• The Journal of Korea Robotics Society
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• v.12 no.3
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• pp.339-349
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• 2017

In this paper, we present a finite-time sliding mode control (FSMC) with an integral finite-time sliding surface for applying the concept of graph theory to a distributed wheeled mobile robot (WMR) system. The kinematic and dynamic property of the WMR system are considered simultaneously to design a finite-time sliding mode controller. Next, consensus and formation control laws for distributed WMR systems are derived by using the graph theory. The kinematic and dynamic controllers are applied simultaneously to compensate the dynamic effect of the WMR system. Compared to the conventional sliding mode control (SMC), fast convergence is assured and the finite-time performance index is derived using extended Lyapunov function with adaptive law to describe the uncertainty. Numerical simulation results of formation control for WMR systems shows the efficacy of the proposed controller.

• Journal of Korea Multimedia Society
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• v.3 no.1
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• pp.77-90
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• 2000

Real-Time verification is a procedure that verifies the correctness of specification related to requirement in time as well as in logic. One serious problem encountered in the verification task is that the state space grows exponentially owing to the unboundedness of time, which is termed the state space explosion problem. In this paper, we propose a real-time verification technique checking the correctness of specification by showing that a system model described in timed automata is equivalent to the characteristic of system property specified in timed modal-mu calculus. For this, we propose a local model checking method based on the value of the formula in initial state with constructing product graph concerned to only the nodes needed for verification process. Since this method does not search for every state of system model, the state space is reduced drastically so that the proposed method can be applied effectively to real-time system verification.

• Journal of the Korean Institute of Telematics and Electronics
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• v.19 no.6
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• pp.62-66
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• 1982

A method finding out routability for unrouted signal lines and rerouting those which are turned out to be able to route in layout design of LSI is described. In this paper the problems of finding two-disjoint Paths represented by an undirected graph G=(V,E), where V,E are sets of vertices and edges respectively, are studied. The existence of two-disjoint paths from s1, to t1, (called P1) and from S2 to T2 (called P2) indicated by the four vertices on the graph s1, t1, s2, t2 $\in$ V means that two distinct signal lines exist in layout design. It turns out that the proposed time complexity in the algorithm is O (IVI x IEI).

• Journal of KIISE
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• v.44 no.6
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• pp.643-648
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• 2017

Among Wi-Fi based indoor positioning systems, fingerprinting localization is the most common technique with high precision. However, construction of the initial radio map and the update process require considerable labor and time effort. To address this problem, we propose an efficient method that constructs the initial radio map at each vertex based on a graph. In addition, we introduce a method to update the radio map automatically by mapping signal data acquired from users to the reference point created on each edge. Since the proposed method collects signal data manually only at the vertex of the graph to build the initial radio map and updates it automatically, our proposed method can dramatically reduce labor and time effort, which are the disadvantages of the conventional fingerprinting method. In our experimental study, we show validity of our radio map update method by comparing with the actual reference point data. We also show that our proposed method is able to construct the radio map with an accuracy of about 3.5m by automatically updating the radio map.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.9 no.1
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• pp.358-377
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• 2015

In this paper, we propose a novel approach for trajectory recovery. Our system uses a triangulation procedure for skeletonization and graph theory to extract the trajectory. Skeletonization extracts the polyline skeleton according to the polygonal contours of the handwritten characters, and as a result, the junction becomes clear and the characters that are touching each other are separated. The approach for the trajectory recovery is based on graph theory to find the optimal path in the graph that has the best representation of the trajectory. An undirected graph model consisting of one or more strokes is constructed from a polyline skeleton. By using the polyline skeleton, our approach accelerates the process to search for an optimal path. In order to evaluate the performance, we built our own dataset, which includes testing and ground-truth. The dataset consist of thousands of handwritten characters and word images, which are extracted from five handwritten documents. To show the relative advantage of our skeletonization method, we first compare the results against those from Zhang-Suen, a state-of-the-art skeletonization method. For the trajectory recovery, we conduct a comparison using the Root Means Square Error (RMSE) and Dynamic Time Warping (DTW) in order to measure the error between the ground truth and the real output. The comparison reveals that our approach has better performance for both the skeletonization stage and the trajectory recovery stage. Moreover, the processing time comparison proves that our system is faster than the existing systems.

• The Transactions of the Korea Information Processing Society
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• v.5 no.8
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• pp.2061-2074
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• 1998

In pattern recognition and image analysis upplications, a graph is a useful tool for complex obect representation and recognition. However it takes much time to pair proper nodes between the prototype graph and an input data graph. Futhermore it is difficult to decide whether the two graphs in a class are the same hecause real images are degradd in general by noise and other distortions. In this paper we propose a matching algorithm using a matrix. The matrix is suiable for simple and easily understood representation and enables the ordering and matching process to be convenient due to its predefined matrix manipulation. The nodes which constitute a gaph are ordered in the matrix by their geometrical positions and this makes it possible to save much comparison time for finding proper node pairs. for the classification, we defined a distance measure thatreflects the symbo's structural aspect that is the sum of the mode distance and the relation distance; the fornet is from the parameters describing the node shapes, the latter from the relations with othes node in the matrix. We also introduced a subdivision operation to compensate node merging which is mainly due t the prepreocessing error. The proposed method is applied to the recognition of musteal symbols and the result is given. The result shows that almost all, except heavily degraded symbols are recognized, and the recognition rate is approximately 95 percent.

• Journal of the Korea Society of Computer and Information
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• v.28 no.1
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• pp.27-38
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• 2023

In this paper, we propose a conversational AI agent based on continual learning that can continuously learn and grow with new data over time. A continual learning-based conversational AI agent consists of three main components: Task manager, User attribute extraction, and Auto-growing knowledge graph. When a task manager finds new data during a conversation with a user, it creates a new task with previously learned knowledge. The user attribute extraction model extracts the user's characteristics from the new task, and the auto-growing knowledge graph continuously learns the new external knowledge. Unlike the existing conversational AI agents that learned based on a limited dataset, our proposed method enables conversations based on continuous user attribute learning and knowledge learning. A conversational AI agent with continual learning technology can respond personally as conversations with users accumulate. And it can respond to new knowledge continuously. This paper validate the possibility of our proposed method through experiments on performance changes in dialogue generation models over time.

• Journal of KIISE:Databases
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• v.28 no.3
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• pp.430-448
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• 2001

In navigation system, a primary task is to compute the minimum cost route from the current location to the destination. One of major problems for navigation systems is that a significant amount of computation time is required when the digital road map is large. Since navigation systems are real time systems, it is critical that the path be computed while satisfying a time constraint. In this paper, we have developed a HiTi(Hierarchical MulTi) graph model for hierarchically structuring large digital road maps to speedup the minimum cost path computation. We propose a new shortest path algorithm named SPAH, which utilizes HiTi graph model of a digital road map for its computation. We prove that the shortest path computed by SPAH is the optimal. Our performance analysis of SPAH also showed that it significantly reduces the computation time over exiting methods. We present an in-depth experimental analysis of HiTi graph method by comparing it with other similar works.

• The KIPS Transactions:PartB
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• v.11B no.2
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• pp.221-226
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• 2004

Ant Colony System(ACS) Algorithm is new meta-heuristic for hard combinational optimization problem. It is a population-based approach that uses exploitation of positive feedback as well as greedy search. Recently, various methods and solutions are proposed to solve optimal solution of graph coloring problem that assign to color for adjacency node($v_i, v_j$) that they has not same color. In this paper introducing ANTCOL Algorithm that is method to solve solution by Ant Colony System algorithm that is not method that it is known well as solution of existent graph coloring problem. After introducing ACS algorithm and Assignment Type Problem, show the wav how to apply ACS to solve ATP And compare graph coloring result and execution time when use existent generating functions(ANT_Random, ANT_LF, ANT_SL, ANT_DSATUR, ANT_RLF method) with ANT_XRLF method that use XRLF that apply Randomize to RLF to solve ANTCOL. Also compare graph coloring result and execution time when use method to add re-search to ANT_XRLF(ANT_XRLF_R) with existent generating functions.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.5
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• pp.526-532
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• 2014

In this paper, we present and analyze a LQ (Linear Quadratic) inverse optimal state-consensus protocol for continuous-time multi-agent systems with undirected graph topology. By Lyapunov analysis of the state-consensus error dynamics, we show the sufficient conditions on the algebraic connectivity of the graph to guarantee LQ inverse optimality and closed-loop stability. A more relaxed stability condition is also provided in terms of the algebraic connectivity. Finally, a formation control protocol for multiple mobile robots is proposed based on the target LQ inverse optimal consensus protocol, and the simulation results are provided to verify the performance of the proposed LQ inverse formation control method.