• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1997년도 추계학술대회 학술발표 논문집
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• pp.263-266
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• 1997

In this paper we will develope the immnized recurrent neural network control system of a robot manipulator with high robustness in dynamically changing environment conditions. Immune system detects and eliminates the non-self materials called antigen such as virus, bacteria and so on which come from inside and outside of the living system, so plays an important role in maintaining its own system against dynamically changing environments. We apply this concept to a robot manipulator and evaluate the effectiveness of the above proposed system.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1997년도 추계학술대회 학술발표 논문집
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• pp.267-270
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• 1997

As an approach to develope a control system with robustness in changing control environment conditions, this paper will propose a robot manipulator control system using multilayer neural network and immune algorithm. The proposed immune algorithm which has the characteristics of immune system such as distributed and anomaly detection, probabilistic detection, learning and memory, consists of the innate immune algorithm and the adaptive immune algorithm. We will demonstrate the effectiveness of the proposed control system with simulations of a 2-link robot manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.990-995
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• 1991

The integration of intelligent robots into manufacturing systems should positively impact the product quality and productivity. A new theory of object location and recognition using the supporting plane is presented. The unknown supporting points are determined by image coordinates, known camera parameters, and joint coordinates of the robot manipulators. This is developed by using the geometrical interpretation of perspective projection and the geometrical constraints of industrial environments. This can be applied to solve typical robot vision problems such as determination of position, orientation, and recognition of objects.

• 한국지능시스템학회:학술대회논문집
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• 한국지능시스템학회 2008년도 춘계학술대회 학술발표회 논문집
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• pp.101-103
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• 2008

본 논문에서는 모듈 기반형 교육용 이동 로봇을 구현하였다. 구현한 교육용 로봇은 앞으로 로봇설계에서 요구하는 "모듈화" 개념에 기반하여 설계하고 구현하였으며 사용자의 요구에 따라 필요한 요소들 추가적으로 부착할 수 있는 시스템으로 구성하였다.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제5권4호
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• pp.302-309
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• 2005

We have studied a model and application that evolves the behavioral knowledge of a virtual robot. The knowledge is represented in classification rules and a neural network, and is learned by a genetic algorithm. The model consists of a virtual robot with behavior knowledge, an environment that it moves in, and an evolution performer that includes a genetic algorithm. We have also applied our model to an environment where the robots gather food into a nest. When comparing our model with the conventional method on various test cases, our model showed superior overall learning.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2007년도 춘계학술발표대회
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• pp.643-644
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• 2007

서비스를 제공받는 대상의 상황정보를 고려한 서비스 제공은 좀더 사용자에게 적절한 서비스를 제공 가능하게 할 수 있다. 그러나, 서비스 제공을 위하여 사용자의 주변 상황 분석에 필요한 정보의 습득에는 한계가 있다. 따라서, 본 연구에서는 사용자에게 제공 가능한 서비스를 한정하고 제한된 상황에서 상황정보를 습득하고 분석하여 사용자에게 능동적으로 서비스를 제공하는 방법을 제시한다. 제한된 상황과 서비스는 베이지안 네트워크를 이용하여 모델링하여 외부 입력의 불확실성을 해소한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1163-1168
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• 2005

This paper proposes a soft-remote-control (soft-remocon) system based on EMG signals for the Intelligent Sweet Home. The proposed system is applied to Intelligent Sweet Home which was developed to help the independence living of the elderly and physically handicapped individuals. The goal of proposed system is to control home-installed electronic devices such as TV, air-conditioner, curtain and lamp in Intelligent Sweet Home using EMG signals. Features such as VAR and DAMV having good separability performance are selected for pattern classification. FMMNN is adopted as a pattern classifier. Classification results are allowed to a developed remote control module and then corresponding infrared pulses can operate home-installed electronic devices. We concluded that EMG as an input interface for home-installed electronic devices in Intelligent Sweet Home.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 학술대회 논문집 전문대학교육위원
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• pp.175-180
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• 2006

In this paper, we develope a type of humanoid robot which can express its emotion against human actions. To interact with human, the developed robot has several abilities to express its emotion, which are verbal communication with human through voice/image recognition, motion tracking, and facial expression using fourteen Servo Motors. The proposed humanoid robot system consists of a control board designed with AVR90S8535 to control servor motors, a framework equipped with fourteen server motors and two CCD cameras, a personal computer to monitor its operations. The results of this research illustrate that our intelligent emotional humanoid robot is very intuitive and friendly so human can interact with the robot very easily.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 ISIS 2003
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• pp.228-231
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• 2003

This paper presents the leg trajectory generation for the quadruped robot with genetic-fuzzy algorithm. To have the nobility even at uneven terrain, a robot is able to recognize obstacles, and generates moving path of body that can avoid obstacles. This robot should have its own avoidance algorithm against obstacles, forwarding to target without collision. During walking period, n robot recognizes obstacle from external environment with a PSD and some interface, and this obstacle information is converted into proper the body rotation angle by fuzzy inference engine. After this process, we can infer the walking direction and walking distance of body, and finally can generate the optimal Beg trajectory using genetic algorithm. All these methods are verified with PC simulation program, and implemented to SERO-V robot.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 추계 학술대회 학술발표 논문집
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• pp.110-113
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• 2003

In this paper, we propose that the chaotic behavior analysis in the mobile robot of embedding Arnold equation with obstacle. In order to analysis of chaotic behavior in the mobile robot, we apply not only qualitative analysis such as time-series, embedding phase plane, but also quantitative analysis such as Lyapunov exponent in the mobile robot with obstacle. In the obstacle, we only assume that all obstacles in the chaos trajectory surface in which robot workspace has an unstable limit cycle with Van der Pol equation.