• Journal of information and communication convergence engineering
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• 제11권1호
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• pp.24-29
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• 2013

In this paper, we propose a fuzzy inference model for a navigation algorithm for a mobile robot that intelligently searches goal location in unknown dynamic environments. Our model uses sensor fusion based on situational commands using an ultrasonic sensor. Instead of using the "physical sensor fusion" method, which generates the trajectory of a robot based upon the environment model and sensory data, a "command fusion" method is used to govern the robot motions. The navigation strategy is based on a combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance based on a hierarchical behavior-based control architecture. To identify the environments, a command fusion technique is introduced where the sensory data of the ultrasonic sensors and a vision sensor are fused into the identification process. The result of experiment has shown that highlights interesting aspects of the goal seeking, obstacle avoiding, decision making process that arise from navigation interaction.

• 한국조명전기설비학회:학술대회논문집
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• 한국조명전기설비학회 1992년도 추계학술발표회논문집
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• pp.32-36
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• 1992

This paper develops the dynamic equivalents program combined with graphic user interface(GUI), to solve the stability of large power system. The p개posed method is coherency-based dynamic equivalents for transient stability studies. The program also provides with pull-down menu and Hangout help information for users. The developed dynamic equivalents program is suitable for the transient stability studies of a large power system with lots of data. The dynamic equivalents demonstrated over the New England system with 39 buses and 10 generators.

• 제어로봇시스템학회논문지
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• 제17권4호
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• pp.362-367
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• 2011

The collision-free path of a manipulator should be regenerated in the real time to achieve collision safety when obstacles or humans come into the workspace of the manipulator. A probabilistic roadmap (PRM) method, one of the popular path planning schemes for a manipulator, can find a collision-free path by connecting the start and goal poses through the roadmap constructed by drawing random nodes in the free configuration space. The path planning method based on the configuration space shows robust performance for static environments which can be converted into the off-line processing. However, since this method spends considerable time on converting dynamic obstacles into the configuration space, it is not appropriate for real-time generation of a collision-free path. On the other hand, the method based on the workspace can provide fast response even for dynamic environments because it does not need the conversion into the configuration space. In this paper, we propose an efficient real-time path planning by combining the PRM and the potential field methods to cope with static and dynamic environments. The PRM can generate a collision-free path and the potential field method can determine the configuration of the manipulator. A series of experiments show that the proposed path planning method can provide robust performance for various obstacles.

• 인터넷정보학회논문지
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• 제7권2호
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• pp.137-149
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• 2006

본 논문에서는 컴퓨터 게임 환경에서 에이전트들의 효율적인 협력과 팀워크를 위한 메시지 기반의 통신 프로토콜과 동적 역할 배정 방법을 제시한다. 본 논문에서 제시하는 동적 역할 배정 방식은 설계단계 혹은 실행단계에서 역할 배정에 필요한 모든 사항을 결정하는 기존의 정적 역할 배정 방식이나 동적 역할 배정 방식과는 다른 새로운 역할 배정 방식이다. 이 역할 배정 방식에 따르면, 설계단계에서 가능한 역할집합들을 미리 결정하지만, 이 역할집합에 명시된 각각의 역할을 어느 에이전트가 맡아 수행할 것인가는 실행단계에 가서 결정한다. 이 방법은 역할배정에 필요한 실행단계의 협상을 최소화할 수 있는 방법으로서, 실시간 멀티 에이전트 환경에 매우 효과적인 방법이다. 본 본문에서는 실험을 통해 새로운 동적 역할 배정 방식의 우수성을 보인다.

• 한국항공우주학회지
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• 제47권5호
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• pp.379-387
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• 2019

다중 임무점 방문을 위한 경로 계획의 복잡도는 단일 구간 경로 계획을 위한 복잡도보다 크게 더 높다. n개의 다중 임무점을 방문하는 경로 계획을 위해서는 $n^2+n$번의 단일 구간 경로 계획이 필요하다. 본 논문에서는 동적 변화 환경에서 다중 임무점을 방문하기 위한 최적의 경로 계획 알고리즘인 Multiple Mission $D^*$ Lite($MMD^*L$) 알고리즘을 제안하였다. $MMD^*L$은 앞서 수행된 단일 구간 경로 계획 정보를 재사용함으로써 복잡도를 감소시킨다. 시뮬레이션 결과를 통해 경로의 최적성은 양보하지 않으면서도 복잡도가 급격하게 감소하였음을 확인하였다.

• 제어로봇시스템학회논문지
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• 제17권12호
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• pp.1227-1233
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• 2011

An effective method of obstacle avoidance for omni-directional mobile robots is proposed to avoid moving obstacles in dynamic environments. Our method uses the concept of circle lists which represent the trajectories of robot and obstacles. This method predicts not only collision position but also collision time, and hence it enables the robot avoiding the most urgent collision first. In order to avoid obstacles, our method uses artificial repulsive force and contraction force. Simulation results show that the robot could avoid obstacles effectively.

• 제어로봇시스템학회논문지
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• 제16권3호
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• pp.233-238
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• 2010

This paper describes a multi-mobile robot system with fuzzy rule based structure in collision avoidance. Collision avoidance is an important function to perform a given task collaboratively and cooperatively in multi-mobile robot environments. So the important but challenging problem is handled in this paper. Considered obstacles for collision avoidance between multi mobile robots are static, dynamic, or both of them at the same time. Using the fuzzy rule based structure, distance and angle from a robot to obstacles are described as fuzzy linguistic values and steering angle for the robot are updated from the collision environments. As a result, the multi-mobile robot can modify a global path from a robot itself to its own target. In addition, avoiding collision with static or dynamic obstacles for the robot system can be achieved. Simulation based experimental results are given to show usefulness of this method.

• Architectural research
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• 제14권1호
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• pp.3-9
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• 2012

Owing to the advent of ubiquitous computing technologies, the concept of Intelligent Environments has emerged, as an alternative approach to overcome the limitation of the built environment. Intelligent Environments can be more responsive to user-and context-specific human activities by automatically and dynamically modifying their settings without explicit human intervention. However, the conventional approach to the development of Intelligent Environments has mainly focused on the technical issues without paying much attention to the dynamic interrelationship between the user and the built environment. Therefore, differing or conflicting needs of multiple simultaneous users remain unresolved. The objective of this study is to present types of environmental conflicts and their resolution through agent collaboration and negotiation. For the demonstration and validation of the conflict resolution process, a set of hypothetical test cases is simulated in a 3D test environment. The result of the case simulations shows that the proposed approach is computationally feasible and applicable to the development of Intelligent Environments, and, furthermore, it can overcome the drawback of the conventional approach.

• 제어로봇시스템학회논문지
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• 제5권6호
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• pp.724-733
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• 1999

An effective method of system modeling and dynamic scheduling for the back-end line of semiconductor manufacturing is proposed. The virtual factory, describing semiconductor manufacturing line, is designed in detail, and then a Petri net model simulator is developed for operation and control of the modular cells of the virtual factory. The petri net model is a colored timed Petri nets (CTPNs). The simulator will be utilized to analyze and evaluate various dynamic status and operatons of manufacturing environments. The dynamic schedulaer has a hierarchical structure with the higher for planning level and the lower for dynamic scheduling level. The genetic algorithm is applied to extract optimal conditions of the scheduling algorithm. The proposed dynamic scheduling is able to realize the semiconductor manufacturing environments for the diversity of products, the variety of orders by many customers, the flexibility of order change by changing market conditions, the complexity of manufacturing processes, and the uncertainty of manufacturing resources. The proposed method of dynamic scheduling is more effective and useful in dealing with such recent pressing requirements including on-time delivery, quick response, and flexibility.

• 제어로봇시스템학회논문지
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• 제12권2호
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• pp.154-160
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• 2006

Instantaneous reaction and intelligence are required for autonomous mobile robots to achieve multiple goals in the unpredictable and dynamic environments. Design of the appropriate control architecture and clear definitions of systems are needed to construct and control these robots. This research proposes the hybrid deliberative/reactive control architecture which consists of three layers and uses the method of software structure design. The highest layer, Deliberative Layer makes the overall run-time schedule for navigation and/or manipulation, and the middle layer, Task Execution Layer carries out various missions. The lowest layer, Reactive Layer enables a robot to react rapidly in the dynamic environment and controls the mechanical devices concurrently. This paper proposes independent system supervisors called Manager to reuse the modules so that the Manager supports common use of the system and multi-processing tasks. It is shown that the mobile robot based on the proposed control scheme can perform the basic navigation and cope with the dynamic obstacles reasonably well.