• Advances in Computational Design
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• v.3 no.4
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• pp.339-366
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• 2018

Parametric design systems serve as powerful assistive tools in the design process by providing a flexible approach for the generation of a vast number of design alternatives. However, contemporary parametric design systems focus primarily on low-level engineering and structural forms, without an explicit means to also take into account high-level, cognitively motivated people-centred design goals. We present a precedent-based parametric design method that integrates people-centred design "precedents" rooted in empirical evidence directly within state of the art parametric design systems. As a use-case, we illustrate the general method in the context of an empirical study focusing on the multi-modal analysis of wayfinding behaviour in two large-scale healthcare environments. With this use-case, we demonstrate the manner in which: (1). a range of empirically established design precedents -e.g., pertaining to visibility and navigation- may be articulated as design constraints to be embedded directly within state of the art parametric design tools (e.g., Grasshopper); and (2). embedded design precedents lead to the (parametric) generation of a number of morphologies that satisfy people-centred design criteria (in this case, pertaining to wayfinding). Our research presents an exemplar for the integration of cognitively motivated design goals with parametric design-space exploration methods. We posit that this opens-up a range of technological challenges for the engineering and development of next-generation computer aided architecture design systems.

• Journal of the Korea Society of Computer and Information
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• v.26 no.3
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• pp.9-17
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• 2021

In this paper, an autonomous multi-agent path planning using reinforcement learning for monitoring of infrastructures and resources in a computationally distributed system was proposed. Reinforcement-learning-based multi-agent exploratory system in a distributed node enable to evaluate a cumulative reward every action and to provide the optimized knowledge for next available action repeatedly by learning process according to a learning policy. Here, the proposed methods were presented by (a) approach of dynamics-based motion constraints multi-agent path-planning to reduce smaller agent steps toward the given destination(goal), where these agents are able to geographically explore on the environment with initial random-trials versus optimal-trials, (b) approach using agent sub-goal selection to provide more efficient agent exploration(path-planning) to reach the final destination(goal), and (c) approach of reinforcement learning schemes by using the proposed autonomous and asynchronous triggering of agent exploratory phases.

• Nuclear Engineering and Technology
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• v.55 no.9
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• pp.3268-3276
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• 2023

The practice of identifying the potential zones for mineral exploration in a speedy and low-cost method includes the use of satellite imagery analysis as a part of remote sensing techniques. It is challenging to explore the iron mineralization of a region through conventional methods which are a time-consuming process. The current study utilizes the Hyperion satellite imagery for mapping the iron mineralization and associated geological features in the Irikkur region, Kannur, Kerala. Along with the remote sensing results, the field study and laboratory-based analysis were conducted to retrieve the ground truth point and geochemical proportion to verify the iron ore mineralization. The MC simulation showed for shielding properties indicate an increase in the linear attenuation coefficient with raising the Fe₂O₃+SiO₂ concentrations in the investigated rocks where it is varied at 0.662 MeV in the range 0.190 cm^-1 - 0.222 cm^-1 with rising the Fe₂O₃+SiO₂ content from 57.86 wt% to 71.15 wt%. The analysis also revealed that when the γ-ray energy increased from 0.221 MeV to 2.506 MeV, sample 1 had the largest linear attenuation coefficient, ranging from 9.33 cm1 to 0.12 cm^-1. Charnockite rocks were found to have exceptional shielding qualities, making them an excellent natural choice for radiation shielding applications.

• Tunnel and Underground Space
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• v.29 no.1
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• pp.1-11
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• 2019

This study investigated use cases of machine learning technology in domestic medical, manufacturing, finance, automobile, urban sectors and those in overseas mining industry. Through a literature survey, it was found that the machine learning technology has been widely utilized for developing medical image information system, real-time monitoring and fault diagnosis system, security level of information system, autonomous vehicle and integrated city management system. Until now, the use cases have not found in the domestic mining industry, however, several overseas projects have found that introduce the machine learning technology to the mining industry for improving the productivity and safety of mineral exploration or mine development. In the future, the introduction of the machine learning technology to the mining industry is expected to spread gradually.

• Korean Educational Research Journal
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• v.38 no.3
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• pp.167-188
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• 2018

The purpose of this study is to suggest safety education on life science inquiry activity, which subjects on the exploration and autonomous research to the relevant topics, mainly done by the science high school students. Investigation was made on subjects of research activity proposed from Life science and autonomous research from science high school students by examine thoroughly 2009 revised education curriculum. To prevent school laboratory accidents, education of basic safety regulations and general precautions should be repeatedly notified by clear statements and expression to each topic. Expressing the safety factors considering the themes of autonomous inquiry and activities presented in the course of education should be done, so that students should not experience laboratory accidents by reason of ignorance. From the beginning of organization to performing research, safety rules about disposing chemicals and tools wastes occurring during research should be noticed and expressed in precautions following waste disposal system should be adopted. It is necessary to level up the accessibility of information about the laboratory safety rules to confirm to the every student, and also ensure the takeover of the clean-up and use of utilities at the time of search end in order to prevent the incidence of laboratory accidents during the thorough stages of biological inquiry activities.

• Electronics and Telecommunications Trends
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• v.35 no.6
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• pp.137-149
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• 2020

Several multi-agent reinforcement learning (MARL) algorithms have achieved overwhelming results in recent years. They have demonstrated their potential in solving complex problems in the field of real-time strategy online games, robotics, and autonomous vehicles. However these algorithms face many challenges when dealing with massive problem spaces in sparse reward environments. Based on the centralized training and decentralized execution (CTDE) architecture, the MARL algorithms discussed in the literature aim to solve the current challenges by formulating novel concepts of inter-agent modeling, credit assignment, multiagent communication, and the exploration-exploitation dilemma. The fundamental objective of this paper is to deliver a comprehensive survey of existing MARL algorithms based on the problem statements rather than on the technologies. We also discuss several experimental frameworks to provide insight into the use of these algorithms and to motivate some promising directions for future research.

• The Journal of Korea Robotics Society
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• v.7 no.4
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• pp.284-291
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• 2012

Recently, development of underwater robot has actively been in progress in the world as ROV(Remotely Operator Vehicle) and AUV(Autonomous Unmmanded Vehicle) style. But KIOST(Korea Institute of Ocean Science and Technology), beginning in 2010, launched the R&D project to develop the robot, dubbed CRABSTER(Crab + (Lob)ster) in a bid to enhance the safety and efficiency of resource exploration. CRABSTER has been designed to be able to walk and swim with its own legs without screws. Among many research subjects regarding CRABSTER, optimal swimming patterns are handled in this paper. In previous studies, drag forces during one period with different values for angle of each joint were derived. However kinematics of real-robot and fluid-dynamics are not considered. We conducted simulations with an optimization algorithm for swimming by considering simplified fluid dynamics in this paper. Drag-coefficients applied to the simulation were approximated values calculated by CFD(Computational Fluid Dynamics : Tecplot 360, ANSYS). In addition, optimized swimming patterns were applied to a real robot. The experiments with the real robot were conducted in circumstances in the water. As a result, when the experiments were carried out in the water, a regular pattern of drag force output came out depending on the movement of the robot. We confirmed the fact that the drag forces from the simulation and the experiment has a high similarity.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.9
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• pp.909-915
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• 2008

Recently, the interests in the development and application of unmaned robots are increasing in various fields including surveillance and reconnaissance, planet exploration, and disaster relief. Unmaned robots are usually controlled from distance using radio communications but they should be equipped with an autonomous travelling function to cope with unexpected terrains and obstacles. This means that they should be able to evaluate terrain's characteristics quantitatively using mounted sensors so as to traverse harsh natural terrains autonomously. For this purpose, this paper presents a method for extracting terrain information, that is, slope and roughness from elevation maps as a prior step of traversability analysis. Slope is extracted using the curve fitting based on the least squares method and roughness using three metrics and their weighted average. The effectiveness of the proposed method is verified on both a fractal map and the world model map of a real terrain.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2008.04a
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• pp.233-236
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• 2008

Recently, the development and application of unmaned robots are increasing in various fields including surveillance and reconnaissance, planet exploration and disaster relief. Unmaned robots are usually controlled from distance using radio communications but they should be equipped with autonomous travelling function to cope with unexpected terrains and obstacles. This means that unmanned robots should be able to evaluate terrain's characteristics quantitatively using mounted sensors so as to traverse harsh natural terrains autonomously. For this purpose, this paper presents an algorithm for extracting terrain information from elevation maps as an early step of traversability analysis. Slope and roughness information are extracted from a world terrain map based on least squares method and fractal theory, respectively. The effectiveness of the proposed algorithm is verified on both fractal and real terrain maps.

• Journal of Ocean Engineering and Technology
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• v.27 no.6
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• pp.65-72
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• 2013

This paper describes a finite element analysis (FEA) of the body frame of a subsea robot, Crabster200 (CR200). CR200 has six legs for mobility instead of screw type propellers, which distinguishes it from previous underwater robots such as remotely operated vehicles (ROVs) and autonomous underwater vehicles (AUVs). Another distinguishing characteristic is the body frame, which is made of carbon fiber reinforced plastic (CFRP). This body frame is designed as a rib cage structure in order to disperse the applied external loads and reduce the weight. The frame should be strong enough to support many devices for exploration and operation underwater. For a reasonable FEA, we carried out specimen tests. Using the obtained material properties, we performed a modal analysis and FEA for CR200 with a ready posture. Finally, this paper presents the FEA results for the CFRP body frame and the compares the characteristics of CFRP with conventional material, aluminum.