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이인근(In K. Lee),이동주(Dong J. Lee),이석규(Suk-Gyu Lee),권순학(Soon H. Kwon) 한국지능시스템학회 2004 한국지능시스템학회논문지 Vol.14 No.2
본 논문에서는, 동적환경 하에서 움직이는 이동 로봇을 위한 인지에 기반한 이동 로봇의 운항계획 알고리즘을 제안한다. 제안된 알고리즘은 크게 ‘지각’과 ‘계획’ 부분으로 구성되어 있으며, ‘지각’은 지식을 구성하는 퍼지 규칙과 센서에서 얻은 데이터를 근거로 하는 위치 추론을 담당하고, ‘계획’은 환경에 대한 지식과 ‘지각’ 과정에서 얻은 위치에 대한 정보를 통해 시작점과 목표점 사이의 경로를 생성한다. ‘지각’과 ‘계획’을 통해 이동 로봇은 애매한 정보와 애매한 지식으로 위치를 추론하고 목표점을 찾아 이동한다. 컴퓨터 모의실험을 통해 제안된 알고리즘의 타당성을 보인다. In this paper, we propose a cognition-based navigational algorithm for mobile robots in dynamic environments. The proposed algorithm consists of two main stages: (i) the fuzzy logic-based perception stage that constructs knowledge from the sensory data for subsequent usage in reasoning, and (ii) the planning stage that identifies the path between a starting and a goal position within its environment on the basis of the knowledge base on the environment and information from the perception stage. A mobile robot reasons places and moves to goal using ambiguous information and ambiguous knowledge through 'perception' and 'planning'. We provide computer simulation results for a mobile robot in order to show the validity of the proposed algorithm.
Lee, Dong-Joo,Rinchuse, Donald J. 대한치과교정학회 1993 대한치과교정학회지 Vol.23 No.1
1. In the upper arch, the "bracket heights" of the incisors in the Caucasian were significantly shorter, but the bracket heights of molars in the Caucasian were longer than those in the Korean. In the lower arch, all bracket heights except that of the anterior teeth in the Caucasian were significantley shorter. These observations indicated that the clinical crown length might be shorter in the Caucasian than that in the Korean. 2. The crown angulation of the upper second molar in the Caucasian was significantly more upright than in the Korean. 3. The crown inclination of the upper and lowere anterior teeth in the Korean were more labially incllined and the posterior teeth in the Korean were less lingually inclined that in the Caucasian. 4.In both the Caucasian and the Korean, the relative differences of thickness in each tooth varied by similar amounts. 5. The rotation of the molars in the Korean were slightly greater. The shape of the dental arch might be different between Korean and Caucasian.