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          • KCI등재

            Human Tracking using Multiple-Camera-Based Global Color Model in Intelligent Space

            Jin,Tae-Seok,Hashimoto,Hideki Korean Institute of Intelligent Systems 2006 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.6 No.1

            We propose an global color model based method for tracking motions of multiple human using a networked multiple-camera system in intelligent space as a human-robot coexistent system. An intelligent space is a space where many intelligent devices, such as computers and sensors(color CCD cameras for example), are distributed. Human beings can be a part of intelligent space as well. One of the main goals of intelligent space is to assist humans and to do different services for them. In order to be capable of doing that, intelligent space must be able to do different human related tasks. One of them is to identify and track multiple objects seamlessly. In the environment where many camera modules are distributed on network, it is important to identify object in order to track it, because different cameras may be needed as object moves throughout the space and intelligent space should determine the appropriate one. This paper describes appearance based unknown object tracking with the distributed vision system in intelligent space. First, we discuss how object color information is obtained and how the color appearance based model is constructed from this data. Then, we discuss the global color model based on the local color information. The process of learning within global model and the experimental results are also presented.

          • KCI등재

            Appearance Based Object Identification for Mobile Robot Localization in Intelligent Space with Distributed Vision Sensors

            Jin,,TaeSeok,Morioka,,Kazuyuki,Hashimoto,,Hideki Korean Institute of Intelligent Systems 2004 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.4 No.2

            Robots will be able to coexist with humans and support humans effectively in near future. One of the most important aspects in the development of human-friendly robots is to cooperation between humans and robots. In this paper, we proposed a method for multi-object identification in order to achieve such human-centered system and robot localization in intelligent space. The intelligent space is the space where many intelligent devices, such as computers and sensors, are distributed. The Intelligent Space achieves the human centered services by accelerating the physical and psychological interaction between humans and intelligent devices. As an intelligent device of the Intelligent Space, a color CCD camera module, which includes processing and networking part, has been chosen. The Intelligent Space requires functions of identifying and tracking the multiple objects to realize appropriate services to users under the multi-camera environments. In order to achieve seamless tracking and location estimation many camera modules are distributed. They causes some errors about object identification among different camera modules. This paper describes appearance based object representation for the distributed vision system in Intelligent Space to achieve consistent labeling of all objects. Then, we discuss how to learn the object color appearance model and how to achieve the multi-object tracking under occlusions.

          • KCI등재

            Intelligent Fuzzy Controller for Nonlinear Systems

            Joo,,Young-Hoon,Lee,,Sang-Jun,Oh,,Jae-Heung Korean Institute of Intelligent Systems 2002 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.2 No.2

            In this paper, we proposed an intelligent digital redesign method for a class of fuzzy-model-based controllers, effective fur stabilization of continuous-time nonlinear systems. The TS fuzzy model is used to expend the results of the digital redesign technique to nonlinear systems. The proposed method utilized the recently developed LMI technique to obtain a digitally redesigned fuzzy-model-based controller. The intelligent digital redesign problem is converted to equivalent problem, and the LMI method is used to find the digitally redesigned fuzzy-model-based controller. The stabilization conditions of TS fuzzy model are derived for stabilization in the sense of Laypunov stability. In order to demonstrates the effectiveness and feasibility of the proposed controller design methodology, we applied this method to the single link flexible-joint robot arm.

          • KCI등재

            Design of Simple-Structured Fuzzy Logic Systems for Segway-Type Mobile Robot

            Yoo,,Hyun-Ho,Choi,,Byung-Jae Korean Institute of Intelligent Systems 2015 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.15 No.4

            Studies on the control of the inverted pendulum type system have been widely reported. This is because it is a typical complex nonlinear system and may be a good model for verifying the performance of a proposed control system. In this paper, we propose the design of some fuzzy logic control (FLC) systems for controlling a Segway-type mobile robot, which is an inverted pendulum type system. We first derive a dynamic model of the Segway-type mobile robot and then analyze it in detail. Next, we propose the design of some FLC systems that have good performance for the control of any nonlinear system. Then, we design two conventional FLC systems for the position and balance control of the Segway-type mobile robot, and we demonstrate their usefulness through simulations. Next, we point out the possibility of simplifying the design process and reducing the computational complexity,, which results from the skew symmetric property of the fuzzy control rule tables. Finally, we design two other FLC systems for position and balance control of the Segway-type mobile robot. These systems have only one input variable in the FLC systems. Furthermore, we observe that they offer similar control performance to that of the conventional two-input FLC systems.

          • KCI등재

            On Motion Planning for Human-Following of Mobile Robot in a Predictable Intelligent Space

            Jin,,Tae-Seok,Hashimoto,,Hideki Korean Institute of Intelligent Systems 2004 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.4 No.1

            The robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, humans and robots need to be in close proximity to each other as much as possible. Moreover, it is necessary for their interactions to occur naturally. It is desirable for a robot to carry out human following, as one of the human-affinitive movements. The human-following robot requires several techniques: the recognition of the moving objects, the feature extraction and visual tracking, and the trajectory generation for following a human stably. In this research, a predictable intelligent space is used in order to achieve these goals. An intelligent space is a 3-D environment in which many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents providing humans with services. A mobile robot is controlled to follow a walking human using distributed intelligent sensors as stably and precisely as possible. The moving objects is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Uncertainties in the position estimation caused by the point-object assumption are compensated using the Kalman filter. To generate the shortest time trajectory to follow the walking human, the linear and angular velocities are estimated and utilized. The computer simulation and experimental results of estimating and following of the walking human with the mobile robot are presented.

          • KCI등재

            High-speed Integer Fuzzy Controller without Multiplications

            Lee,Sang-Gu Korean Institute of Intelligent Systems 2006 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.6 No.3

            In high-speed fuzzy control systems applied to intelligent systems such as robot control, one of the most important problems is the improvement of the execution speed of the fuzzy inference. In particular, it is more important to have high-speed operations in the consequent part and the defuzzification stage. To improve the speedup of fuzzy controllers for intelligent systems, this paper presents an integer line mapping algorithm to convert [0, 1] real values of the fuzzy membership functions in the consequent part to a $400{\times}30$ grid of integer values. In addition, this paper presents a method of eliminating the unnecessary operations of the zero items in the defuzzification stage. With this representation, a center of gravity method can be implemented with only integer additions and one integer division. The proposed system is analyzed in the air conditioner control system for execution speed and COG, and applied to the truck backer-upper control system. The proposed system shows a significant increase in speed as compared with conventional methods with minimal error; simulations indicate a speedup of an order of magnitude. This system can be applied to real-time high-speed intelligent systems such as robot arm control.

          • KCI등재

            Stock and News Application of Intelligent Agent System

            Kim,,Dae-Su Korean Institute of Intelligent Systems 2003 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.3 No.2

            Recently, there has been active research conducted on the intelligent agent in various fields. The results have been widely applied to intelligent user-friendly interfaces. In this system, we modeled, designed, and implemented an intelligent agent system that can be applied to stock and news. Some procedures such as login sequence to the web site, process to get stock information, setting stock in concern, intelligent news system module, news analysis module, and news learning module are modeled in detail and described in block diagram level. In our experiment on stock system, it showed quite a useful alarming screen avatar result and also on news system. it successfully rearranged the order of the news according to the user's preferences.

          • KCI등재

            An Intelligent Auto Parking System for Vehicles

            Razinkova,,Anastasia,Cho,,Hyun-Chan,Jeon,,Hong-Tae Korean Institute of Intelligent Systems 2012 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.12 No.3

            Autoparking assistant systems are a new and very promising area in automotive systems engineering. Since the traffic in modern cities becomes more intense, it is getting harder for a driver. Those systems are necessary for an inexperienced one to find a proper parking slot, or to park in a narrow parking slot without damaging his car or the vehicles around. The implementation of autoparking assistant systems may reduce drivers' stress and make parking generally more comfortable. In addition, such system can be extremely useful for senior or disabled people or for drivers with reduced mobility. The implementation of autoparking assistant systems may increase the safety of the parking, and therefore the development of such systems is a highly-demanded task. We introduce an intelligent autoparking system that automatically generates trajectory for parking using a fuzzy logic. This paper consists of three parts. In first part we introduce trajectory generation method for parallel parking without collisions. Fuzzy-logic based trajectory generation algorithm is described in second part. Experimental results presented in the third part of the paper prove effectiveness of the proposed method.

          • KCI등재

            Evaluation of Classified Information on Web Agent Using Fuzzy Theory

            Kim,Doo-Ywan,Kim,Tae-Ywan Korean Institute of Intelligent Systems 2005 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.5 No.3

            The rapid growth and spread of the World Wide Web has made it possible to easily access a variety of useful information. It is, however, very difficult to retrieve, manage, and use the desired information in web. Various kinds of systems such as Search engines, MetaSearch engines, Spiders, Softbots, Intelligent Agents or Web Agents have been developed by a large number of researchers and companies. Those systems as intelligent agent are employed to avoid the overload of information. To efficiently improve the Software Agents, it is necessary to represent and classify the retrieved data. And to improve performance of the Intelligent Agents to create the classification, it is offered how to evaluate the propriety with other information retrieved from the Web and to recommend to the user the most suitable information.

          • KCI등재

            An Application of Human-Centered Multimedia System for Medical Implementation

            Ko,,Je-Suk,Kitjongthawonkul,,Somkiat Korean Institute of Intelligent Systems 2009 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.9 No.4

            Multimedia interpretation describes a high level of ion of multimedia content like interrelations and coherencies. In this paper, we describe a multimedia interpretation component from human-centered perspective. In this context, we see the role of the multimedia interpretation component as a liaison between the psychological apparatuses and computer-based artifact. We emphasize this role of multimedia interpretation by outlining a mapping process of the psychological apparatuses and computer-based artifact. This mapping process needs to be transparent to its user so that effective human-centered systems can be achieved. This transparency will provide an immersive environment for the users and enable uninhibited interaction between the users and the artifact. Furthermore, we illustrate how the multimedia interpretation component can be utilized in the medical diagnosis and treatment support application.

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