Context using an usual collection has some limitations in expressing the environment of the real world, this paper has chosen to use Fuzzy OWL language, a fusion of fuzzy concept and standard web ontology language OWL. Accordingly, this paper suggests the following method. First we represent user contacted environmental information with a numerical value and states, and describe it with OWL. After that we transform the converted OWL Context into Fuzzy OWL. As a last step, we prove whether the automatic circumstances are possible in this procedure when we use fuzzy inference engine FiRE. With use the suggested method in this paper, we can describe Context which can be used in the ubiquitous computing environment. This method is more effective in expressing degree and status of the Context due to using fuzzy concept. Moreover, on the basis of the stated Context we can also infer the user contacted status of the environment. It is also possible to enable this system to function automatically in compliance with the inferred state.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.5
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• pp.699-705
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• 2009

This paper is represented to research of driving control for the forklift AGV. The related works that were studied about AGV as heavy equipment used two methods which are magnet-gyro and wire guidance for localization. However, they have weaknesses that are high cost, difficult maintenance according to change of environment. In this paper, we develop localization system through sensor fusion with laser navigation system and encoder, gyro for robustness. Also we design driving controller using fuzzy and proportional control. It considers distance and angle difference between forklift AGV and pallet for engaging work. To analyze performance of the proposed control system, we experiment in same working condition over 10 times. In the results, the average error was presented with 54.16mm between simulation of control navigation and real control navigation. Consequently, experimental result shows that the performance of proposed control system is effective.

• Journal of IKEEE
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• v.18 no.1
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• pp.57-63
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• 2014

This paper is to technically implement the sensing platform for Home-Wellness Robot. The self-Localization of indoor mobile robot is very important for the sophisticated trajectory control. In this paper, the robot's self-localization algorithm is designed by RF sensor network and fuzzy inference. The robot realizes its self-localization, using RFID sensors, through the collaboration algorithm which uses fuzzy inference for combining the strengths of triangulation and triangulation. For the triangulation self-Localization, RSSI is implemented. TOA method is used for realizing the triangulation self-localization. The final improved position is, through fuzzy inference, made by the fusion algorithm of the resultant coordinates from trilateration and triangulation in real time. In this paper, good performance of the proposed self-localization algorithm is confirmed through the results of a variety of experiments in the base of RFID sensor network and reader system.

• Economic and Environmental Geology
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• v.32 no.5
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• pp.537-544
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• 1999

In mineral exploration, there are many data sets which need to be created, processed and analyzed in order to discover a favorable mineralized zone. Recently, with Geographic Information System (GIS), such exploration data sets have been able to be systematically stored and effectively processed using computer technologies. In this study, most exploration data sets were first digitized and then rasterized. Furthermore, they were integrated together by using fuzzy set theory to provide a possibility map toward a target hypothesis. Our target hypothesis is "there is a skarn magnetite deposit in this study" and all fuzzy membership functions were made with respect to the target hypothesis. Test area is extended from 37:00N/l28:30E to 37:20N/I28:45E, approximately 20 km by 40 km. This area is a part of Taebaeksan mineralized areas, where the Sinyemi mine, a skarn magnetite deposit, is located. In final resultant map, high potential or possibility area coincides with the location of the Shinyemi mine. In this regard, we conclude the fuzzy set theory can be effectively applied to this study and provides an excellent example to define potential area for further mineral exploration.