• Journal of the Korean Society of Industry Convergence
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• v.21 no.4
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• pp.167-174
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• 2018

Presently, the exploration of an unknown environment is an important task for the development of mobile robots and mobile robots are navigated by means of a number of methods, using navigating systems such as the sonar-sensing system or the visual-sensing system. To fully utilize the strengths of both the sonar and visual sensing systems, In mobile robotics, multi-sensor data fusion(MSDF) became useful method for navigation and 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 indoor environments. Simulation results with a mobile robot will demonstrate the effectiveness of the discussed methods.

• Advances in robotics research
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• v.1 no.2
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• pp.171-183
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• 2014

Distributed planning and decision making can be beneficial from the robustness, adaptability and fault tolerance in multi-robot systems. Distributed mechanisms have not been employed in three dimensional transportation systems namely aerial and underwater environments. This paper presents a distributed cooperation mechanism on multi robot transportation problem in three dimensional environments. The cooperation mechanism is based on artificial capital market, a newly introduced market based negotiation protocol. In the proposed mechanism contributing in transportation task is defined as asset. Each robot is considered as an investor who decides if he is going to invest on some assets. The decision is made based on environmental constraint including fuel limitation and distances those are modeled as capital and cost. Simulations show effectiveness of the algorithm in terms of robustness, speed and adaptability.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.5 no.3
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• pp.477-493
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• 2011

The IEEE 802.16 mobile multi-hop relay (MMR) task group 'j' (TGj) has introduced the multi-hop relaying concept in the IEEE 802.16 Wireless MAN, wherein a relay station (RS) is employed to improve network coverage and capacity. Several RSs can be deployed between a base station and mobile stations, and configured to form a tree-like multi-hop topology. In such architecture, we consider the problem of a path selection through which the mobile station in and outside the coverage can communicate with the base station. In this paper, we propose a new path selection algorithm that ensures more efficient distribution of resources such as bandwidth among the relaying nodes for improving the overall performance of the network. Performance of our proposed scheme is compared with the path selection algorithms based on loss rate and the shortest path algorithm. Based on the simulation results using ns-2, we show our proposal significantly improves the performance on throughput, latency and bandwidth consumption.

• Journal of the Korea Society of Computer and Information
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• v.22 no.11
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• pp.1-7
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• 2017

In this paper, we introduce three monitoring filtering techniques which reduce the overheads of dynamic data race detection. It is well known that detecting data races dynamically in multi-threaded programs is quite hard and troublesome task, because the dynamic detection techniques need to monitor all execution of a multi-threaded program and to analyse every conflicting memory and thread operations in the program. Thus, the main drawback of the dynamic analysis for detecting data races is the heavy additional time and space overheads for running the program. For the practicality, we also empirically compare the efficiency of three monitoring filtering techniques. The results using OpenMP benchmarks show that the filtering techniques are practical for dynamic data race detection, since they reduce the average runtime overhead to under 10% of that of the pure detection.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.507-512
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• 1998

It is an interesting area in the field of artificial intelligence to and an analytic model of cooperative structure for multi-agent system accomplishing a given task. Usually it is difficult to design controllers for multi-agent systems without a comprehensive knowledge about the system. One of the way to overcome this limitation is to implement an evolutionary approach to design the controllers. This paper introduces the use of a genetic algorithm to discover a fuzzy logic controller with rules that govern emergent co-operative behavior: A modified genetic algorithm was applied to automating the discovery of a fuzzy logic controller jot multi-agents playing a pursuit game. Simulation results indicate that, given the complexity of the problem, an evolutionary approach to and the fuzzy logic controller seems to be promising.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.24 no.10
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• pp.163-173
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• 2010

In multi-mobile robot environment, path planning and collision avoidance are important issue to perform a given task collaboratively and cooperatively. The proposed approach is based on a potential field method and fuzzy logic system. For a global path planner, potential field method is employed to select proper path of a corresponding robot and fuzzy logic system is utilized to avoid collisions with static or dynamic obstacles around the robot. This process is continued until the corresponding target of each robot is reached. To test this method, several simulation-based experimental results are given. The results show that the path planning and collision avoidance strategies are effective and useful for multi-mobile robot systems.

• International Journal of Computer Science & Network Security
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• v.21 no.2
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• pp.1-8
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• 2021

Cloud computing has proven its efficiency, especially after the increasing number of cloud services offered by a wide range of cloud providers, from different domains. Despite, these cloud services are mostly heterogeneous. Consequently, and due to the rising interest of cloud consumers to adhere to a multi-cloud environment instead of being locked-in to one cloud provider, the need for semantically interconnecting different cloud services from different cloud providers is a crucial and important task to ensure. In addition, considerable research efforts proposed interoperability solutions leading to different representation models of cloud services. In this work, we present our solution to overcome this limitation, precisely in the IAAS service model. This solution is a framework permitting the semantic interoperability of different IAAS resources in a multi-cloud environment, in order to assist cloud consumers to retrieve the cloud resource that meets specific requirements.

• International Journal of Computer Science & Network Security
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• v.22 no.8
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• pp.45-54
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• 2022

In this study, a multi-objective robust job-shop scheduling (JSS) model was developed. The model considered multi-jobs and multi-machines. The model also considered uncertain processing times for all tasks. Each job was assigned a specific due date and a tardiness penalty to be paid if the job was not delivered on time. If any job was completed early, holding expenses would be assigned. In addition, the model added idling penalties to accommodate the idling of machines while waiting for jobs. The problem assigned was to determine the optimal start times for each task that would minimize the expected penalties. A numerical problem was solved to minimize both the makespan and the total penalties, and a comparison was made between the results. Analysis of the results produced a prescription for optimizing penalties that is important to be accounted for in conjunction with uncertainties in the job-shop scheduling problem (JSSP).

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.17 no.6
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• pp.1620-1634
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• 2023

This paper studies the task of embedding nodes with multiple graphs representing multiple information channels, which is useful in a large volume of network clustering tasks. By learning a node using multiple graphs, various characteristics of the node can be represented and embedded stably. Existing studies using multi-channel networks have been conducted by integrating heterogeneous graphs or limiting common nodes appearing in multiple graphs to have similar embeddings. Although these methods effectively represent nodes, it also has limitations by assuming that all networks provide the same amount of information. This paper proposes a method to overcome these limitations; The proposed method gives different weights according to the source graph when embedding nodes; the characteristics of the graph with more important information can be reflected more in the node. To this end, a novel method incorporating a multi-channel gate layer is proposed to weigh more important channels and ignore unnecessary data to embed a node with multiple graphs. Empirical experiments demonstrate the effectiveness of the proposed multi-channel-based embedding methods.

• Smart Media Journal
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• v.12 no.9
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• pp.45-59
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• 2023

Weakly supervised object localization (WSOL) is a task of localizing an object in an image using only image-level labels. Previous studies have followed the conventional class activation mapping (CAM) pipeline. However, we reveal the current CAM approach suffers from problems which cause original CAM could not capture the complete defects features. This work utilizes a convolutional neural network (CNN) pretrained on image-level labels to generate class activation maps in a multi-scale manner to highlight discriminative regions. Additionally, a vision transformer (ViT) pretrained was treated to produce multi-head attention maps as an auxiliary detector. By integrating the CNN-based CAMs and attention maps, our approach localizes defective regions without requiring bounding box or pixel-level supervision during training. We evaluate our approach on a dataset of apple images with only image-level labels of defect categories. Experiments demonstrate our proposed method aligns with several Object Detection models performance, hold a promise for improving localization.