• Transactions on Control, Automation and Systems Engineering
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• v.1 no.2
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• pp.147-152
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• 1999

It is an interesting area in the field of artifical intelligence to find an analytic model of cooperative structure for multiagent system accomplishing a given task. Usually it is difficult to design controllers for multi-agent systems without a comprehensive knowledge about the system. One of the way to overcome this limitation is to implement an evolutionary approach to design the controllers. This paper introduces the use of a genetic algorithm to discover a fuzzy logic controller with rules that govern emergent agents solving a pursuit problem in a continuous world. Simulation results indicate that, given the complexity of the problem, an evolutionary approach to find the fuzzy logic controller seems to be promising.

• Journal of Korea Multimedia Society
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• v.12 no.12
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• pp.1728-1735
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• 2009

Human action tracking plays an important place in human-computer-interaction, human action tracking is a challenging task because of the exponentially increased computational complexity in terms of the degrees of freedom of the object and the severe image ambiguities incurred by frequent self-occlusions. In this paper, we will propose a novel method to track human action, in our technique, a dynamic background estimation algorithm will be applied firstly. Based on the estimated background, we then extract the human object from the video sequence, and the skeletonization method and Hough transform method will be used to detect the main structure of human body and each part rotation angle. The calculated rotation angles will be used to control a crane in the port, thus we can just control the container crane by using signalman body. And the experimental results can show that our proposed method can get a preferable result than the conventional methods such as: MIT, JPF or MFMC.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1550-1554
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• 2004

This paper deals with an unmanned vehicle system configuration using all terrain vehicle. Many research institutes and university study and develop unmanned vehicle system and control algorithm. Now a day, they try to apply unmanned vehicle to use military device and explore space and deep sea. These unmanned vehicles can help us to work is difficult task and approach. In the previous research of unmanned vehicle in our lab, we used 1/10 scale radio control vehicle and composed the unmanned vehicle system using ultrasonic sensors, CCD camera and kinds of sensor for vehicle's motion control. We designed lane detecting algorithm using vision system and obstacle detecting and avoidance algorithm using ultrasonic sensor and infrared ray sensor. As the system is increased, it is hard to compose the system on the 1/10 scale RC car. So we have to choose a new vehicle is bigger than 1/10 scale RC car but it is smaller than real size vehicle. ATV(all terrain vehicle) and real size vehicle have similar structure and its size is smaller. In this research, we make unmanned vehicle using ATV and explain control theory of each component

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1012-1015
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• 2003

Recently technologies have created new principle and theory but the PID control system remains its popularity as the PID controller contains simple structure, including maintenance and parameter adjustment being so simple. The adjust parameter of PID to achieve best response of process which be using time and may be error if user are not expert. Nowadays this problem was solved by develop PID controller which can analysis and auto tune parameter are appropriate with process which used principle of Ziegler ? Nichols but it are expensive and designed for each task. Thus, this paper proposes auto tune PID based on FPGA by use principle of Dahlin which maximum overshoot not over 5 percentages and do not fine tuning again. It have performance in control process are neighboring controller in industrial and simple to use. Especially, It can use various process and low price. The auto tune digital PID processor embedded on chip FPGA XC2S50-5tq-144. The digital PID processor was designed by fundamental PID equation which architectures including multiplier, adder, subtracter and some other logic gate. It was verified by control model of temperature control system.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.7
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• pp.685-696
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• 2011

An efficient laparoscope manipulator robot was designed to automatically control the position of laparoscope via a passive joint on end-effector position. The end position of the manipulator is controlled to have corresponding velocity defined in the global coordinate space using laparoscopic visual information. Desired spatial position of laparoscope was derived from detected positions of surgical instrument tips, then the clinical viewing plane was moved by visual servoing task. The laparoscope manipulator is advantageous for automatically maintaining clinically important views in the laparoscopic image without any additional operator. A laparoscope is mounted to a holder which is linked to four degree of freedom manipulator via universal joint-type passive rings connection. No change in the design of laparoscope or manipulator is necessary for its application to surgery assistant robot system. Expanded working space and surgical efficiency were accomplished by implementing slant linking structure between laparoscope and manipulator. To ensure reliable positioning accuracy and controllability, the motion of laparoscope in an abdominal space through trocar was inspected using geometrical analysis. A designed laparoscope manipulating robot system can be easily set up and controlled in an operation room since it has a few subsidiary devices such as a laparoscope light source regulator, a control PC, and a power supply.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2307-2310
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• 2005

A pressurizer is one of the major safety related equipment of nuclear power plants. In order to inspect and maintain the internal structures of a pressurizer, jumpers have to enter the pressurizer, in spite of the high dose exposure. Therefore, a tele-operated robotic manipulator has been developed, which consists of four parts with 2DOFs arms, a gripper, base frame, and control console. The task of this robotic manipulator is to extract the damaged electric heaters and inspect the internal structure of the pressurizer. The gripper hanging from the manipulator approaches the heaters and extracts the damaged heater by using a self-locking mechanism. In order to investigate the structural stability of the robotic manipulator, a stress analysis has been performed by using the ANSYS code. The results of this paper include the position control and vibration control of robotic gripper and the development of processing visual information for a vision sensor.

• Korean Journal of Social Welfare
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• v.58 no.1
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• pp.31-58
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• 2006

The purpose of this article is to analyze the structure and characteristics of the care manager systems of the long term care insurance in Japan's social welfare institution. In order to realize such purposes, this paper develops the discussion process as follows. Firstly, this paper examines the developmental processes and contents of the long term care insurance system and the care plan services which are the services to aid the utilization of long term care services. Secondly, this paper describes the care manager which conducts the role of care plan services intentively. Thirdly, this paper makes the research framework which is formulated as the legislative views about the care manager on the long term care insurance act, task systems, recruitment and retraining systems, and research data of care manager. Summarizing the contents of care manager's circumstances and characteristics about the long term care insurance, the results are explained as follows. that is to define care manager's status as the components of care plan center, to control indirectly the activities of care manager's care plan by operating care service center and care plan center in equal corporate, to set role and task ambiguously, to recognize care manager's role as the attributed role of care service center, to give licence and qualification in local government. Therefore, it's difficult to realize care plan depending on speciality and neutrality for the service user. The essential parts for the reform of care manager systems may be to separate care service center and care plan center and to redefine the task and role of care manager, the role and task of which should be put on care plan services.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.12 no.2
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• pp.121-130
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• 2012

This paper proposes an intuitive real-time robot control system using human body movement. Recently, it has been developed that motion generation for humanoid robots with reflecting human body movement, which is measured by a motion capture. However, in the existing studies about robot control system by human body movement, the detailed structure information of a robot, for example, degrees of freedom, the range of motion and forms, must be examined in order to calculate inverse kinematics. In this study, we have proposed Associative Motion Generation as humanoid robot motion generation method which does not need the detailed structure information. The associative motion generation system is composed of two neural networks: nonlinear principal component analysis and Jordan recurrent neural network, and the associative motion is generated with the following three steps. First, the system learns the correspondence relationship between an indication and a motion using training data. Second, associative values are extracted for associating a new motion from an unfamiliar indication using nonlinear principal component analysis. Last, the robot generates a new motion through calculation by Jordan recurrent neural network using the associative values. In this paper, we propose a real-time humanoid robot control system based on Associative Motion Generation, that enables user to control motion intuitively by human body movement. Through the task processing and subjective evaluation experiments, we confirmed the effective usability and affective evaluations of the proposed system.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.4
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• pp.373-380
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• 1997

In order to implement the real-time operating systems for robot controller, this paper proposes a systematic method for implementing the real-time kernel under the DOS environment. So far, we designed the robot control software and its own operating system simultaneously. Though robot operating systems have simple structure, it allows the developer to have a surplus time and effort to implement complete robot systems. In addition to this, in most cases of this type, operating systems does not support multitasking function, thus, low level hardware interrupts are used for real-time execution. Subsequently, some kinds of real-time tasks are hard to implement under this environment. Nowadays, the operating systems for robot controller requires multitasking functions, intertask communication and task synchronization mechanism, and rigorous real-time responsiveness. Thus, we propose an effective and low costs real-time systems for robot controller satisfying the various real-time characteristics. The proposed real-time systems are verified through real implementation.

• Journal of the Korea Society of Computer and Information
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• v.1 no.1
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• pp.147-158
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• 1996

This paper proposed a concurrency control structure based on specialized data flow graphs that was analysed a run-time concurrency control activity to be integrated with the task scheduler Data were viewed as flowing on the arcs from one node to another in a stream of discrete to tokens. The network that Is based upon the Entity-Relationship model, can be viewed a fixed problems used query tokens as a data flow graph. The performance was measured used in the various expriments compared the overall performance of the different concurrency control methods, DBFG (DataBase Flow graphs) scheduling had the knowledge to obtain better performance than 2PL in a distributed environment.