• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.4 no.3
• /
• pp.327-336
• /
• 2004

In distributed autonomous mobile robot system, each robot (predator or prey) must behave by itself according to its states and environments, and if necessary, must cooperate with other robots in order to carry out a given task. Therefore it is essential that each robot have both learning and evolution ability to adapt to dynamic environment. This paper proposes a pursuing system utilizing the artificial life concept where virtual robots emulate social behaviors of animals and insects and realize their group behaviors. Each robot contains sensors to perceive other robots in several directions and decides its behavior based on the information obtained by the sensors. In this paper, a neural network is used for behavior decision controller. The input of the neural network is decided by the existence of other robots and the distance to the other robots. The output determines the directions in which the robot moves. The connection weight values of this neural network are encoded as genes, and the fitness individuals are determined using a genetic algorithm. Here, the fitness values imply how much group behaviors fit adequately to the goal and can express group behaviors. The validity of the system is verified through simulation. Besides, in this paper, we could have observed the robots' emergent behaviors during simulation.

• Journal of the Ergonomics Society of Korea
• /
• v.7 no.2
• /
• pp.31-44
• /
• 1988

If an error occurs in the automatic mode when the advanced teleoperator system performs a task in hostile environment then the automatic mode changes into the manual mode. The operation by the control program and the operation by a human recover the error in the manual mode. The system resumes the automatic mode and continues the given task. It is necessary to improve the manual mode in order to make the best use of a man-robot system, as a part of the human interface technique. Therefore, the error recovery task is performed by combining the operation by the control program representing autonomy of a robot and the operation by a human representing versatility of a human operator effectively in the view point of human factors engineering. The geometric inverse kinematics is used for the calculation of the robot joint values in the operation by the control program. The singularity operation error and the parameter operation error often occur in this procedure. These two operation errors increase the movement time of the robot and the coordinate reading time, during the error recovery task. A singularity algorithm, parameter algorithm and fuzzy control are studied so as to remove the disadvantages of geometric inverse kinematics. And the geometric straight line motion is studied so as to improve the disadvantages of the operation by a human.

• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.5
• /
• pp.405-411
• /
• 2011

This paper presents a hierarchical trajectory planning method which can handle a collision-free of the planned path in complex and dynamic environments. A PV (Path & Velocity profile) planning method minimizes a sharp change of orientation and waiting time to avoid a collision with moving obstacle through detour path. The path generation problem is solved by three steps. In the first step, a smooth global path is generated using $A^*$ algorithm. The second step sets up the velocity profile for the optimization problem considering the maximum velocity and acceleration. In the third step, the velocity profile for obtaining the shortest path is optimized using the fuzzy and genetic algorithm. To show the validity and effectiveness of the proposed method, realistic simulations are performed.

• Korea Information Processing Society Review
• /
• v.11 no.6
• /
• pp.56-75
• /
• 2004

In this article we address some system characteristics and challenging issues in developing Context-aware Middleware for Ubiquitous Computing. The functionalities of a Context-aware Middleware includes gathering context data from hardware/software sensors, reasoning and inferring high-level context data, and disseminating/delivering appropriate context data to interested applications/services. The Middleware should facilitate the query, aggregation, and discovery for the contexts, as well as facilities to specify their privacy policy. Following a formal context model using ontology would enable syntactic and semantic interoperability, and knowledge sharing between different domains. Moddleware should also provide different kinds of context classification mechanical as pluggable modules, including rules written in different types of logic (first order logic, description logic, temporal/spatial logic, fuzzy logic, etc.) as well as machine-learning mechanical (supervised and unsupervised classifiers). Different mechanisms have different power, expressiveness and decidability properties, and system developers can choose the appropriate mechanism that best meets the reasoning requirements of each context. And finally, to promote the context-trigger actions in application level, it is important to provide a uniform and platform-independent interface for applications to express their need for different context data without knowing how that data is acquired. The action could involve adapting to the new environment, notifying the user, communicating with another device to exchange information, or performing any other task.

• Asian Journal of Business Environment
• /
• v.12 no.1
• /
• pp.11-16
• /
• 2022

Purpose: This study is aimed to map the provinces in Indonesia based on the education and ICT indicators using several unsupervised learning algorithms. Research design, data, and methodology: The education and ICT indicators such as student-teacher ratio, illiteracy rate, net enrolment ratio, internet access, computer ownership, are used. Several approaches to get deeper understanding on provincial strength and weakness based on these indicators are implemented. The approaches are Ensemble K-Mean and Fuzzy C Means clustering. Results: There are at least three clusters observed in Indonesia the education quality, participation, facilities and ICT Access. Cluster with high education quality and ICT access are consist of DKI Jakarta, Yogyakarta, Riau Islands, East Kalimantan and Bali. These provinces show rapid economic growth. Meanwhile the other cluster consisting of six provinces (NTT, West Kalimantan, Central Sulawesi, West Sulawesi, North Maluku, and Papua) are the cluster with lower education quality and ICT development which impact their economic growth. Conclusions: The provinces in Indonesia are clustered into three group based on the education attainment and ICT indicators. Some provinces can directly implement e-learning; however, more provinces need to improve the education quality and facilities as well as the ICT infrastructure before implementing the e-learning.

• The KIPS Transactions:PartB
• /
• v.13B no.5 s.108
• /
• pp.561-568
• /
• 2006

WPS(Wearable Personal Station) for next generation PC can define as a core terminal of 'Ubiquitous Computing' that include information processing and network function and overcome spatial limitation in acquisition of new information. As a way to acquire significant dynamic gesture data of user from haptic devices, traditional gesture recognizer based on desktop-PC using wire communication module has several restrictions such as conditionality on space, complexity between transmission mediums(cable elements), limitation of motion and incommodiousness on use. Accordingly, in this paper, in order to overcome these problems, we implement hand gesture recognition system using fuzzy algorithm and neural network for Post PC(the embedded-ubiquitous environment using blue-tooth module and WPS). Also, we propose most efficient and reasonable hand gesture recognition interface for Post PC through evaluation and analysis of performance about each gesture recognition system. The proposed gesture recognition system consists of three modules: 1) gesture input module that processes motion of dynamic hand to input data 2) Relational Database Management System(hereafter, RDBMS) module to segment significant gestures from input data and 3) 2 each different recognition modulo: fuzzy max-min and neural network recognition module to recognize significant gesture of continuous / dynamic gestures. Experimental result shows the average recognition rate of 98.8% in fuzzy min-nin module and 96.7% in neural network recognition module about significantly dynamic gestures.

• Journal of Korea Water Resources Association
• /
• v.44 no.12
• /
• pp.1015-1029
• /
• 2011

Conventional MCDA techniques have been used in the field of water resources in the past. A GIS can offer an effective spatial data-handling tool that can enhance water resources modeling through interfaces with sophisticated models. However, GIS systems have a limited capability as far as the analysis of the value structure is concerned. The MCDA techniques provide the tools for aggregating the geographical data and the decision maker's preferences into a one-dimensional value for analyzing alternative decisions. In other words, the MCDA allows multiple criteria to be used in deciding upon the best alternatives. The combination of GIS and MCDA capabilities is of critical importance in spatial multi-criteria analysis. The advantage of having spatial data is that it allows the consideration of the unique characteristics at every point. The purpose of this study is to identify, review, and evaluate the performance of a number of conventional MCDA techniques for integration with GIS. Even though there are a number of techniques which have been applied in many fields, this study will only consider the techniques that have been applied in floodplain decision-making problems. Two different methods for multi-criteria evaluation were selected to be integrated with GIS. These two algorithms are Compromise Programming (CP), Spatial Compromise Programming (SCP). The target region for a demonstration application of the methodology was the Suyoung River Basin in Korea.

• Journal of Korea Water Resources Association
• /
• v.53 no.6
• /
• pp.395-408
• /
• 2020

This paper aims to develop and apply three different machine learning approaches (i.e., artificial neural networks (ANN), adaptive neuro-fuzzy inference systems (ANFIS), and wavelet-based neural networks (WNN)) combined with an evolutionary optimization algorithm and the k-fold cross validation for multi-step (days) streamflow forecasting at the catchment located in Algeria, North Africa. The ANN and ANFIS models yielded similar performances, based on four different statistical indices (i.e., root mean squared error (RMSE), Nash-Sutcliffe efficiency (NSE), correlation coefficient (R), and peak flow criteria (PFC)) for training and testing phases. The values of RMSE and PFC for the WNN model (e.g., RMSE = 8.590 ㎥/sec, PFC = 0.252 for (t+1) day, testing phase) were lower than those of ANN (e.g., RMSE = 19.120 ㎥/sec, PFC = 0.446 for (t+1) day, testing phase) and ANFIS (e.g., RMSE = 18.520 ㎥/sec, PFC = 0.444 for (t+1) day, testing phase) models, while the values of NSE and R for WNN model were higher than those of ANNs and ANFIS models. Therefore, the new approach can be a robust tool for multi-step (days) streamflow forecasting in the Seybous River, Algeria.

• Review of Culture and Economy
• /
• v.17 no.2
• /
• pp.63-80
• /
• 2014

This study evaluates the importance of negotiation agendas and the possibility of reaching the Korea-China FTA agreement. It assesses the current situation of trade barriers in the audiovisual service sector of China and then examines a survey of practitioners and experts to screen important regulations. The results are as follows: First, considering the national economic situation in Korea and the environment of the Chinese trade barrier, an important agenda is to enable the direct service of online games and to reach a co-production agreement in the audiovisual service sector. Second, an agenda regarding the co-production agreement of an audio-visual service sector has high potential to be realized, followed by agendas regarding online game and music services. In the broadcasting and film service sectors, with their high cultural identity, a mutual cooperative approach is needed. Korea bringing up the agenda regarding online service may allow it to gain a net benefit for the next FATs. To realize a mutual cooperative approach, it is necessary to form a frame of mutual interests and cooperation through a co-production agreement of audio-visual service. If both countries agree to acknowledge co-produced content as each country's contents, both would benefit.

• Journal of Internet Computing and Services
• /
• v.17 no.1
• /
• pp.23-33
• /
• 2016

The current smart lighting is shaped to offer the lighting environment suitable for current context, after identifying user's action and location through a sensor. The sensor-based context awareness technology just considers a single user, and the studies to interpret many users' various context occurrences and conflicts lack. In existing studies, a fuzzy theory and algorithm including ReBa have been used as the methodology to solve context conflict. The fuzzy theory and algorithm including ReBa just avoid an opportunity of context conflict that may occur by providing services by each area, after the spaces where users are located are classified into many areas. Therefore, they actually cannot be regarded as customized service type that can offer personal preference-based context conflict. This paper proposes a priority-based LED lighting control system interpreting multiple context conflicts, which decides services, based on the granted priority according to context type, when service conflict is faced with, due to simultaneous occurrence of various contexts to many users. This study classifies the residential environment into such five areas as living room, 'bed room, study room, kitchen and bath room, and the contexts that may occur within each area are defined as 20 contexts such as exercising, doing makeup, reading, dining and entering, targeting several users. The proposed system defines various contexts of users using an ontology-based model and gives service of user oriented lighting environment through rule based on standard and context reasoning engine. To solve the issue of various context conflicts among users in the same space and at the same time point, the context in which user concentration is required is set in the highest priority. Also, visual comfort is offered as the best alternative priority in the case of the same priority. In this manner, they are utilized as the criteria for service selection upon conflict occurrence.