• International Journal of Fuzzy Logic and Intelligent Systems
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• v.14 no.1
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• pp.17-25
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• 2014

This paper presents the formulation of an impedance controller for regulating the contact force with the environment. To achieve an accurate force tracking control, uncertainties in both robot dynamics and the environment require to be addressed. As part of the framework of the proposed force tracking formulation, a neural network is introduced at the desired trajectory to compensate for all uncertainties in an on-line manner. Compensation at the input trajectory leads to a remarkable structural advantage in that no modifications of the internal force controllers are required. Minimizing the objective function of the training signal for a neural network satisfies the desired force tracking performance. A neural network actually compensates for uncertainties at the input trajectory level in an on-line fashion. Simulation results confirm the position and force tracking abilities of a robot manipulator.

• Journal of IKEEE
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• v.27 no.4
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• pp.524-530
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• 2023

This paper proposes an efficient algorithm to detect CAN (Controller Area Network) bus attack based on a lightweight CNN (Convolutional Neural Network), and an IDS(Intrusion Detection System) was designed, implemented, and verified with FPGA. Compared to conventional CNN-based IDS, the proposed IDS detects CAN bus attack on a frame-by-frame basis, enabling accurate and rapid response. Furthermore, the proposed IDS can significantly reduce hardware since it exploits only one convolutional layer, compared to conventional CNN-based IDS. Simulation and implementation results show that the proposed IDS effectively detects various attacks on the CAN bus.

• Journal of Information Processing Systems
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• v.13 no.1
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• pp.184-195
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• 2017

In recent decades, the ad hoc network for vehicles has been a core network technology to provide comfort and security to drivers in vehicle environments. However, emerging applications and services require major changes in underlying network models and computing that require new road network planning. Meanwhile, blockchain widely known as one of the disruptive technologies has emerged in recent years, is experiencing rapid development and has the potential to revolutionize intelligent transport systems. Blockchain can be used to build an intelligent, secure, distributed and autonomous transport system. It allows better utilization of the infrastructure and resources of intelligent transport systems, particularly effective for crowdsourcing technology. In this paper, we proposes a vehicle network architecture based on blockchain in the smart city (Block-VN). Block-VN is a reliable and secure architecture that operates in a distributed way to build the new distributed transport management system. We are considering a new network system of vehicles, Block-VN, above them. In addition, we examine how the network of vehicles evolves with paradigms focused on networking and vehicular information. Finally, we discuss service scenarios and design principles for Block-VN.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1993.06a
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• pp.1382-1385
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• 1993

In order to improve productivity, an intelligent control system is presented in the pater. In this intelligent control system, a feedforward neural network and a fuzzy feedback mechanism are adopted to achieve a constant milling force with an adjustable feedrate under a variety of cutting conditions in milling operations.

• The KIPS Transactions:PartC
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• v.17C no.1
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• pp.129-134
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• 2010

Intelligent Power Switch (IPS) is a semiconductor device which contains a logic circuit in itself. It has received significant attention as a switching component to substitute the fuse and relay components in common automobile since the internal logic provides the controllability on the loads. However, a control system for the IPS status control and a network system to share the status information of IPS are required to fully exploit the capabilities of IPS. In this paper, we propose a control circuit and algorithm using IPS. Also the communication system between the control systems and IPS components using Control Area network (CAN) are proposed.

• Information and Communications Magazine
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• v.12 no.10
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• pp.76-86
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• 1995

In this paper, we propose a new network architecture for the future broadband personalized multimedia network. We first consider the service and technical requirements for supporting future advanced services such as personalized and intelligent communication services. In addition, we consider the design and implementation of the future network. Considering these requirements. we propose a new network architecture and its control scheme that can efficiently support the future personalized and intelligent services as well as broadband multimedia services. The network provides only a relatively simple core set of functions such as basic end-to-end connectivity, integrated access, and primitive network intelligence of user location. More intelligent features (e.g., personalized calling, virtual private networking and so on) can be offered through the additional network facilities or computing devices through an intelligent network.

• Journal of Information Processing Systems
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• v.14 no.6
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• pp.1464-1479
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• 2018

In face recognition, sometimes the number of available training samples for single category is insufficient. Therefore, the performances of models trained by convolutional neural network are not ideal. The small sample face recognition algorithm based on novel Siamese network is proposed in this paper, which doesn't need rich samples for training. The algorithm designs and realizes a new Siamese network model, SiameseFacel, which uses pairs of face images as inputs and maps them to target space so that the $L_2$ norm distance in target space can represent the semantic distance in input space. The mapping is represented by the neural network in supervised learning. Moreover, a more lightweight Siamese network model, SiameseFace2, is designed to reduce the network parameters without losing accuracy. We also present a new method to generate training data and expand the number of training samples for single category in AR and labeled faces in the wild (LFW) datasets, which improves the recognition accuracy of the models. Four loss functions are adopted to carry out experiments on AR and LFW datasets. The results show that the contrastive loss function combined with new Siamese network model in this paper can effectively improve the accuracy of face recognition.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.694-697
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• 2003

In this paper, we propose modular network to solve difficult and complex problems that are seldom solved with Multi-Layer Neural Network(MLNN). The structure of Modular Neural Network(MNN) in researched by Jacobs and jordan is selected in this paper. Modular network consists of several Expert Networks(EN) and a Gating Network(CN) which is composed of single-layer neural network(SLNN) or multi-layer neural network. We propose modular network structure using Recurrent Neural Network(RNN), since the state of the whole network at a particular time depends on aggregate of previous states as well as on the current input. Finally, we show excellence of the proposed network compared with modular network.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.6 no.4
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• pp.293-298
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• 2006

In this paper, a sensor fusion based robot navigation method for the autonomous control of a miniature human interaction robot is presented. The method of navigation blends the optimality of the Fuzzy Neural Network(FNN) based control algorithm with the capabilities in expressing knowledge and learning of the networked Intelligent Robotic Space(IRS). States of robot and IR space, for examples, the distance between the mobile robot and obstacles and the velocity of mobile robot, are used as the inputs of fuzzy logic controller. The navigation strategy is based on the combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance. To identify the environments, a sensor fusion technique is introduced, where the sensory data of ultrasonic sensors and a vision sensor are fused into the identification process. Preliminary experiment and results are shown to demonstrate the merit of the introduced navigation control algorithm.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.175-178
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• 2003

In recent years, several researchers have presented the extensive research reports on network optimization problems. In our real life applications, many important network problems are typically formulated as a Maximum flow model (MXF) or a Minimum Cost flow model (MCF). In this paper, we propose a Genetic Algorithm (GA) approach used a priority-based chromosome for solving the bicriteria network optimization problem including MXF and MCF models(MXF/MCF).