• Journal of Institute of Control, Robotics and Systems
• /
• v.16 no.11
• /
• pp.1074-1081
• /
• 2010

Today, the research related to the robot is achieved in various part. With the high interest in means of transport, various researches about autonomous mobile robot and next generation transport is continuing. The unicycle robot among these needs much control technique like balance control model and driving model. For autonomous driving of this unicycle robot, from the basic balance control to direction switching control and velocity control are needed. But the environment elements like a gradient and frictional force or unbalanced elements from the structural feature. The unicycle needs the real time balance control so more complex, harder to control. And when functional addition is made, the problem that fall entire reaction velocity or accuracy would be happen. This paper introduces entire dynamics modeling of the unicycle robot and reduced model. And propose the new balance control algorithm using fuzzy controller. Also the evaluation about performance would be made through the test.

• Proceedings of the Korean Society of Computer Information Conference
• /
• 2017.01a
• /
• pp.9-12
• /
• 2017

본 논문에서는 어깨 초음파 영상을 분석하여 인대 손상(Tear) 영역을 추출하는 방법을 제안한다. 제안된 방법은 초음파 영상에서 ROI(Region of Interest) 영역을 추출하고 추출된 ROI 영역에서 사다리꼴 형태의 소속 함수를 적용한 퍼지 스트레칭 기법을 이용하여 명암 대비를 높인다. 명암 대비가 조정된 ROI 영역에서 밝기 평균 이진화 기법을 적용하여 ROI 영역을 이진화한다. 이진화가 적용된 ROI 영역에서 워터쉐드 기법을 적용하여 연골과 힘줄의 후보 영역들을 추출한다. 추출된 연골과 힘줄의 후보 영역들 중에서 위에서 아래로 스캔하여 수평 너비가 가장 큰 영역에 해당하는 힘줄 영역의 상단 경계선을 추출한다. 그리고 아래에서 위로 스캔하여 수평 너비가 가장 큰 영역의 상단 경계에 스플라인 곡선을 적용하여 연골 영역의 상단 경계선을 추출한다. 힘줄 영역의 상단 경계선과 연골 영역의 상단 경계선 양 끝에 2차 함수 곡선을 적용하여 곡선 사이의 양자화할 영역을 추출한 후, SOM 기법을 적용하여 인대 손상 후보 영역을 양자화한다. 양자화된 인대 손상 후보 영역을 분석하여 어깨 힘줄의 손상 영역과 비손상 영역을 구분하고 인대 손상(Tear) 영역을 추출한다. 제안된 방법을 어깨 힘줄이 있는 초음파 영상을 대상으로 실험한 결과, 인대 손상(Tear) 영역이 비교적 정확히 추출되었다.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.16 no.6
• /
• pp.71-78
• /
• 2007

There have been continuous efforts to automate welding processes. This automation process could be said to fall into two categories, weld seam tracking and weld quality evaluation. Recently, the attempts to achieve these two functions simultaneously are on the increase. For the study presented in this paper, a vision sensor is made, and using this, the 3 dimensional geometry of the bead is measured in real time. For the application in welding, which is the characteristic of nonlinear process, a fuzzy controller is designed. And with this, an adaptive control system is proposed which acquires the bead height and the coordinates of the point on the bead along the horizontal fillet joint, performs seam tracking with those data, and also at the same time, controls the bead geometry to a uniform shape. A communication system, which enables the communication with the industrial robot, is designed to control the bead geometry and to track the weld seam. Experiments are made with varied offset angles from the pre-taught weld path, and they showed the adaptive system works favorable results.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.34 no.3
• /
• pp.273-282
• /
• 2016

There has been growing social interest recently in the movement rights of people with reduced mobility. However, it simply eliminates the temporary inconvenience of walking of people with reduced mobility because it focuses only on supply of institutional facilities. Therefore, we look forward to improving movement welfare by proposing an optimized path finding algorithm for people with reduced mobility that takes into consideration physical elements affecting their movement, such as slope, steps etc. We selected Walking barrier factor by analyzing previous studies and calculated the relative importance of Walking barrier factors using an Analytic Hierarchy Process(AHP). Next, through the fuzzy system, the Walking disturbance level of link, which integrates the weights of Walking barrier factors and the attributes of each link, is derived. Then, Walking path cost that takes into consideration the ‘length’ factors is calculated and an optimized path for people with reduced mobility is searched using Dijkstra’s Algorithm. Nineteen different paths were searched and we confirmed that the derived paths are meaningful in terms of improving the mobility of people with reduced mobility by conducting a field test. We look forward to improving movement welfare by providing a navigation service using the path finding algorithm proposed in this study.

• The Journal of Society for e-Business Studies
• /
• v.14 no.2
• /
• pp.23-39
• /
• 2009

Increasing number of business and technology expansion has sparked a growing interest in IT service business evaluation. However, it is not an easy task to come up with a fair and objective evaluation of IT service business due to the difficulties involved in the definition performance assets (marketing, human resources etc.) and knowledge assets with respect to its industry. Several public organizations in Korea are developing a "standardized evaluation protocol" based on qualitative method. But the standard evaluation protocol does not provide suitable guidelines on how to construct and evaluate the key index of IT service business. The main objective of this study is in the development of a systematic approach for the evaluation of IT service business competitiveness by emphasizing the qualitative and quantitative index to be evaluated in the framework. Application of the developed framework and guideline format showed that the used of the framework in this study provided relatively more efficient evaluation results in IT service industry.

• Journal of the Korea Society for Simulation
• /
• v.16 no.3
• /
• pp.49-56
• /
• 2007

There are many application areas of wireless sensor networks, such as combat field surveillance, terrorist tracking and highway traffic monitoring. These applications collect sensed data from sensor nodes to monitor events in the territory of interest. One of the important issues in these applications is the existence of the radio-jamming zone between source nodes and the base station. Depending on the routing protocol the transmission of the sensed data may not be delivered to the base station. To solve this problem we propose a genetic algorithm based routing method for reliable transmission while considering the balanced energy depletion of the sensor nodes. The genetic algorithm finds an efficient routing path by considering the radio-jamming zone, energy consumption needed fur data transmission and average remaining energy level. The fitness function employed in genetic algorithm is implemented by applying the fuzzy logic. In simulation, our proposed method is compared with LEACH and Hierarchical PEGASIS. The simulation results show that the proposed method is efficient in both the energy consumption and success ratio of delivery.

• Journal of the Korea Institute of Building Construction
• /
• v.16 no.4
• /
• pp.331-339
• /
• 2016

According to high-rise, complexation, and enlargement of buildings, various construction methods are being developed, and the significance of construction method selection about main work types has emerged as a major interest. However, it has been pointed out that hand-on workers cannot consider project characteristics carefully, and they lack an objective standard or reference for main construction method selection. Hence, the selection is being made depending on hand-on workers' experience and intuition. To solve this problem, various studies have proceeded for construction method selection of main work types using Artificial Intelligence like Fuzzy, AHP and Case-based reasoning. It is difficult to apply many different kinds of construction method selection to every main work type with consideration for characteristics of work types and condition of a construction site when selecting construction method in the field. Accordingly, this study proposed the decision-making model which can apply to fields easily. Using matrix analysis and liner transformation, this study verified consistency of study models applied in the process of soil retaining selection with a case study.

• Korean Journal of Construction Engineering and Management
• /
• v.17 no.3
• /
• pp.61-70
• /
• 2016

Construction enterprises have performed various projects such as buildings, infrastructure and plant projects in the international market. Among these, the plant project's amount of orders accounted for about 68.9% of all. However, because of the enterprises won a contract with a low-budget for plant project in the last 10 years, the profit has dropped dramatically. And it is forecasted that there are extreme competition for bid award of plant projects because of the current falling oil prices and raising interest rates. In this circumstance, the comprehending of enterprises strength and weakness must be a priority to get a sustainable competitive advantage. Therefore this research suggests the enterprises's capability assessment framework and it is in order to diagnose the korean construction enterprises capabilities. The framework is based on the VRIO model that is on the basis of resource based theory. First, the capability assessment indices and their importance and priority that based on the life-cycle of plant project is deducted by literature review and survey. Second, the 5 point likert score applied VRIO survey is conducted to diagnose the enterprises and quantified the survey result using the fuzzy theory. Lastly, the competitvie implication and capability assessment are deducted.