• Journal of the Korean Society for Precision Engineering
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• v.20 no.11
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• pp.79-90
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• 2003

In this paper, we propose a multisensor-based navigation algorithm for a mobile robot, which is intelligently searching the goal location in unknown dynamic environments using multi-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 by fuzzy inference is used to govern the robot motions. The major factors for robot navigation are represented as a cost function. Using the data of the robot states and the environment, the weight value of each factor using fuzzy inference is determined for an optimal trajectory in dynamic environments. For the evaluation of the proposed algorithm, we performed simulations in PC as well as experiments with IRL-2002. The results show that the proposed algorithm is apt to identify obstacles in unknown environments to guide the robot to the goal location safely.

• International journal of advanced smart convergence
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• v.2 no.1
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• pp.12-17
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• 2013

This paper introduces the fuzzy scatter partition-based fuzzy inference system to construct the model for nonlinear process to analyze nonlinear characteristics. The fuzzy rules of fuzzy inference systems are generated by partitioning the input space in the scatter form using Fuzzy C-Means (FCM) clustering algorithm. The premise parameters of the rules are determined by membership matrix by means of FCM clustering algorithm. The consequence part of the rules is represented in the form of polynomial functions and the parameters of the consequence part are estimated by least square errors. The proposed model is evaluated with the performance using the data widely used in nonlinear process. Finally, this paper shows that the proposed model has the good result for high-dimension nonlinear process.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.182-182
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• 2000

This paper proposes a self tuning fuzzy inference method by the genetic algorithm in the fuzzy-sliding mode control for a robot. Using this method, the number of inference rules and the shape of membership functions are optimized without an expert in robotics. The fuzzy outputs of the consequent part are updated by the gradient descent method. And, it is guaranteed that the selected solution become the global optimal solution by optimizing the Akaike's information criterion. The trajectory trucking experiment of the polishing robot system shows that the optimal fuzzy inference rules are automatically selected by the genetic algorithm and the proposed fuzzy-sliding model controller provides reliable tracking performance during the polishing process.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2000.05a
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• pp.13-16
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• 2000

In fuzzy expert systems or database systems that have huge volumes of fuzzy data or large fuzzy rules, the inference time is much increased. Therefore, a high performance parallel fuzzy computing environment is needed. In this paper, we propose a parallel fuzzy inference mechanism in parallel computing environment. In this, fuzzy rules are distributed and executed simultaneously. The ONE_TO_ALL algorithm is used to broadcast the fuzzy input vector to the all nodes. The results of the MIN/MAX operations are transferred to the output processor by the ALL_TO_ONE algorithm. By parallel processing of fuzzy rules or data, the parallel fuzzy inference algorithm extracts effective parallel ism and achieves a good speed factor.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.2164.1_2165.1
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• 2009

In this study we suggest fire detection algorithm using fuzzy inference with input variables of temperature and smoke density to detect electrical fire of early stage. The algorithm consists of membership function of temperature and smoke density and fire probability. The antecedent part of the algorithm consists of temperature and smoke density, and the consequent part consists of fire possibility. The inference rules of the algorithm is estimated to input temperature and smoke density obtained by real fire. With the help of algorithms using fuzzy inference we may be diagnose electrical fire precisely.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2000.05a
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• pp.130-133
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• 2000

In this paper, a new design methodology named FNNN(Fuzzy Polynomial Neural Network) algorithm is proposed to identify the structure and parameters of fuzzy model using PNN(Polynomial Neural Network) structure and a fuzzy inference method. The PNN is the extended structure of the GMDH(Group Method of Data Handling), and uses several types of polynomials such as linear, quadratic and modified quadratic besides the biquadratic polynomial used in the GMDH. The premise of fuzzy inference rules defines by triangular and gaussian type membership function. The fuzzy inference method uses simplified and regression polynomial inference method which is based on the consequence of fuzzy rule expressed with a polynomial such as linear, quadratic and modified quadratic equation are used. Each node of the FPNN is defined as fuzzy rules and its structure is a kind of neuro-fuzzy architecture Several numerical example are used to evaluate the performance of out proposed model. Also we used the training data and testing data set to obtain a balance between the approximation and generalization of proposed model.

• Journal of the Korean Society for Precision Engineering
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• v.12 no.12
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• pp.139-148
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• 1995

In this paper an electro-hydraulic servo system is designed by using a fuzzy control algorithm. In order to drive an optimal fuzzy control system, a simulation program for the control system has been developed. By this program the fuzzifier and defuzzifier, a fuzzy inference method, a fuzzy relational matrix, and a fuzzy inference method are investigated. As a result, Larsen inference method, 9*9 fuzzy relational matrix, and center of area defuzzifier are turned out the best as parameters. Finally this method is compared with the conventional PID algotithm, and showed that the fuzzy control performs better than PID algorithm. The fuzzy control performs very well adap- tation against uncertain disturbances.

• Proceedings of the Korea Inteligent Information System Society Conference
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• 1999.03a
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• pp.353-359
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• 1999

We present a matrix-based inference alorithm suitable for electronic commerce applications. For this purpose, an Extended AND-OR Graph (EAOG) was developed with the intention that fast inference process is enabled within the electronic commerce situations. The proposed EAOG inference mechanism has the following three characteristics. 1. Real-time inference: The EAOG inference mechanism is suitable for the real-time inference because its computational mechanism is based on matric computation.2. Matrix operation: All the subjective knowledge is delineated in a matrix form, so that inference process can proceed based on the matrix operation which is computationally efficient.3. Bi-directional inference: Traditional inference method of expert systems is based on either forward chaining or backward chaining which is mutually exclusive in terms of logical process and exclusive in terms of logical process and computational efficiency. However, the proposed EAOG inference mechanism is generically bi-directional without loss of both speed and efficiency. We have proved the validity of our approach with several propositions and an illustrative EC example.

• Journal of Digital Convergence
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• v.14 no.1
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• pp.203-209
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• 2016

In this paper, we introduce a fuzzy inference systems for nonlinear inference using fuzzy cluster. Typically, the generation of fuzzy rules for nonlinear inference causes the problem that the number of fuzzy rules increases exponentially if the input vectors increase. To handle this problem, the fuzzy rules of fuzzy model are designed by dividing the input vector space in the scatter form using fuzzy clustering algorithm which expresses fuzzy cluster. From this method, complex nonlinear process can be modeled. The premise part of the fuzzy rules is determined by means of FCM clustering algorithm with fuzzy clusters. The consequence part of the fuzzy rules have four kinds of polynomial functions and the coefficient parameters of each rule are estimated by using the standard least-squares method. And we use the data widely used in nonlinear process for the performance and the nonlinear characteristics of the nonlinear process. Experimental results show that the non-linear inference is possible.

• Journal of the Korean Institute of Intelligent Systems
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• v.12 no.1
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• pp.7-13
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• 2002

Almost applications using fuzzy theory are based on the fuzzy inference. However fuzzy inference needs much time in calculation process for the fuzzy system with many input variables or many fuzzy labels defined on each variable. Inference time is dependent on the number of arithmetic Product in computation Process. Especially, the inference time is a primary constraint to fuzzy control applications using microprocessor or PC-based controller. In this paper, a simple fast fuzzy inference algorithm(FFIA), without loss of information, was proposed to reduce the inference time based on the fuzzy system with triangular membership functions in antecedent part of fuzzy rule. The proposed algorithm was induced by using partition of input state space and simple geometrical analysis. By using this scheme, we can take the same effect of the fuzzy rule reduction.