Positioning and Driving Control of Fork-type Automatic Guided Vehicle With Laser Navigation

Kim, Jaeyong,Cho, Hyunhak,Kim, Sungshin Korean Institute of Intelligent Systems 2013 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.13 No.4

We designed and implemented a fork-type automatic guided vehicle (AGV) with a laser guidance system. Most previous AGVs have used two types of guidance systems: magnetgyro and wire guidance. However, these guidance systems have high costs, are difficult to maintain with changes in the operating environment, and can drive only a pre-determined path with installed sensors. A laser guidance system was developed for addressing these issues, but limitations including slow response time and low accuracy remain. We present a laser guidance system and control system for AGVs with laser navigation. For analyzing the performance of the proposed system, we designed and built a fork-type AGV, and performed repetitions of our experiments under the same working conditions. The results show an average positioning error of 51.76 mm between the simulated driving path and the driving path of the actual fork-type AGV. Consequently, we verified that the proposed method is effective and suitable for use in actual AGVs.

Adaptive Fuzzy Output Feedback Control based on Observer for Nonlinear Heating, Ventilating and Air Conditioning System

Baek, Jae-Ho,Hwang, Eun-Ju,Kim, Eun-Tai,Park, Mi-gnon Korean Institute of Intelligent Systems 2009 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.9 No.2

A Heating, Ventilating and Air Conditioning (HVAC) system is a nonlinear multi-input multi-output (MIMO) system. This system is very difficult to control the temperature and the humidity ratio of a thermal space because of complex nonlinear characteristics. This paper proposes an adaptive fuzzy output feedback control based on observer for the nonlinear HVAC system. The nonlinear HVAC system is linearized through dynamic extension. State observers are designed for estimating state variables of the HVAC system. Fuzzy systems are employed to approximate uncertain nonlinear functions of the HVAC system with unavailable state variables. The obtained controller compares with an adaptive feedback controller. Simulation is given to demonstrate the effectiveness of our proposed adaptive fuzzy method.

Dynamic Simulation of AGC/LPC Synthetical System for Hot Strip Finishing Mill

Wang, Xiaoying,Wang, Jingcheng Korean Institute of Intelligent Systems 2008 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.8 No.1

A simulation of hot strip finishing mill automatic gauge control (AGC) system is built, which is divided into four modules such as rolling mill system, AGC module, looper system and strip model. The rolling mill system is built by mechanism modeling, the looper system and strip model are built by function modeling, and the AGC model is tried to use intelligent control of a multi-function AGC system. The target is attempted to use this simulation object to minimize finisher exit strip thickness deviation resulting from strip entry thickness disturbance and rolling force deviation. Simulation results show that the result of this AGC/LPC synthetical system module simulation is quite close to the actual result. The simulation system can also analyze most kinds of disturbance which affect the rolling process. It is proved that the system can represent practical situation of hot strip finishing mill process control, and be used as a basic platform of research and development for researcher and engineer.

RDB-based Automatic Knowledge Acquisition and Forward Inference Mechanism for Self-Evolving Expert Systems

Kim, Jin-Sung Korean Institute of Intelligent Systems 2003 한국지능시스템학회논문지 Vol.13 No.6

In this research, we propose a mechanism to develop an inference engine and expert systems based on relational database (RDB) and SQL (structured query language). Generally, former researchers had tried to develop an expert systems based on text-oriented knowledge base and backward/forward (chaining) inference engine. In these researches, however, the speed of inference was remained as a tackling point in the development of agile expert systems. Especially, the forward inference needs more times than backward inference. In addition, the size of knowledge base, complicate knowledge expression method, expansibility of knowledge base, and hierarchies among rules are the critical limitations to develop an expert system. To overcome the limitations in speed of inference and expansibility of knowledge base, we proposed a relational database-oriented knowledge base and forward inference engine. Therefore, our proposed mechanism could manipulate the huge size of knowledge base efficiently. and inference with the large scaled knowledge base in a short time. To this purpose, we designed and developed an SQL-based forward inference engine using relational database. In the implementation process, we also developed a prototype expert system and presented a real-world validation data set collected from medical diagnosis field.

Behavior Learning of Swarm Robot System using Bluetooth Network

Seo, Sang-Wook,Yang, Hyun-Chang,Sim, Kwee-Bo Korean Institute of Intelligent Systems 2009 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.9 No.1

With the development of techniques, robots are getting smaller, and the number of robots needed for application is greater and greater. How to coordinate large number of autonomous robots through local interactions has becoming an important research issue in robot community. Swarm Robot Systems (SRS) is a system that independent autonomous robots in the restricted environments infer their status from pre-assigned conditions and operate their jobs through the cooperation with each other. In the SRS, a robot contains sensor part to percept the situation around them, communication part to exchange information, and actuator part to do a work. Especially, in order to cooperate with other robots, communicating with other robots is one of the essential elements. Because Bluetooth has many advantages such as low power consumption, small size module package, and various standard protocols, it is rated as one of the efficient communicating technologies which can apply to small-sized robot system. In this paper, we will develop Bluetooth communicating system for autonomous robots. And we will discuss how to construct and what kind of procedure to develop the communicating system for group behavior of the SRS under intelligent space.

Indirect Adaptive Fuzzy Observer Design

Yang, Jong-Kun,Hyun, Chang-Ho,Kim, Jae-Hun,Kim, Eun-Tai,Park, Mignon Korean Institute of Intelligent Systems 2004 한국지능시스템학회논문지 Vol.14 No.7

This paper proposes an alternative observation scheme, T-S fuzzy model based indirect adaptive fuzzy observer. Nonlinear systems are represented by fuzzy models since fuzzy logic systems are universal approximators. In order to estimate the unmeasurable states of a given nonlinear system, T-S fuzzy modeling method is applied to get the dynamics of an observation system. T-S fuzzy system uses the linear combination of the input state variables and the modeling applications of them to various kinds of nonlinear systems can be found. The adaptive fuzzy scheme estimates the parameters comprising the fuzzy model representing the observation system. The proposed indirect adaptive fuzzy observer based on T-S fuzzy model can cope with not only unknown states but also unknown parameters. In the process of deriving adaptive law, the Lyapunov theory and Lipchitz condition are used. To show the performance of the proposed observation method, it is applied to an inverted pendulum on a cart.

Design and Implementation of the EEIS Considering the Load of DB Server

Kim, Chang-Geun,Park, Byeong-Jin,Tack, Han-Ho Korean Institute of Intelligent Systems 2003 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.3 No.1

Current Internet system of the entrance exam information to the university that is depending on searching key to solve the overloaded problem in the network and DB server or other tools to support HTML edit, haven't satisfied user's wants by supplying uniformed searching system. So this thesis will establish EEIS(Entrance Examination Information System) to prevent database overload phenomena when many users request a great amount of data at the same time and improve the decrease of speed and overload problem in DB server. EEIS playa role of bridge between outside client and DB server by placing VVS(Virtual View Server) between web server and DB server. By that method this system give users several usefulness in convenience and variety by supplying realtime data searching function to user. EEIS also give inner system manager more efficiency and speed in control the management system by solving those problem. This system is design and implementation to satisfy user's desire and give them more convenience and bring up the confidence of university that adopt this system at the end.

(L,⊙)-quasi-uniform Spaces and (L,⊙)-neighborhood Systems

Kim, Yong-Chan,Ko, Jung-Mi Korean Institute of Intelligent Systems 2009 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.9 No.2

In this paper, we introduced the notion of (L,$\bigodot$)-quasi-uniform spaces and (L,$\bigodot$)-neighborhood systems on a strictly two-sided, commutative quantale lattice L. We investigate their properties and give the examples. In particular, we study the relations between (L,$\bigodot$)-quasi-uniform spaces and (L,$\bigodot$)-neighborhood systems.

DIND Data Fusion with Covariance Intersection in Intelligent Space with Networked Sensors

Jin, Tae-Seok,Hashimoto, Hideki Korean Institute of Intelligent Systems 2007 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.7 No.1

Latest advances in network sensor technology and state of the art of mobile robot, and artificial intelligence research can be employed to develop autonomous and distributed monitoring systems. In this study, as the preliminary step for developing a multi-purpose "Intelligent Space" platform to implement advanced technologies easily to realize smart services to human. We will give an explanation for the ISpace system architecture designed and implemented in this study and a short review of existing techniques, since there exist several recent thorough books and review paper on this paper. Instead we will focus on the main results with relevance to the DIND data fusion with CI of Intelligent Space. We will conclude by discussing some possible future extensions of ISpace. It is first dealt with the general principle of the navigation and guidance architecture, then the detailed functions tracking multiple objects, human detection and motion assessment, with the results from the simulations run.

Design of Intelligent Insulation Degradation Sensor

Kim, Yi-Gon Korean Institute of Intelligent Systems 2002 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.2 No.3

Insulation aging diagnosis system provides early warning in regard to electrical equipment defects. Early warning is very important in that it can avoid great losses resulting from unexpected shutdown of the production line. For solving this problem, many researchers proposed a method that diagnose power plant by using partial discharge. In this paper, we design the intelligent sensor to diagnose insulation degradation state that uses a Microprocessor and Al. Proposed sensor has MCU that is used to diagnose insulation degradation and communicate with main IDD system. And we use a fuzzy model to diagnose insulation degradation.