• Journal of Korean Society of Rural Planning
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• v.19 no.3
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• pp.51-59
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• 2013

The objective of this study was to make a map of farmland vulnerability to flood inundation based on morphologic characteristics from the flood-damaged areas. Vulnerability mapping based on the records of flood damages has been conducted in four successive steps; data preparation and preprocessing, identification of morphologic criteria, calculation of inundation vulnerability index using a fuzzy membership function, and evaluation of inundation vulnerability. At the first step, three primary digital data at 30-m resolution were produced as follows: digital elevation model, hill slopes map, and distance from water body map. Secondly zonal statistics were conducted from such three raster data to identify geomorphic features in common. Thirdly inundation vulnerability index was defined as the value of 0 to 1 by applying a fuzzy linear membership function to the accumulation of raster data reclassified as 1 for cells satisfying each geomorphic condition. Lastly inundation vulnerability was suggested to be divided into five stages by 0.25 interval i.e. extremely vulnerable, highly vulnerable, normally vulnerable, less vulnerable, and resilient. For a case study of the Jinju, farmlands of $138.6km^2$, about 18% of the whole area of Jinju, were classified as vulnerable to inundation, and about $6.6km^2$ of farmlands with elevation of below 19 m at sea water level, slope of below 3.5 degrees, and within 115 m distance from water body were exposed to extremely vulnerable to inundation. Comparatively Geumsan-myeon and Sabong-myeon were revealed as the most vulnerable to farmland inundation in the Jinju.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2004.04a
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• pp.139-143
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• 2004

Lee et al have proposed a framework for the linguistic map-based navigational planning of a mobile robot on dynamic environment and provided simulation results applied it to the static environment[1], In this paper, we extends the navigational planning of a mobile robot into dynamic environment. There are two kinds of dynamic obstacles： (1) Time-obstacles that change condition of obstacles with time. (2) Space-obstacles that move their position with time. We propose an algorithm which a mobile robot identifies and avoids the two kinds of dynamic obstacles. The proposed algorithm consists of two stages： (1) The fuzzy logic-based perception stage which identifies the dynamic obstacles around a mobile robot by using sensory data and fuzzy rules, (2) The planning stage which plans the path to goal by avoiding the dynamic obstacles[2-6]. We provide computer simulation results for a mobile robot in order to show the validity of the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1430-1434
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• 2004

Recently, Virtual reality parts is applied in various fields of industry. In this paper we developed basic components for virtual robot control system interfaced with real environment. For this, a real robot with virtual interface module is developed and virtual robot of similar image with real robot is created by putting on 3D graphic texture to the real robot. To build an unknown environment to be linked with virtual environment, we proposed a hough transformation based algorithm. Our proposed algorithm consists of navigation module by using fuzzy engine and map building module. Experiments using a developed robot illustrate the method.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.4
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• pp.396-401
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• 2004

Recently a framework for the cognition-based navigational planning of a mobile robot on dynamic environment has been proposed, and simulation results applied it to the static environment been presented [1]. In this paper, we propose a linguistic map-based framework for the navigational planning of mobile robots, which is applicable to the dynamic environment including not only static obstacles but also dynamic obstacles such as temporal-spatio obstacles, by extending Lee et al. 's framework, and provide computer simulation results obtained by applying to a mobile robot on the dynamic environment in order to show the validity of the proposed algorithm.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2007.04a
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• pp.7-10
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• 2007

This paper presents a fuzzy footstep planner for humanoid robots in complex environments. First, we define locomotion primitives for humanoid robots. A global planner finds a global path from a navigation map that is generated based on a combination of 2.5 dimensional maps of the 3D workspace. A local planner searches for an optimal sequence of locomotion primitives along the global path by using fuzzy footstep planning. We verify our approach on a virtual humanoid robot in a simulated environment. Simulation results show a reduction in planning time and the feasibility of the proposed method.

• 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.

• Journal of The Geomorphological Association of Korea
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• v.24 no.1
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• pp.77-91
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• 2017

Many debris landforms in the mountains of Korea have formed in the periglacial environment during the last glacial stage when the generation of sediments was active. Because these landforms are generally located on steep slopes and mostly covered by vegetation, however, it is difficult to observe and access them through field investigation. A scientific method is required to reduce the survey range before performing field investigation and to save time and cost. For this purpose, the use of remote sensing and GIS technologies is essential. This study has extracted the potential area of debris landform formation using a fuzzy set model as a mathematical data integration method. The first step was to obtain information about the location of debris landforms and their related factors. This information was verified through field observation and then used to build a database. In the second step, we conducted the fuzzy set modeling to generate a map, which classified the study area based on the possibility of debris formation. We then applied a cross-validation technique in order to evaluate the map. For a quantitative analysis, the calculated potential rate of debris formation was evaluated by plotting SRC(Success Rate Curve) and calculating AUC(Area Under the Curve). The prediction accuracy of the model was found to be 83.1%. We posit that the model is accurate and reliable enough to contribute to efficient field investigation and debris landform management.

• The Journal of Engineering Geology
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• v.21 no.4
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• pp.393-402
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• 2011

Asbestos is a toxic material that can lead to lung cancer and other diseases. There is no information regarding areas in Korea that contain asbestos in nature; consequently we need to manage such areas with care. The purpose of this study was to construct a local graded map of asbestos exposure risk based on the natural occurrence of asbestos in rocks. We first developed a means of evaluating the asbestos exposure risk and produced thematic maps based on a field survey. In addition, we constructed a knowledge base for asbestos through analysis, representation and processes about asbestos data and prepare for the development of an evaluation model for asbestos exposure risk. The spatial analysis of asbestos exposure risk is based on a weighted-overlay analysis using expert opinion and the literature, and a fuzzy-overlay analysis using the uncertainty in the data. The map of asbestos exposure risk, compiled according to the weighted and fuzzy operations, is expected to be used to ensure safety and to reduce the risk of exposure to asbestos.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.39 no.2
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• pp.21-34
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• 2002

Different from ordinary mobile robots used in a well-structured industrial workspace, a guide mobile robot for the visually impaired should be designed in consideration of a moving obstacle, which mostly refers to pedestrians in intentional motions. Thus, the navigation of the guide robot can be facilitated if the intention of each detected obstacle can be known in advance. In this paper, we propose an inference method to understand an intention of a detected obstacle. In order to represent the environment with ultrasonic sensors, the fuzzy grid-type map is first constructed. Then, we detect the obstacle and infer the intention for collision avoidance with the CLA(Centroid of Largest Area) point of the fuzzy grid-type map. To verify the proposed method, some experiments are performed.

• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.1
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• pp.55-60
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• 2006

지능형 로봇이 성장 동력 산업으로 선정되면서 국가적인 관심이 지능형 로봇산업에 모이고 있다. 지능형 로봇의 분야에서 있어 자율 이동 로봇에 관한 연구는 중요한 이슈가 되고 있다. 주어진 환경에서 환경을 인식하고, 얻어진 정보에 따라 효율적인 주행을 하기 위해 환경지도를 구성한다. 구성된 환경지도를 기반으로 목표지점을 향한 광역경로 계산을 수행하고, 얻어진 경로를 따라 이동함으로써 목표점에 이르게 된다. 본 논문에서는 퍼지 환경 지도를 제안하고, 퍼지 환경지도로부터 최단시간 광역 경로를 계산하는 알고리즘을 소개하며, 주행 제어를 위한 퍼지 제어기를 제안한다.