• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.2
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• pp.166-172
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• 2014

Image classification is an important problem in computer vision. However, it is a very challenging problem due to the variability, ambiguity and scale change that exists in images. In this paper, we propose a method of a hypergraph based modeling can consider the higher-order relationships of semantic attributes of a scene image and apply it to a scene image classification. In order to generate the hypergraph optimized for specific scene category, we propose a novel search method based on a probabilistic subspace method and also propose a method to aggregate the expression values of the member semantic attributes that belongs to the searched subsets based on a linear transformation method via likelihood based estimation. To verify the superiority of the proposed method, we showed that the discrimination power of the feature vector generated by the proposed method is better than existing methods through experiments. And also, in a scene classification experiment, the proposed method shows a competitive classification performance compared with the conventional methods.

• Journal of Korea Multimedia Society
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• v.17 no.11
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• pp.1313-1324
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• 2014

Korea has high quality level of ICT Technologies, however it still have a long way to go before invigoration of ICT in agriculture industry. The government of Korea supply to agriculture ICT systems, however these are the enclosed type and insufficient the level of connectivity, compatibility, and integrity between ICT systems. Farmers can not share crop information and one system can not use with others in combination. Recently, IoT(Internet of Things) become popular to emphasize the vision of a global internet and ICT industry. The IoT is a critical technology that leads future internet generation. We believe that IoT will change status of agriculture industry and appearance of various agriculture business model. Using IoT technology is provided a platform of opportunities to optimize work processes and efficient use of energy, time and labour in farm. It can automatically control temperature, humidity, sunshine system and so on for optimal growth conditions at greenhouse and plant factory. Growth setting can even be controlled and monitored crop condition and disease by a smartphone app or PC. It is possible to improve quality of farming and farm product. We suggest that construction of IoT platform through open API in agriculture industry.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.2
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• pp.159-164
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• 2011

In this study, a crab robot is implemented in H/W based on four-bar linkage mechanism and Jansen mechanism, and its kinematics is analysed. A vision camera is attached to the mechanism, which makes the proposed robot a kind of biologically inspired robot for image acquisition. Three ultrasonic sensors are adopted for obstacle avoidance. In addition, the biologically inspired robot can achieve the mission appointed by a programmer outside, based on RF and Blue-tooth communication module. For the design and implementation of a crab robot, it is need to get joint variable, a foot point, and their relation. Thus, the proposed kinematic analysis is very important process for the design and implementation of legged robots.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.4
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• pp.470-477
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• 2009

Modular reconfigurable robots with physical docking capability easily adapt to a new environment and many studies are necessary for the modular robots. In this paper, we propose a vision-based fuzzy autonomous docking controller for the modular docking robots. A modular docking robot platform which performs real-time image processing is designed and color-based object recognition method is implemented on the embedded system. The docking robot can navigate to a subgoal near a target robot while avoiding obstacles. Both a fuzzy obstacle avoidance controller and a fuzzy navigation controller for subgoal tracking are designed. We propose an autonomous docking controller using the fuzzy obstacle avoidance and navigation controllers, absolute distance information and direction informations of robots from PSD sensors and a compass sensor. We verify the proposed docking control method by docking experiments of the developed modular robots in the various environments with different distances and directions between robots.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.1
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• pp.21-27
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• 2002

Inspection and shape measurement of three-dimensional objects are widely needed in industries for quality monitoring and control. A number of visual or optical technologies have been successfully applied to measure three-dimensional surfaces. However, those conventional visual or optical methods have inherent shortcomings such as occlusion and variant surface reflection. X-ray vision system can be a good solution to these conventional problems, since we can extract the volume information including both the surface geometry and the inner structure of any objects. In the x-ray system, the surface condition of an object, whether it is lambertian or specular, does not affect the inherent characteristics of its x-ray images. In this paper, we propose a three-dimensional x-ray imaging method to reconstruct a three dimensional structure of an object out of two dimensional x-ray image sets. To achieve this by the proposed method, two or more x-ray images projected from different views are needed. Once these images are acquired, the simultaneous algebraic reconstruction technique(SART) is usually utilized. Since the existing SART algorithms have several shortcomings such as low performance in convergence and different convergence within the reconstruction volume of interest, an advanced SART algorithm named as USART(uniform SART) is proposed to avoid such shortcomings and improve the reconstruction performance. Because, each voxel within the volume is equally weighted to update instantaneous value of its internal density, it can achieve uniform convergence property of the reconstructed volume. The algorithm is simulated on various shapes of objects such as a pyramid, a hemisphere and a BGA model. Based on simulation results the performance of the proposed method is compared with that of the conventional SART method.

• Journal of Korea Society of Industrial Information Systems
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• v.22 no.6
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• pp.95-105
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• 2017

The Purpose of This Study is to Develop a Checklist Model of Evaluation Diagnosis to Increase the Competitiveness of SMEs in Local Governments. The Evaluation Diagnostic Check Sheet Development Procedure Proceeded in the Order of Preliminary Investigation (Major Company Survey, Analysis of Characteristics of the Industry, Selection of Core Functions, etc.), Research and Development (Development of Core Function Check Sheet, Development of Core Function Improvement Tools). The Evaluation Model is divided into Five Categories (Vision and Strategy System, Quality Assurance and Product Safety, Field Management Level, Statistical Process Control, Improvement Activities), and 1) Recognition, 2) System, 3) Operation, 4) Review and Supplement. This Evaluation Model is expected to Contribute to the Selection of the Mainstream SMEs among the Companies Scattered within the Local Autonomous Entities, thereby Enhancing the Competitiveness of SMEs.

• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.4
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• pp.400-405
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• 2005

This paper analyzes the performance of a face recognition algorithm using the eigenfaces method. In the absence of robust personal recognition schemes, a biometric recognition system has essentially researched to improve their shortcomings. A face recognition system in biometries is widely researched in the field of computer vision and pattern recognition, since it is possible to comprehend intuitively our faces. The proposed system projects facial images onto a feature space that effectively expresses the significant variations among known facial images. The significant features are known as 'eigenfaces', because they are the eigenvectors(principal components) of the set of faces. The projection operation characterizes an individual face by a weighted sum of the eigenface features, and to recognize a particular face it is necessary only to compare these weights to those of known individuals. In order to analyze the performance of the system, we develop a face recognition system by using Harvard database in Harvard Robotics Laboratory. We present the recognition rate according to variations on the lighting condition, numbers of the employed eigenfaces, and existence of a pre-processing step. Finally, we construct a rejection curve in order to investigate the practicability of the recognition method using the eigenfaces.

• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.6
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• pp.692-697
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• 2003

The researches on the Internet based tole-operation have received increased attention for the past few years. In this paper, we implement the Internet based tele-operating system. In order to transmit robustly the surroundings and control information of the robot, we make a data as a packet type. Also in order to transmit a very large image data, we use PEG compressive algorithm. The central problem in the Internet based tele-operation is the data transmission latency or data-loss. For this specific problem, we introduce an autonomous mobile robot with a 2-layer fuzzy controller. Also, we implement the color detection system and the robot can perceive the object. We verify the efficacy of the 2-layer fuzzy controller by applying it to a robot that is equipped with various input sensors. Because the 2-layer fuzzy controller can control robustly the robot with various inputs and outputs and the cost of control is low, we hope it will be applied to various sectors.

• Journal of the Korean Institute of Intelligent Systems
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• v.10 no.3
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• pp.252-259
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• 2000

In this paper, we propose a Fuzzy Classifier System(FCS) to find a set of fuzzy rules which can carry out the edge detection of a image. The FCS is based on the fuzzy logic system combined with machine learning. Therefore the antecedent and consequent of a classifier in FCS are the same as those of a fuzzy rule. There are two different approaches, Michigan and Pittsburgh approaches, to acquire appropriate fuzzy rules by evolutionary computation. In this paper, we use the Michigan style in which a single fuzzy if-then rule is coded as an individual. Also the FCS employs the Genetic Algorithms to generate new rules and modify rules when performance of the system needs to be improved. The proposed method is evaluated by applying it to the edge detection of a gray-level image that is a pre-processing step of the computer vision. the differences of average gray-level of the each vertical/horizontal arrays of neighborhood pixels are represented into fuzzy sets, and then the center pixel is decided whether it is edge pixel or not using fuzzy if-then rules. We compare the resulting image with a conventional edge image obtained by the other edge detection method such as Sobel edge detection.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.5
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• pp.480-488
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• 2006

Industrial and economical importance of CP(Cellular Phone) is growing rapidly. Combined with IT technology, CP is one of the most attractive technologies of today. However, unless we find a new breakthrough in the technology, its growth may slow down soon. RT(Robot Technology) is considered one of the most promising next generation technologies. Unlike the industrial robot of the past, today's robots require advanced features, such as soft computing, human-friendly interface, interaction technique, speech recognition object recognition, among many others. In this paper, we present a new technological concept named RCP (Robotic Cellular Phone) which integrates RT and CP in the vision of opening a combined advancement of CP, IT, and RT, RCP consists of 3 sub-modules. They are $RCP^{Mobility}$(RCP Mobility System), $RCP^{Interaction}$, and $RCP^{Integration}$. The main focus of this paper is on $RCP^{Mobility}$ which combines an autonomous navigation system of the RT mobility with CP. Through $RCP^{Mobility}$, we are able to provide CP with robotic functions such as auto-charging and real-world robotic entertainment. Ultimately, CP may become a robotic pet to the human beings. $RCP^{Mobility}$ consists of various controllers. Two of the main controllers are trajectory controller and self-localization controller. While the former is responsible for the wheel-based navigation of RCP, the latter provides localization information of the moving RCP With the coordinates acquired from RFID-based self-localization controller, trajectory controller refines RCP's movement to achieve better navigation. In this paper, a prototype of $RCP^{Mobility}$ is presented. We describe overall structure of the system and provide experimental results on the RCP navigation.