• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.43.6-43
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• 2001

In this paper, we describe an actor-critic method as a kind of temporal difference (TD) algorithms. The value function is regarded as a current estimator, in which two value functions have different inputs: one is an actual experience; the other is a simulated experience obtained through a predictive model. Thus, the parameter´s updating for the actor and critic parts is based on actual and simulated experiences, where the critic is constructed by a radial-basis function neural network (RBFNN) and the actor is composed of a kinematic-based controller. As an example application of the present method, a tracking control problem for the position coordinates and azimuth of a nonholonomic mobile robot is considered. The effectiveness is illustrated by a simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.50.5-50
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• 2002

In this paper, we propose a method using neural network (NN) to improve the motion control of a decentralized control system for cooperative transportation. In our former work, a decentralized control system for transporting a single object by multiple nonholonomic mobile robots has been developed. One of these mobile robots acts as a leader, who is assumed to be able to plan and to manipulate the omnidirectional motion of the object. Other robots, referred to as followers, cooperatively transport the object by keeping a constant position relative to the object. in this work, it is assumed that the leader can not only plan but also broadcast the local velocity of the object. Then...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.42.3-42
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• 2002

Fuzzy Neural Network (FNN) is a compulsory element in a voice-controlled machine due to its inherent capability of interpreting imprecise natural language commands. To control such a machine, user's perception of imprecise words is very important because the words' meaning is highly subjective. This paper presents a voice based controller centered on an adaptable FNN to capture the user's perception of imprecise words. Conversational interface of the machine facilitates the learning through interaction. The system consists of a dialog manager (DM), the conversational interface, a Knowledge base, which absorbs user's perception and acts as a replica of human understanding of imprecise words,...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.1093-1097
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• 1990

A d.c. servomotor with pulse encoder is used to improve the movement of a hospital mobile robot along the desired line. We can achieve an improved movement of the robot by applying a PLL control. It is then shown that we can also reduce 42% of the power dissipation by the use of a PWM control. Furthermore, some simulation studies are presented to illustrate the design of PI control and optimal regulator for the control of the d.c. servomotor.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.1190-1195
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• 1990

A new system for automatic interpretation of the awake electroencephalogram(EEG) was developed in this work. We first clarified all the necessary items for EEG interpretation in accordance with an analysis of visual inspection of the rhythms by a qualified electroencephalographer (EEGer), and then defined each item quantitatively. Concerning the automatic interpretation, we made an effort to find out specific EEG parameters which faithfully represent the procedure of visual interpretation by the qualified EEGer. Those specific EEG parameters were calculated from periodograms of the EEG time series. By using EEG data of 14 subjects, the automatic EEG interpretation system was constructed and compared with the visual interpretation done by the EEGer. The automatic EEG interpretation thus established was proved to be in agreement with the visual interpretation by the EEGer.

• Transactions on Control, Automation and Systems Engineering
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• 제4권4호
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• pp.347-355
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• 2002

Obstacle avoidance of underactuated robot manipulators using switching computed torque method (SCTM) is presented. One fundamental feature of this novel method is to use partly stable controllers (PSCs) in order to fulfill the ultimate control objective. Here, we use genetic algorithms (GAs) to acquire the optimum switching sequence of the control actions for a given time frame with the available set of elemental controllers, depending on which links/variables are controlled. The effectiveness of the concept is illustrated by taking a three-degrees-of-freedom (DOF) manipulator and showing enhanced performance of the proposed control methodology.

• 한국콘텐츠학회:학술대회논문집
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• 한국콘텐츠학회 2012년도 춘계 종합학술대회 논문집
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• pp.191-192
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• 2012

In this paper, we describe an educational tool for presentation which shows teacher's whole handwriting process to learners named HPT(Handwriting Presentation Tool). We assume that presenting writing processes has rich educational information. We believe this information influences learners' understandings of the provided learning contents. Animation functions of popular presentation tools are not enough to represent this information. Our presentation tool enables the lessons with a new type of presentation slides which combine advantages of traditional blackboards and popular presentation tools.

• 한국콘텐츠학회:학술대회논문집
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• 한국콘텐츠학회 2016년도 춘계 종합학술대회 논문집
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• pp.243-244
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• 2016

From the viewpoint of ICT-based disaster prevention design, evacuation route planning is one of the hot topics to be solved. Since we have quite a lot of natural disasters these days, its role has become important more and more than before. In order to deal with this tough problem, a genetic algorithm (GA) is adopted, and a revised selection procedure for preserving variety of individuals in each generation is introduced. As a result of some computer simulations applied to Hizen-Hamashuku, one of the model areas in this research project, it is found that the proposed method is effective.

• 한국콘텐츠학회:학술대회논문집
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• 한국콘텐츠학회 2016년도 춘계 종합학술대회 논문집
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• pp.247-248
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• 2016

To investigate activities in the evacuated situation of people, the measurement system is newly constructed, that composed of a wearable sensor device of heart beats rates and mobile devices like an Android smartphone with a bluetooth low energy (BLE) connection. Smartphone not only displays the heart beats variation (HBR) and the current location of evacuation person by Global Positioning System (GPS), but also exports the CSV formatted file that would be used for further analyzing the activity of person in detail. As an example of the application of this system, we show the case of evacuation routes for elderly person in Hizen-Hamashuku Area, Saga Prefecture. Using the proposed measuring system, the activities of evacuates can be clearly shown on the map of Geospatial Information System (GIS).

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1993년도 Fifth International Fuzzy Systems Association World Congress 93
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• pp.949-952
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• 1993

As well-known, fuzzy control has been recognized to be of great usefulness in many engineering fields. However, the present design methods of fuzzy control systems depend on trial and error the thing that limits its usefulness. Therefore, an effective and convenient support tools for design and evaluation are greatly needed as well as the establishment of the design methods and guidling. From these backgrounds, we have developed a fuzzy control simulator[1, 2] which has various fuzzy control methods such as "direct method", "indirect method" and "fuzzy-PID method". This paper deals especially with the "direct method" function of the simulator. The simulator was developed for personal computers and programed in C language.