• Journal of the Korean Society for Precision Engineering
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• v.29 no.12
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• pp.1321-1330
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• 2012

This paper describes an advanced formation algorithm of clustered multiple robots for their navigation using flexible formation method for collision avoidance under static environment like narrow corridors. A group of clustered multiple robots finds the lowest path cost for navigation by changing its formation. The suggested flexible method of formation transforms the basic group of mobile robots into specific form when it is confronted by particular geographic feature. In addition, the proposed method suggests to choose a leader robot of the group for the obstacle avoidance and path planning. Firstly, the group of robots forms basic shapes such as triangle, square, pentagon and etc. depending on number of robots. Secondly, the closest to the target location robot is chosen as a leader robot. The chosen leader robot uses $A^*$ for reaching the goal location. The proposed approach improves autonomous formation characteristics and performance of all system.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.8
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• pp.56-64
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• 1997

In distributed autonomous robotic systems, each robot must behaves by itself according to the its states and environements, and if necessary, must cooperates with other orbots in order to carray 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 learning and evolution method based on reinforement learning having delayed reward ability and distributed genectic algorithms is proposed for behavior learning and evolution of collective autonomous mobile robots. Reinforement learning having delayed reward is still useful even though when there is no immediate reward. 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 perfodrmance 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.

• KEPCO Journal on Electric Power and Energy
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• v.6 no.1
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• pp.1-5
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• 2020

사물인터넷, 인공지능, 로봇공학, 증강현실, 가상현실과 같은 고급 기술의 융합과 사용자 행동의 변화가 미래 사업의 모습을 다시 만들고 있다. 기업이 어떻게 잠재적 변화, 작업 공간의 설계, 업무의 정의, 업무 절차를 인식하느냐가 기업이 경쟁 우위를 갖게 하는 데 도움이 되는 중요한 요인이다. Frost & Sullivan은 사회적 진화, 미래에도 견고한 사업 모델, 기술 혁신 등 미래 사업의 모습을 만들어갈 3개의 중요한 동인을 찾아냈다. 실제 작업 공간에서 작업자와 기계의 융합, 사람과 공간의 융합과 같은 트랜드가 사이버 작업 공간에 일어날 것으로, 이를 통해 점진적으로 사업과 업무의 미래 모습을 만들 것이다. 하지만 디지털 전환을 받아들이는 와중에 기업은 숙련된 인력의 부족, 기술의 정렬, 직원 반발, 사이버 보안, 조직 구조와 사고 방식 등과 같은 문제를 해결해야만 한다. 이런 문제들을 해결하기 위해 SHARED 방법론이 기술 수용과 업무 절차 개선에 관심이 있는 기업을 위한 가이드라인 역할을 할 수 있다. 시장에서 성공하기 위해 기술 솔루션 제공자(Technology Solution Provider)는 서비스 제공자로서 역할을 계속하는 동시에, 고객에게 인력 관리 솔루션의 필요성을 교육해야 한다. 기술 솔루션 제공자는 디지털 전환 과정에서 기업과 동반할 믿음직한 조언자이자 장기적 파트너에 기초한 사업 관계를 구축해야만 한다.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.8
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• pp.264-273
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• 2013

The importance of the robots has emerged as the means of minimizing the casualties in the future war, and, thus, the biomimetic robots mimicking the optimized organisms has been actively studied. The robot inspired lizard is suitable for reconnaissance and the surveillance in narrow areas. In this paper, we analyzed the locomotion of a lizard by motion capture system using the infrared markers. We attached 21 markers to the joints of the lizard. By considering the measured data, we analyzed the walking motion of the lizard which trots in a sprawled posture. Moreover, we proposed the 25 dof kinematic model which was able to reproduce the gait of the lizard faithfully. The model was verified by simulations.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.37 no.5
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• pp.19-28
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• 2000

It is not so easy to control the wheeled mobile robot because of some causes like non-holonomic constraints. To overcome these problems, a controller that PD system is combined with fuzzy process is composed of several steps that have each separate algorithm and niche search algorithm and immune algorithm is applied partly. Output term set is changed by search that is performed to get optimal elements and then the rule base is also reformed. The fitness for the altered system is estimated and the surplus elements are removed. After the adjustment of output term set and rule base is finished, input and output membership functions is tuned.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.3
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• pp.34-38
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• 2007

There has been skeptical aspects for the robot to be effective in combat fields even though consensus of operational needs and some technological advancements. One of fundamental problems is difficulties in the autonomous technology applicable. This technology is not sufficient to be applied for heavy combat operation, therefore, developer first make open architecture, then, application is implemented on the condition that new functions or technologies will be developed later. It is also required to partition all the functions with common segments which are general to all platforms in order to operate together in the fields and to reduce the load of development to each platform respectively. In addition, common middleware based on the reference architecture is also developed to accommodate new technology evolution. This paper introduces the architecture and middleware applied in XAV(eXperimental Autonomous Vehicle) developed in ADD. In addition, the performance of autonomous navigation and system design characteristics are introduced briefly.