• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.1
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• pp.69-74
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• 2009

In this paper, we propose a method of ontology-based control of autonomous robots. Advancing one step further from using ontology as a hierarchical storage of information, the proposed method shows how to control robots through ontology inference. That is, the information on obstacles detected by robots is represented as an ontology, and robots' action planning and control are performed according to robots' surroundings through ontology inference. We make a differentially driven robot and illustrate the effectiveness of the proposed method via the experiment of the robot's navigation in real environment.

• The KIPS Transactions:PartD
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• v.13D no.4 s.107
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• pp.525-534
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• 2006

Ontology specifies the knowledge in a specific domain and defines the concepts of knowledge and the relationships between concepts. It is possible to provide the service based on the semantic web through the ontology. Therefore, to specify and define the knowledge in a specific domain, it is required to generate the ontology which conceptualizes the knowledge. Accordingly, to search the information of potential customers for home-delivery marketing of post office, we design the specific domain to generate the ontology based on the semantic web in this paper. And we propose how to retrieve the information, using the generated ontology. We implement the data search robot which collects the information based on the generated ontology. Also, we confirm that the ontology and the search robot perform the information retrieval exactly.

• Proceedings of the Korea Information Processing Society Conference
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• 2004.05a
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• pp.573-576
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• 2004

시맨틱 웹에 이용되는 웹 온톨로지 언어들로는 RDF/RDFS, DAML+OIL, OWL 등이 있으며, 현재 W3C에서는 OWL을 웹 온톨로지 표준 언어로 삼고 있다. 기존의 웹 온톨로지 문서들의 파서는 대부분 RDF를 기반으로 한 Triple 모델을 기반으로 하여 파싱한다. 그러나 OWL의 경우는 triple 형태로 변환시키면 OWL Full의 형태를 가지게 되고 OWL 온톨로지의 표현력과 데이터의 손실을 가져오게 된다. 따라서 OWL 문서의 파싱을 위하여 우리는 OWL Abstract Syntax를 이용하여 Tree 모델을 가지는 OWL 파서를 만들고자 한다. 본 논문에서는 시맨틱 웹에서 사용되는 웹 온톨로지들을 파싱하여 온톨로지 객체 모델을 생성해주는 기능을 가지는 온톨로지 파서를 설계, 구현하였다. 논문에서 설계한 온톨로지 파서는 RDF, DAML+OIL, OWL 웹 온톨로지 문서들을 파싱하여 온톨로지 객체 모델을 생성할 때, RDF 온톨로지의 경우는 Triple 모델 형태로 파싱을 하지만, OWL 온톨로지의 경우에는 OWL Abstract Syntax Tree 모델 형태로 파싱한 후, OOM으로 변환시켜준다. 이를 위해 웹 온톨로지 언어의 종류 구분과 OWL 온톨로지의 경우, OWL Full, OWL DL, OWL Lite의 서브 타입을 구별하는 기능도 추가하였다.

• Proceedings of the KSRS Conference
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• 2005.10a
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• pp.345-348
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• 2005

Because the current web search engine estimates the similarity of documents, using the frequency of words, many documents irrespective of the user query are provided. To solve these kinds of problems, the semantic web is appearing as a future web. It is possible to provide the service based on the semantic web through ontology which specifies the knowledge in a special domain and defines the concepts of knowledge and the relationships between concepts. In this paper to search the information of potential customers for home-delivery marketing, we model the specific domain for generating the ontology. And we research how to retrieve the information, using the ontology. Therefore, in this paper, we generate the ontology to define the domain about potential customers and develop the search robot which collects the information of customers.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.1
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• pp.86-99
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• 2011

Due to the uncertainty of intention recognition for behaviors of users, the intention is differently recognized according to the situation for the same behavior by the same user, the accuracy of user intention recognition by minimizing the uncertainty is able to be improved. This paper suggests a novel ontology-based method to recognize user intentions, and able to minimize the uncertainties that are the obstacles against the precise recognition of user intention. This approach creates ontology for user intention, makes a hierarchy and relationship among user intentions by using RuleML as well as Dynamic Bayesian Network, and improves the accuracy of user intention recognition by using the defined RuleML as well as the gathered sensor data such as temperature, humidity, vision, and auditory. To evaluate the performance of robot proactive planning mechanism, we developed a simulator, carried out some experiments to measure the accuracy of user intention recognition for all possible situations, and analyzed and detailed described the results. The result of our experiments represented relatively high level the accuracy of user intention recognition. On the other hand, the result of experiments tells us the fact that the actions including the uncertainty get in the way the precise user intention recognition.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.130-133
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• 2003

The robot has recently emerged as a factor in the daily lives of humans, taking the form of a mechanical pet or similar source of entertainment. A robot system that is designed to co-exist with humans, i.e., a coexistence-type robot system, is important to be "it exists in various environments with the person, and robot system by which the interaction of a physical, informational emotion with the person etc. was valued". When studying the impact of intimacy in the human/robot relationship, we have to examine the problems that can arise as a result of physical intimacy(coordination on safety in the hardware side and a soft side). Furthermore, We should also consider the informational aspects of intimacy (recognition technology, and information transport and sharing). This paper reports the interim results of the research of a system configuration that enhances the physical intimacy relationship in the symbiosis of the human and the robot.

• Journal of the Society of Naval Architects of Korea
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• v.48 no.3
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• pp.207-214
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• 2011

Ship design requirements described in the building specification should be reflected in the design process. This paper identifies the configuration of requirements mentioned in the building specification using Ontology Representation Language (OWL). Ontology-based semantic search system specifies the requirement items. Through this extraction, building specifications mentioned for each entry are configured to the tree. Tracking requirements for ship design and a set of procedures to instruct is also used for the V model of systems engineering. The semantic search engine of robot agent and ontology can search the requirements specification document and extract the design information. Thereafter, design requirements for the tracking model that proposes the relationship between the associated BOM(bill of material) and product structure.

• Journal of KIISE:Software and Applications
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• v.36 no.1
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• pp.21-29
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• 2009

An intelligent service robot is a robot that monitors its surroundings, and then provides a service to meet a user's goal. It is normally impossible for a robot to anticipate all the needs of its user and various situations in the surroundings ahead, and to prepare for all the necessary functions to cope with them. Therefore, it is required to support the self-growing capability by which robots can extend their functionality based on users' needs and external conditions. In this paper, as an enabler of the self-growing capability, we propose a method that allows a robot to select a component-composition pattern represented in an architectural form (called a sub-architecture), and to extend its functionality by obtaining a set of software components that are prescribed in the pattern. Sub-architecture is selected and instantiated not only based on the functionality required but also based on quality requirements of a user and the surrounding environment. To provide this method, we constructed a quality-attributes-in-use ontology and developed a brokering mechanism that matches quality requirements of users and surroundings against quality attributes of sub-architectures. The ontology provides the common vocabularies to represent quality requirements and attributes, and enables the semantically-based reasoning in matching and instantiating appropriate sub-architectures in supporting services to users. This ontology-based approach contributes to provide a great flexibility in extending robot functionality based on available software components, and to narrow the gap between users' Quality requirements and the Quality of the actual services provided by a robot.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.44 no.6
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• pp.19-29
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• 2007

This paper introduces a robot knowledge framework which is represented with multiple classes, levels and layers to implement robot intelligence at real environment for mobile robot. Our root knowledge framework consists of four classes of knowledge (KClass), axioms, rules, a hierarchy of three knowledge levels (KLevel) and three ontology layers (OLayer). Four KClasses including perception, model, activity and context class. One type of rules are used in a way of unidirectional reasoning. And, the other types of rules are used in a way of bi-directional reasoning. The robot knowledge framework enable a robot to integrate robot knowledge from levels of its own sensor data and primitive behaviors to levels of symbolic data and contextual information regardless of class of knowledge. With the integrated knowledge, a robot can have any queries not only through unidirectional reasoning between two adjacent layers but also through bidirectional reasoning among several layers even with uncertain and partial information. To verify our robot knowledge framework, several experiments are successfully performed for object recognition and navigation.

• Journal of KIISE:Computing Practices and Letters
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• v.13 no.2
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• pp.100-109
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• 2007

Object recognition of service robots is very important for most of services such as delivery, and errand. Conventional methods are based on the geometric models in static industrial environments, but they have limitations in indoor environments where the condition is changable and the movement of service robots occur because the interesting object can be occluded or small in the image according to their location. For solving these uncertain situations, in this paper, we propose the method that exploits observed objects as context information for predicting interesting one. For this, we propose the method for modeling domain knowledge in probabilistic frame by adopting Bayesian networks and ontology together, and creating knowledge model dynamically to extend reasoning models. We verify the performance of our method through the experiments and show the merit of inductive reasoning in the probabilistic model