• Journal of Institute of Control, Robotics and Systems
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• v.13 no.8
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• pp.726-734
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• 2007

Generally, a mobile robot is moved by original input programs. However, it is very hard for a non-expert to change the program generating the moving path of a mobile robot, because he doesn't know almost the teaching command and operating method for driving the robot. Therefore, the teaching method with speech command for a handicapped person without hands or a non-expert without an expert knowledge to generate the path is required gradually. In this study, for easily teaching the moving path of the autonomous mobile robot, the autonomous mobile robot with the function of speech recognition is developed. The use of human voice as the teaching method provides more convenient user-interface for mobile robot. To implement the teaching function, the designed robot system is composed of three separated control modules, which are speech preprocessing module, DC servo motor control module, and main control module. In this study, we design and implement a speaker dependent isolated word recognition system for creating moving path of an autonomous mobile robot in the unknown environment. The system uses word-level Hidden Markov Models(HMM) for designated command vocabularies to control a mobile robot, and it has postprocessing by neural network according to the condition based on confidence score. As the spectral analysis method, we use a filter-bank analysis model to extract of features of the voice. The proposed word recognition system is tested using 33 Korean words for control of the mobile robot navigation, and we also evaluate the performance of navigation of a mobile robot using only voice command.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.4
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• pp.304-309
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• 2013

This paper proposes a intelligent approach on range decision of figure of merit. Unknown range of the underwater target and the non-fixed signal excess make the uncertainty for the tracking process. Using the input data of signal excess related to the range, we establish the rule of the fuzzy set and the original data acquired by sonar can be transformed to the fuzzified data set. To reduce the error arisen from the unexpected data, we use the new data transformed in fuzzy set. The piecewise relations of the min value, max one, and the mean one are calculated. The three values are used for the expected range of the underwater target. By analysing the fluctuation of the data, we can expect the target's position and the characteristics of the maneuvering. The examples are presented to show the performance and the effectiveness of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.395-395
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• 2000

Optimization of existing processes becomes more important than the past as environmental problems and concerns about energy savings stand out. When we can model a process mathematically, we can easily optimize it by using the model as constraints. However, modeling is very difficult for most chemical processes as they include numerous units together with their correlation and we can hardly obtain parameters. Therefore, optimization that is based on the process models is, in turn, hard to perform. Especially, f3r unknown processes, such as bioprocess or microelectronics materials process, optimization using mathematical model (first principle model) is nearly impossible, as we cannot understand the inside mechanism. Consequently, we propose a few optimization method using empirical model evolutionarily instead of mathematical model. In this method, firstly, designing experiments is executed fur removing unecessary experiments. D-optimal DOE is the most developed one among DOEs. It calculates design points so as to minimize the parameters variances of empirical model. Experiments must be performed in order to see the causation between input variables and output variables as only correlation structure can be detected in historical data. And then, using data generated by experiments, empirical model, i.e. response surface is built by PLS or MLR. Now, as process model is constructed, it is used as objective function for optimization. As the optimum point is a local one. above procedures are repeated while moving to a new experiment region fur finding the global optimum point. As a result of application to the pulp digester benchmark model, kappa number that is an indication fur impurity contents decreased to very low value, 3.0394 from 29.7091. From the result, we can see that the proposed methodology has sufficient good performance fur optimization, and is also applicable to real processes.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.11
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• pp.5841-5846
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• 2013

In this work, we consider the effect of doppler bandwidth on the performance of channel sounding. We develop the mathematical formulation of the problem and compare the MMSE channel estimator to the simple correlator. Examples of the performance of the MMSE and correlator estimators are presented for the single-input single-output (SISO) case with various values of Doppler bandwidth to assess the impact of time variation. The results show that as the $f_dT$ product increases the performance of both the MMSE and correlator estimates gets worse, and that the performance of the MMSE estimator improves relative to the correlator.We also consider case that the exact statistics of the channel are unknown It is shown that when the mismatch is not too large, the MMSE estimator with mismatch still does better than the simple correlator, but if the mismatch is large, then the correlator can do better.

• Convergence Security Journal
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• v.17 no.1
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• pp.31-38
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• 2017

As the cyber-attacks through the networks advance, it is difficult for the intrusion detection system based on the simple rules to detect the novel type of attacks such as Advanced Persistent Threat(APT) attack. At present, many types of research have been focused on the application of machine learning techniques to the intrusion detection system in order to detect previously unknown attacks. In the case of using the machine learning techniques, the performance of the intrusion detection system largely depends on the feature set which is used as an input to the system. Generally, more features increase the accuracy of the intrusion detection system whereas they cause a problem when fast responses are required owing to their large elapsed time. In this paper, we present a network intrusion detection system based on artificial neural network, which adopts a multi-objective genetic algorithm to satisfy the both requirements: accuracy, and fast response. The comparison between the proposing approach and previously proposed other approaches is conducted against NSL_KDD data set for the evaluation of the performance of the proposing approach.

• Ocean and Polar Research
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• v.42 no.1
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• pp.33-47
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• 2020

The bulk and partition geochemistry was studied in two sediment cores collected from the axial valley of the north-central Fonualei Rift and Spreading Center (FRSC), Lau back-arc Basin, southwest Pacific. The sediments consist of mostly volcanic ash, although minor amounts of biogenic and other components were present in some intervals. The major element composition of bulk sediments recalculated to a carbonate-free basis was in good agreement with the magma compositions of the adjacent Tofua Arc and the FRSC, with only significant difference in Mn content. The enrichment of Mn and other associated elements (e.g. Cu, Co, Ni, and P) is attributed to hydrothermal input to the sediments, as evidenced by their significant partitioning in the non-detrital phases according to the partition geochemistry. Hydrogenetic and diagenetic inputs were assessed to be relatively insignificant. Estimated hydrothermal Mn fluxes during the Holocene ranged between 5.0 and 37.1 mg cm^-2 kyr^-1, with the higher values in younger sediments, suggesting enhanced hydrothermal activity. The hydrothermal Mn fluxes comparable to or higher than those reported from other spreading centers with strong hydrothermal activities may indicate the presence of unknown hydrothermal vent sites and/or topographic restriction on the dispersal of hydrothermal plumes in the northern part of the FRSC.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.36S no.10
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• pp.51-57
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• 1999

In this paper, we deal with the problem of controlling an unknown nonlinear dynamical system, using wavelet network. Accurate control of the nonlinear systems depends critically on the accuracy and efficiency of the function approximator used to approximate the function. Thus, we use wavelet network which shows high capability of approximating the functions and includes the free-selection of basis functions for the control of the nonlinear system. We find the dilation and translation that are wavelet network parameters by analyzing the time-frequency characteristics of the controller's input to construct an initial adaptive wavelet network controller. Then, weights is adjusted by the adaptive law based on the Lyapunov stability theory. We apply this direct adaptive wavelet network controller to control the inverted pendulum system which is an nonlinear system.

• Journal of Intelligence and Information Systems
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• v.12 no.2
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• pp.167-183
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• 2006

Since data mining attempts to find unknown facts or rules by dealing with also vaguely-known data sets, it always suffers from high error rate. In order to reduce the error rate, many researchers have employed multiple models in solving a problem. In this research, we present a new type of multiple models, called DyMoS, whose unique feature is that it classifies the input data and applies the different model developed appropriately for each class of data. In order to evaluate the performance of DyMoS, we applied it to a real customer churn problem of an automobile insurance company, The result shows that the DyMoS outperformed any model which employed only one data mining technique such as artificial neural network, decision tree and case-based reasoning.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.39C no.9
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• pp.820-827
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• 2014

One of the basic problems in Wireless Sensor Networks (WSNs) is the localization of the sensor nodes based on the known location of numerous anchor nodes. WSNs generally consist of a large number of sensor nodes and recording the location of each sensor nodes becomes a difficult task. On the other hand, based on the application environment, the nodes may be subject to mobility and their location changes with time. Therefore, a scheme that will autonomously estimate or calculate the position of the sensor nodes is desirable. This paper presents an intelligent localization scheme, which is an artificial neural network (ANN) based localization scheme used to estimate the position of the unknown nodes. In the proposed method, three anchors nodes are used. The mobile or deployed sensor nodes request a beacon from the anchor nodes and utilizes the received signal strength indicator (RSSI) of the beacons received. The RSSI values vary depending on the distance between the mobile and the anchor nodes. The three RSSI values are used as the input to the ANN in order to estimate the location of the sensor nodes. A feed-forward artificial neural network with back propagation method for training has been employed. An average Euclidian distance error of 0.70 m has been achieved using a ANN having 3 inputs, two hidden layers, and two outputs (x and y coordinates of the position).

• Structural Monitoring and Maintenance
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• v.6 no.4
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• pp.317-346
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• 2019

Performance assessment of pavements proves useful, in terms of handling the ride quality, controlling the travel time of vehicles and adequate maintenance of pavements. Roughness profiles provide a good measure of the deteriorating condition of the pavement. For the accurate estimates of pavement roughness from dynamic vehicle responses, vehicle parameters should be known accurately. Information on vehicle parameters is uncertain, due to the wear and tear over time. Hence, condition monitoring of pavement requires the identification of pavement roughness along with vehicle parameters. The present study proposes a scheme which estimates the roughness profile of the pavement with the use of accurate estimates of vehicle parameters computed in parallel. Pavement model used in this study is a two-layer Euler-Bernoulli beam resting on a nonlinear Pasternak foundation. The asphalt topping of the pavement in the top layer is modeled as viscoelastic, and the base course bottom layer is modeled as elastic. The viscoelastic response of the top layer is modeled with the help of the Burgers model. The vehicle model considered in this study is a half car model, fitted with accelerometers at specified points. The identification of the coupled system of vehicle-pavement interaction employs a coupled scheme of an unbiased minimum variance estimator and an optimization scheme. The partitioning of observed noisy quantities to be used in the two schemes is investigated in detail before the analysis. The unbiased minimum variance estimator (MVE) make use of a linear state-space formulation including roughness, to overcome the linearization difficulties as in conventional nonlinear filters. MVE gives estimates for the unknown input and fed into the optimization scheme to yield estimates of vehicle parameters. The issue of ill-posedness of the problem is dealt with by introducing a regularization equivalent term in the objective function, specifically where a large number of parameters are to be estimated. Effect of different objective functions is also studied. The outcome of this research is an overall measure of pavement condition.