이동로봇의 행동제어를 위한 2-Layer Fuzzy Controller

심귀보,변광섭,박창현,Sim, Kwee-Bo,Byun, Kwang-Sub,Park, Chang-Hyun 한국지능시스템학회 2003 한국지능시스템학회논문지 Vol.15 No.2

로봇의 기능이 다양해지며 복잡해지고 있다. 주위의 환경을 감지하는 센서로는 거리정보 뿐만 아니라 영상 정보, 음성 정보까지 이용하고 있다. 본 논문에서는 다양한 입력정보를 가진 로봇을 제어하기 위한 알고리즘으로 2-layer fuzzy control을 제안한다. 장애물 회피의 경우에 다수의 거리 센서를 이용하는데 이것을 앞쪽, 왼쪽, 오른쪽으로 분류하여 3개의 sub-controller를 가지고 퍼지 추론을 한 다음, 2단계에서는 이 3개의 sub-controller의 출력으로 조합된 퍼지 추론을 하여 통합적인 제어를 한다. 본문에서는 2-layer fuzzy controller와 비슷한 구조를 갖는 hierarchical fuzzy controller와 비교를 하였으며 robot following에도 적용하여 각각에 대한 시뮬레이션과 실험을 통해 성능을 확인한다. The ability of robot is being various and complex. The robot is utilizing distance, image data and voice data for sensing its circumstance. This paper suggests the 2-layer fuzzy control as the algorithm that control robot with various sensor information. In a obstacle avoidance, it utilizes many range finders and classifies them into 3parts(front, left, right). In 3 sub-controllers, the controller executes fuzzy conference. And then it executes combined control with a combination of outputs of 3 sub-controllers in the second step. The text compares the 2-layer fuzzy controller with the hierarchical fuzzy controller that has analogous structure. And the performance of the 2-layer fuzzy controller is confirmed by application this controller to robot following, simulation to each other and real experiment.

이동로봇의 행동제어를 위한 2-Layer Fuzzy Controller

심귀보(Kwee-Bo Sim),변광섭(Kwang-Sub Byun),박창현(Chang-Hyun Park) 한국지능시스템학회 2003 한국지능시스템학회논문지 Vol.13 No.3

로봇의 기능이 다양해지며 복잡해지고 있다. 주위의 환경을 감지하는 센서로는 거리정보 뿐만 아니라 영상 정보, 음성 정보까지 이용하고 있다. 본 논문에서는 다양한 입력정보를 가진 로봇을 제어하기 위한 알고리즘으로 2-layer fuzzy control을 제안한다. 장애물 회피의 경우에 다수의 거리 센서를 이용하는데 이것을 앞쪽, 왼쪽, 오른쪽으로 분류하여 3개의 sub-controller를 가지고 퍼지 추론을 한 다음, 2단계에서는 이 3개의 sub-controller의 출력으로 조합된 퍼지 추론을 하여 통합적인 제어를 한다. 본문에서는 2-layer fuzzy controller와 비슷한 구조를 갖는 hierarchical fuzzy controller와 비교를 하였으며 robot following에도 적용하여 각각에 대한 시뮬레이션과 실험을 통해 성능을 확인한다. The ability of robot is being various and complex. The robot is utilizing distance, image data and voice data for sensing its circumstance. This paper suggests the 2-layer fuzzy control as the algorithm that control robot with various sensor information. In a obstacle avoidance, it utilizes many range finders and classifies them into 3parts(front, left, right). In 3 sub-controllers, the controller executes fuzzy conference. And then it executes combined control with a combination of outputs of 3 sub-controllers in the second step. The text compares the 2-layer fuzzy controller with the hierarchical fuzzy controller that has analogous structure. And the performance of the 2-layer fuzzy controller is confirmed by application this controller to robot following, simulation to each other and real experiment.

계절창고 속에 포장 저장된 과일의 호흡 예측 모델

김광섭,심승우,나현정,조인철,정흥조,박찬영 전남대학교 촉매연구소 2001 觸媒硏究 論文集 Vol.22 No.-

Fruit are normally kept in a pouch of cold storage room in winter. In this work, a mathematical model that is emulating the fruit respiration in the pouch of the storage has been established. The calculated result is compared to the actual measured gaseous composition change of pear in the packaging pouch LDPE film incorporated with silver coated ceramic powder. The presented model, that is combining polysaccharide digestion kinetics in pear, Fickian diffusion for permeation of the film and sigmoidal adsorption equilibrium between the film and gases, predicts the respiration of the pear in the packing film fairly well.

유창성 실어증과 비유창성 실어증 환자의 생성 이름대기 특성 연구

김애리,심현섭,김영태 한국음성과학회 2004 음성과학 Vol.11 No.4

The characteristics of generative naming ability between fluent aphasiacs and non-fluent aphasics were investigated for 10 fluent aphasics (6 Wernicke's and 4 conduction type) and 10 non-fluent aphasics (6 Broca's and 4 transcortical motor type). Subjects were given 2 types of generative naming task and asked to generate lists of words to categorical ('animal', 'things at a supermarket') and phonetic ('ㄱ', 'ㅇ', 'ㅅ') cues. The total numbers of correct and incorrect response and error type ratios were calculated. The results of the present study were as follows: (1) Fluent aphasics had higher generative naming scores than non-fluent aphasics. (2) A remarkable dissociation between performance on categorical and phonetic cue in both aphasic groups was observed. Both aphasic groups produced a large number of responses in the categorical cue. (3) There was no significant group-difference in the error type. (4) Any correlation between generative naming and confrontation naming in K-WAB was not found.

정서 스트룹 과제를 통한 말더듬 성인과 일반 성인의 불안 비교

김은나,심현섭,이수복 이화여자대학교 특수교육연구소 2021 특수교육 Vol.20 No.4

연구목적: 말더듬 성인의 정서정보 처리과정을 정서 스트룹 과제를 통해 살펴보아, 이들의 불안에 대한 심리적 반응을 파악하고자 하였다. 연구방법: 말더듬 성인(15명)과 일반 성인(15명)을 대상으로 Spielberger 상태-특성 불안 척도(STAI)와 정서 스트룹 과제(시간압박유무조건, 부정·긍정·중립단어의 조건)를 실시하였다. 연구결과: 상태불안점수, 특성불안점수 및 시간압박조건에서의 정반응율(%)과 반응시간(ms)에서 집단 간 유의한 차이가 있었다. 결론: 말더듬 성인들은 일반 성인에 비해 불안도가 높고, 시간압박이 있는 조건에서 수행력이 낮았으며, 반응시간도 일반 성인보다 느렸다. 이러한 연구결과는 말더듬 성인이 일반 성인보다 위협요소에 더 민감하게 반응함을 보여주며, 말더듬 성인의 치료 시 위협적으로 느끼는 상황에 대한 불안감소를 위하여 단계적인 상황연습의 필요성이 요구됨을 시사한다. Purpose: By examining the emotional information processing in stuttering adults through the emotional troop task, I would like to understand their psychological reactions to anxiety. Method: Spielberger’s State-Trait Anxiety Inventory (STAI) and emotional Stroop task (time pressure conditions, negative·positive·neutral words conditions) were performed for adults who stutter (AWS) (15 people) and adults who do not stutter (AWNS) (15 people). Results: The statistically significant parts between the two groups were anxiety score, trait anxiety score, accuracy under condition of time pressure, and latency. Conclusion: AWS have higher anxiety and lower accuracy under time pressured conditions than normal adults. The average latency was also lower than that of AWNS. Through this, it could be seen that AWS are more sensitive to threats than AWNS. This suggests the need to consider an approach that would reduce anxiety through step-by-step situational practice for situations that AWS feel threatened.

우반구 뇌 손상 후 나타난 연축성 발성장애 1예

권미선,심현섭,정선주,이재홍 대한치매학회 2003 Dementia and Neurocognitive Disorders Vol.2 No.1

Spasmodic dysphonia (SD) is a kind of focal dystonia of larynx and it is calssified into three subtypes:adductor type, abductor type, and mixed type. The etiology of SD is not clearly known yet. Cortical dysfunction is regarded as one of the causes of SD based on the clinical data in which patients who showed SD due to the lesion of the central nervous system. The lesions documented so far involve the basal ganglia, supplementary motor area, and thalamus in the dominant hemisphere. We report an unusual case with SD after an ischemic lesion of the precentral gyrus in the right hemisphere, which is rarely mentioned in relation to SD. The characteristics of the symptoms and cortical functions in phonation are discussed.

최적설계 기법을 적용한 1톤 운반차용 P.T.O축 및 트랜스미션 개발에 관한 기초연구

김재열,심재기,최승현,정효희,김훈조,오현중,박경섭 한국공작기계학회 2007 한국공작기계학회 추계학술대회논문집 Vol.2007 No.-

Now, power tillers and cultivators which are spread among fruit tree households have usage, low application, and high accident risk. Therefore, the development of multi-purpose work vehicles is needed as an alternative for these problems. Especially, easy usage and the ability to easily change gears when driving and the development of the P.T.O for various tasks such as pruning, water lifting, pest control, application and, mowing are needed. In this research, we will develop a transmission with design on P.T.Oaxle for agricultural work vehicles including multi-purpose vehicles. We aim to develop a 4-wheel drive transmission of synchronous contact type for practical use in fruit tree households which is required to be a large-sized agricultural vehicle. Therefore, we have per performed as follows that are composed of load capacity from 500kg to 1,000kg, safety securing for passengers, and drive securing under bad conditions of the topography slope and swampy land and the rest. For this purpose, we have developed a prototype vehicle through strength analysis of transmission design. we have selected optimal design conditions (Optimal RPM and torque according to some works) on the power transmission with multi-purpose vehicle for various jobs: spraying, manure spreading, mowing, brush wood chopping. If development of the P.T.O containing variable RPM and torque is successful, the following tasks can be possible. Air pruning, air maintenance, water lift, pest control, application, mowing, spraying, and brush wood chopping are possible with this developed P.T.O. Methods and contents for research are followed. Therefore, we have achieved performance-tests through the prototype of the multi-purpose work vehicle and have improved on troubles by the analysis of results of R&D. Also, we provided solutions to problems in mass production in the future.

회선 적분법에 의한 기저유출의 예측

이희주,심현섭,이재형 全北大學校 附設 都市및環境硏究所 2000 都市 및 環境硏究 Vol.15 No.1

The purpose of this study is to predict of base-flow through convolution. The predicting methods in the present are graphical method, method of recession constant and so on. But, graphical method needs many time, and includes subjective errors. Therefore, recession constant is generally using for the prediction of base-flow. However, the predicted base-flow values by this method are on the decrease at a same rate. But, the base-flow reduction rate is changed by the amount of rainfall, initial condition etc. So, to satisfy these conditions, the predicting model using convolution method is used in this study. And base-flow is predicted from initial outflow volume through convolution. In this study, routing constant and characteristic constant consisting the functions is determined, and complete the base-flow predicting model. Afterwards, we compare the predicting value through convolution whit the observed value in the watershed.

학령전기 말더듬아동의 어머니-아동 상호작용 행동특성

김정미,심현섭,이은주,Kim, Jeong-Mee,Sim, Hyun-Sub,Lee, Eun-Ju 한국음성학회 2005 음성과학 Vol.12 No.3

This study was to examine the relationship between maternal interactive behaviors and stuttering behaviors in preschool children who stutter. Participants were twenty-four children who stutter and their mothers. For the purpose of the current study, 5$\sim$10 minutes of 50 minutes videotaped scenes originally collected to develop fluency assessment instrument were re-videotaped. They included mother-child interactions during playing with toys and reading book situations. Mothers-children interactive behaviors were assessed with Maternal Behavior Rating Sroles(MBRS) and Child Behavior Rating Scales (CBRS). And children's stuttering were assessed with Paradise-Fluency Assessment(P-FA). The results were as follows: 1) the maternal interactive behavior did not significantly differ depending on situations, but scores of maternal responsive factor were higher in the play situation than in the reading situation. 2) Maternal responsiveness might influence on promoting the children's pivotal behavior with children who stutter. And 3) the level of maternal responsiveness was the predictor of children's stuttering behaviors. The therapeutic implication of the results were discussed.

공명장애 진단모델 개발을 위한 질적 연구

한진순,심현섭,Han, Jin-Soon,Sim, Hyun-Sub 한국음성학회 2006 음성과학 Vol.13 No.4

Speech-language therapist's experiences of their clinical practice offer greater insight to develop the assessment model for resonance disorders appropriate to the clinical setting. In order to investigate their experiences of resonance disorders qualitatively, a semi-structured interview questionnaire was developed on the basis of the review of the literatures about the assessment procedures. From the interviews with 4 speech therapists analysed by using a qualitative, constant-comparative method, 3 main themes were derived: (1) the currently accepted definitions and characteristics of the resonance disorders, (2) the status quo of the assessment procedures, and (3) the needs for the improvement of the assessment procedures. In addition, 15 sub-themes were emerged from the 3 main themes. All themes mentioned by the therapists provide the directions for the development of comprehensive and valid assessment model for the resonance disorders in Korea.