• Journal of Institute of Control, Robotics and Systems
• /
• v.11 no.12
• /
• pp.984-990
• /
• 2005

The aim of this paper is to investigate a control framework for mobile robots, operating in shared environment with humans. The Intelligent Space (iSpace) can sense the whole space and evaluate the situations in the space by distributing sensors. The mobile agents serve the inhabitants in the space utilizes the evaluated information by iSpace. The iSpace evaluates the situations in the space and learns the walking behavior of the inhabitants. The human intelligence manifests in the space as a behavior, as a response to the situation in the space. The iSpace learns the behavior and applies to mobile agent motion planning and control. This paper introduces the application of fuzzy-neural network to describe the obstacle avoidance behavior teamed from humans. Simulation results are introduced to demonstrate the efficiency of this method.

• Journal of the Korean Ceramic Society
• /
• v.54 no.4
• /
• pp.314-322
• /
• 2017

This study investigates changes in the mechanical behavior, such as changes in indentation load-displacement curve, wear resistance and contact fatigue resistance of thermal barrier coatings (TBCs) by thermal cycling test and thermal shock test. Relatively dense and porous TBCs on nickel-based bondcoat/superalloy are prepared; the highest temperature applied during thermal durability test is $1350^{\circ}C$. The results indicate that the porous TBCs have relatively longer lifetime during thermal cycling and thermal shock tests, while denser TBCs have relatively higher wear and contact fatigue resistance. The mechanical behavior is influenced by sintering of the TBCs by exposure to high temperature during tests.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.2 no.3
• /
• pp.185-190
• /
• 2002

In distributed autonomous robotic systems (DARS), each robot must behave by itself according to its states ad environments, and if necessary, must cooperate with other robots in order to carry out their given tasks. Its most significant merit is that they determine their behavior independently, and cooperate with other robots in order to perform the given tasks. Especially, in DARS, it is essential for each robot to have evolution ability in order to increase the performance of system. In this paper, a schema co-evolutionary algorithm is proposed for the evolution of collective autonomous mobile robots. Each robot exchanges the information, chromosome used in this algorithm, through communication with other robots. Each robot diffuses its chromosome to two or more robots, receives other robot's chromosome and creates new species. Therefore if one robot receives another robot's chromosome, the robot creates new chromosome. We verify the effectiveness of the proposed algorithm by applying it to cooperative search problem.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.51 no.9
• /
• pp.402-412
• /
• 2002

The navigation algorithms enable autonomous mobile robots to reach given target points without collision against obstacles. To achieve safe navigations in unknown environments, this paper presents an effective navigation algorithm for the autonomous mobile robots with ultrasonic sensors. The proposed navigation algorithm consists of an obstacle-avoidance behavior, a target-reaching behavior and a fuzzy-based decision maker. In the obstacle-avoidance behavior and the target-reaching behavior, artificial immune networks are used to select a proper steering angle, make the autonomous mobile robot avoid obstacles and approach a given target point. The fuzzy-based decision maker combines the steering angles from the target-reaching behavior and the obstacle-avoidance behavior in order to steer the autonomous mobile robot appropriately. Simulational and experimental results show that the proposed navigation algorithm is very effective in unknown environments.

• Nuclear Engineering and Technology
• /
• v.44 no.6
• /
• pp.697-708
• /
• 2012

The majority of instrumentation and control (I&C) systems in today's nuclear power plants (NPPs) are based on analog technology. Thus, most existing I&C systems now face obsolescence problems. Existing NPPs have difficulty in repairing and replacing devices and boards during maintenance because manufacturers no longer produce the analog devices and boards used in the implemented I&C systems. Therefore, existing NPPs are replacing the obsolete analog I&C systems with advanced digital systems. New NPPs are also adopting digital I&C systems because the economic efficiencies and usability of the systems are higher than the analog I&C systems. Digital I&C systems are based on two technologies: a microprocessor based system in which software programs manage the required functions and a programmable logic device (PLD) based system in which programmable logic devices, such as field programmable gate arrays, manage the required functions. PLD based systems provide higher levels of performance compared with microprocessor based systems because PLD systems can process the data in parallel while microprocessor based systems process the data sequentially. In this research, a bistable trip logic in a reactor protection system (RPS) was developed using very high speed integrated circuits hardware description language (VHDL), which is a hardware description language used in electronic design to describe the behavior of the digital system. Functional verifications were also performed in order to verify that the bistable trip logic was designed correctly and satisfied the required specifications. For the functional verification, a random testing technique was adopted to generate test inputs for the bistable trip logic.

• 제어로봇시스템학회:학술대회논문집
• /
• 1991.10b
• /
• pp.1585-1590
• /
• 1991

This paper presents the principles for design of autonomous systems whose behavior is based on models that support the various tasks that must be performed. We propose a model-based architecture aimed at reducing the computational demands required to integrate high level symbolic models with low level dynamic models. Model construction methods are illustrated to outfit such an architecture with the models needed to meet given objectives.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.16 no.2
• /
• pp.726-741
• /
• 2022

The purpose of this study is to provide instructive theoretical models for art (music) education institutions especially when unpredictable risks, such as pandemics, occur again. Based on the customer behavior theory of the business-to-business-to-customer (B2B2C) platform, and in combination with the technology acceptance model (TAM) and expectation confirmation model (ECM), this study proposes an online education model from the perspective of art education. The framework is based on the three decision-making processes of the customer, and includes the product owner, content owner, and customer area. This paper highlights the factors that influence customers in making decisions when art education institutions are product owners. Regression analysis was introduced to study the factors influencing the expectation confirmation, and the overall fitting testing and six hypotheses testing of 385 effective samples were performed using the structural equation modeling (SEM). The results show that the course-design and after-service positively influenced the expectation confirmation, and the domain image positively influenced the continuance behavior. Negative emotions skipped the mediator (expectation confirmation) and directly exerted a significant negative impact on customers' willingness to continue system usage (continuance behavior). In addition, expectation confirmation positively influenced continuance behavior. The paths of detailed items comprising course-design, after-service, and negative emotion were also analyzed and discussed. In this path analysis, ordinary art learners did not believe that AI partners can play a very good auxiliary role. The findings contribute to the scope of information systems acting as an art education platform academically, and provide effective and theoretical support for the actual operation of art education institutions.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.10 no.4
• /
• pp.1643-1660
• /
• 2016

Connectivity and trust in social networks have been exploited to propose applications on top of these networks, including routing, Sybil defenses, and anonymous communication systems. In these networks, and for such applications, connectivity ensures good performance of applications while trust is assumed to always hold, so as collaboration and good behavior are always guaranteed. In this paper, we study the impact of differential behavior of users on performance in typical social network-enabled routing applications. We classify users into either collaborative or rational (probabilistically collaborative) and study the impact of this classification and the associated behavior of users on the performance of such applications, including random walk-based routing, shortest path based routing, breadth-first-search based routing, and Dijkstra routing. By experimenting with real-world social network traces, we make several interesting observations. First, we show that some of the existing social graphs have high routing costs, demonstrating poor structure that prevents their use in such applications. Second, we study the factors that make probabilistically collaborative nodes important for the performance of the routing protocol within the entire network and demonstrate that the importance of these nodes stems from their topological features rather than their percentage of all the nodes within the network.

• Journal of Institute of Control, Robotics and Systems
• /
• v.9 no.10
• /
• pp.789-797
• /
• 2003

An implementation scheme and some improvements are proposed to adopt public-licensed operating system, Linux and de-facto world-wide network standard, TCP/IP into the field of behavior-based autonomous mobile robots. To demonstrate the needs of scheme and the improvement, an analysis is performed on a server/client communication problem with real time Linux previously proposed, and another analysis is also performed on interactions among TCP/IP communications and the performance of Linux system using them. Implementation of behavior-based control architecture on real time Linux is proposed firstly. Revised task-scheduling schemes are proposed that can enhance the performance of server/client communication among local tasks on a Linux platform. A new method of TCP/IP packet flow handling is proposed that prioritizes TCP/IP software interrupts with aperiodic server mechanism as well. To evaluate the implementation scheme and the proposed improvements, performance enhancements are shown through some simulations.

• Journal of Institute of Control, Robotics and Systems
• /
• v.5 no.3
• /
• pp.297-305
• /
• 1999

Autonomous mobile robots are required to achieve multiple goals while responding quickly to the dynamic environments. An appropriate robot control architecture, which clearly and systematically defines the relationship among the inputs, the processing functions and the outputs, thus needs to be embedded in the robot controller. This paper proposes a kind of hybrid control architecture which combines the key features of the two well-known robot control architectures; hierarchical and behavioral- based. The overall control architecture consists of three layers, i.e. the highest planner, the middle plan executor, and the lowest monitor and behavior-based controller. In the planned situation, only one behavior module is chosen by the logical coordinator in the plan executor according to the way point bin. In the exceptional situation, the central controller in the plan executor issues an additional control command to reach the planned way point. Several simulations and experiments with autonomous mobile robot show that the proposed architecture enables the robot controller to achieve the multiple sequential goals even in dynamic and uncertain environments.