• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2014.05a
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• pp.871-872
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• 2014

In this paper, I propose the method of cooperative work of swarm robot for escaping maze. The robots can communicate with each other using Zigbee, but the central control system send commands to robots because of low processing power of robots. Robots navigate the blinded maze and send information such as movement to the central control system for building map. The central control system analysis the received data and find path to escape from maze.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1829-1830
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• 2008

The paper deals with leader-follower formations of nonholonomic mobile robots using least square method in order to maintain the formation constantly. The nonholonomic property of the mobile robot cause us to use the least square method. Then, the performance of the developed formation controller is verified by simulation results.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2008.04a
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• pp.343-346
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• 2008

휴머노이드 로봇이 넘어질 경우, 충격에 의한 손상이 발생할수 있다. 이를 최소화하는 넘어짐 자세의 생성을 위하여 개선된 PGA 기반의 탐색기법을 제안한다. 다목적함수를 고려한 군집 간 이주방식의 효율적 조합을 통해 넘어짐 충격을 최소화하는 각 관절 궤적을 구할수 있도록 하였다. 제안된 기법의 검증을 위하여 Sony QRIO 로봇에 대해서 ODE 기반의 Webots 시뮬레이션을 이용하여 실험을 수행하였다.

• Proceedings of the Korea Information Processing Society Conference
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• 2020.11a
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• pp.545-547
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• 2020

기존의 침임자 대응방식을 보완하기 위해 지능형 관제 시스템과 CCTV 와 다수의 로봇들을 이용하여 객체 인식을 통해 침입자를 인식하고 추적하여 침입자의 좌표를 전송하고 시야에서 사라진 침입자의 위치를 추정하여 로봇들이 침입자의 퇴로를 차단하고 알고리즘을 통해 추정되는 위치를 순찰하며 침입자를 찾아내는 경비 시스템이다.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.5
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• pp.591-597
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• 2007

In swarm robot systems, each robot must behaves by itself according to the its states and environments, and if necessary, must cooperates with other robots in order to carry out a given task. Therefore it is essential that each robot has both learning and evolution ability to adapt the dynamic environments. In this paper, the new polygon based Q-learning algorithm and distributed genetic algorithms are proposed for behavior learning and evolution of collective autonomous mobile robots. And by distributed genetic algorithm exchanging the chromosome acquired under different environments by communication each robot can improve its behavior ability Specially, in order to improve the performance of evolution, selective crossover using the characteristic of reinforcement learning is adopted in this paper. we verify the effectiveness of the proposed method by applying it to cooperative search problem.

• Journal of the Korean Regional Science Association
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• v.39 no.4
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• pp.73-90
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• 2023

This research examines the impact of robotics integration on job dynamics in the U.S. manufacturing sector, adding to the critical dialogue on technological evolution and the future of jobs. Anchored in the task-model framework, the study hypothesizes that robotic integration exerts differential influences on diverse occupational clusters, each identified by their unique task-specific attributes. An in-depth examination was undertaken to elucidate the interplay between robotic integration and the occupation clusters. Employing a multilevel growth curve model, our empirical investigation tracked employment dynamics from 2012 to 2022 across 52 U.S. regions, covering 307 manufacturing occupations. The findings suggest a pronounced job decline within occupations necessitating manual dexterity. Nonetheless, the evidence does not conclusively support that the extent of robotics integration exacerbates this trend. These findings imply that the employment shifts in the U.S. manufacturing sector are predominantly driven by long-standing trends of deindustrialization and functional specialization, rather than by the recent diffusion of robotic technologies.

• Journal of the Korean Society for Precision Engineering
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• v.31 no.11
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• pp.1023-1030
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• 2014

This paper presents a new method to control swarm robots so that they can keep the formation while following a curved path. The main idea is to utilize the information on the instant center of gyration. For a given path, location of the instant center of the formation center is calculated, and individual robots follow the circular path around the calculated instant center. Performance of curvature-radius based method is compared with leader-follower referenced method via MATLAB simulation.

• The Journal of the Korea Contents Association
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• v.21 no.1
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• pp.541-551
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• 2021

Among the numerous duties of a librarian in a library, the work of arranging books is a job that the librarian has to do one by one. Thus, the cost of labor and time is large. In order to solve this problem, the interest in book-arranging robots based on artificial intelligence has recently increased. In this paper, we propose the K-ACO algorithm, which is the shortest path algorithm for multi-stops that can be applied to the library book arrangement robots. The proposed K-ACO algorithm assumes multiple robots rather than one robot. In addition, the K-ACO improves the ANT algorithm to create K clusters and provides the shortest path for each cluster. In this paper, the performance analysis of the proposed algorithm was carried out from the perspective of book arrangement time. The proposed algorithm, the K-ACO algorithm, was applied to a university library and compared with the current book arrangement algorithm. Through the simulation, we found that the proposed algorithm can allocate fairly, without biasing the work of arranging books, and ultimately significantly reduce the time to complete the entire work. Through the results of this study, we expect to improve quality services in the library by reducing the labor and time costs required for arranging books.

• Journal of the Institute of Convergence Signal Processing
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• v.19 no.2
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• pp.77-88
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• 2018

This paper proposes a RBFNN(Radial Basis Function Neural Network) based decentralized adaptive tracking control scheme using PSO(Particle Swarm Optimization) for an uncertain electrically driven robot system with input saturation. Practically, the magnitudes of input voltage and current signals are limited due to the saturation of actuators in robot systems. The proposed controller overcomes this input saturation and does not require any robot link and actuator model parameters. The fitness function used in the presented PSO scheme is expressed as a multi-objective function including the magnitudes of voltages and currents as well as the tracking errors. Using a PSO scheme, the control gains and the number of the RBFs are tuned automatically and thus the performance of the control system is improved. The stability of the total control system is guaranteed by the Lyapunov stability analysis. The validity and robustness of the proposed control scheme are verified through simulation results.

• ICROS
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• v.18 no.2
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• pp.21-29
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• 2012

최근 자동차 연구개발에 있어 내연기관을 대체하는 친환경 자동차기술과 더불어 무인자동차, 자율주행기술이 많은 부분에서 시도되고 실현되어가고 있다. 지능형 자동차라는 개념에서 적용되었던 운전자안전보조시스템, 편의지원과 사고경감 시스템 등이 하나로 통합되어 무인자동차 기술로 발전하고 있다. 또 차량에 고가의 센서를 장착하여 주변환경이나 운전자를 모니터링하는 방식에서 IT 융합기술을 이용한 네트워크기술 (V2I, V2V, V2N & V2X)을 접목시키는 방안을 통하여 개개의 차량은 물론 교통체계의 전체적인 변화를 추구하고 있다. 이러한 첨단차량기술은 새로운 교통문화(차량공유시스템, 군집주행)의 개발과 또다른 교통체계의 연구로 확장되어가고 있다.