• Advances in robotics research
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• v.2 no.1
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• pp.59-68
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• 2018

Autonomous mobile service medical robots (AMSMRs) are one of the promising developments in contemporary medical robotics. In this study, we consider the essential technical and intellectual abilities needed by AMSMRs. Based on expert analysis of the behavior exhibited by AMSMRs in clinics under basic scenarios, these robots can be classified as intellectual dynamic systems acting according to a situation in a multi-object and multi-agent environment. An AMSMR should identify different objects that define the presented territory (rooms and paths), different objects between and inside rooms (doors, tables, and beds, among others), and other robots. They should also identify the means for interacting with these objects, people and their speech, different information for communication, and small objects for transportation. These are included in the minimum set required to form the internal world model in an AMSMR. Recognizing door handles and opening doors are some of the most difficult problems for contemporary AMSMRs. The ability to recognize the meaning of human speech and actions and to assist them effectively are other problems that need solutions. These unresolved issues indicate that AMSMRs will need to pass through some learning and training programs before starting real work in hospitals.

• Proceedings of the Korea Inteligent Information System Society Conference
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• 2001.01a
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• pp.65-70
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• 2001

We consider a hyper-redundant system that consists of many uniform units. The hyper-redundant system has many degrees of freedom and it can accomplish various tasks. Applysing the reinforcement learning to the hyper-redundant system is very attractive because it is possible to acquire various behaviors for various tasks automatically. In this paper we present a new reinforcement learning algorithm "Q-learning with propagation of motion". The algorithm is designed for the multi-agent systems that have strong connections. The proposed algorithm needs only one small Q-table even for a large scale system. So using the proposed algorithm, it is possible for the hyper-redundant system to learn the effective behavior. In this algorithm, only one leader agent learns the own behavior using its local information and the motion of the leader is propagated to another agents with time delay. The reward of the leader agent is given by using the whole system information. And the effective behavior of the leader is learned and the effective behavior of the system is acquired. We apply the proposed algorithm to a snake-like hyper-redundant robot. The necessary condition of the system to be Markov decision process is discussed. And the computer simulation of learning the locomotion is demonstrated. From the simulation results we find that the task of the locomotion of the robot to the desired point is learned and the winding motion is acquired. We can conclude that our proposed system and our analysis of the condition, that the system is Markov decision process, is valid.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.12 no.6
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• pp.2895-2921
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• 2018

Security has become one of the major concerns in mobile adhoc networks (MANETs). Data and voice communication amongst roaming battlefield entities (such as platoon of soldiers, inter-battlefield tanks and military aircrafts) served by MANETs throw several challenges. It requires complex securing strategy to address threats such as unauthorized network access, man in the middle attacks, denial of service etc., to provide highly reliable communication amongst the nodes. Intrusion Detection and Prevention System (IDPS) undoubtedly is a crucial ingredient to address these threats. IDPS in MANET is managed by Command Control Communication and Intelligence (C3I) system. It consists of networked computers in the tactical battle area that facilitates comprehensive situation awareness by the commanders for timely and optimum decision-making. Key issue in such IDPS mechanism is lack of Smart Learning Engine. We propose a novel behavioral based "Smart Multi-Instance Multi-Label Intrusion Detection and Prevention System (MIML-IDPS)" that follows a distributed and centralized architecture to support a Robust C3I System. This protocol is deployed in a virtually clustered non-uniform network topology with dynamic election of several virtual head nodes acting as a client Intrusion Detection agent connected to a centralized server IDPS located at Command and Control Center. Distributed virtual client nodes serve as the intelligent decision processing unit and centralized IDPS server act as a Smart MIML decision making unit. Simulation and experimental analysis shows the proposed protocol exhibits computational intelligence with counter attacks, efficient memory utilization, classification accuracy and decision convergence in securing C3I System in a Tactical Battlefield environment.

• Proceedings of the Korean Information Science Society Conference
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• 1999.10b
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• pp.110-112
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• 1999

행위자는 관찰 혹은 결론에 대해 최대로 일관성이 있는 지식베이스의 확장을 필요로 한다. 이와 같은 지식베이스 확장은 상호간에 부합하지 않고 서로 충돌하는 결론을 가지는 모순되는 많은 확장들을 수반한다. 본 논문에서는 adbuction의 개념을 이용하여 지식베이스를 확장시키는 방법을 소개한다. 한편 다중 행위자 시스템에서 문제 해결자로 부르는 행위자들이 효율적으로 상호작용하도록 자동화된 행위자들을 어떻게 설계할 것인가는 매우 중요한 사항이다. 따라서 행위자는 각각의 목표를 통신하여 상호 도움이 되는 일치 상황에 도달하기 위해 타협하도록 설계되어야 한다. 본 논문에서는 argumentation 시스템을 이용하여 믿음, 소망, 그리고 의지를 가진 BDI 행위자 구조를 위한 기초적인 자동화된 협상 모델을 소개한다.

• Journal of KIISE:Software and Applications
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• v.28 no.7
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• pp.478-492
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• 2001

본 논문은 다양한 종류의 분산 인공지능 문제들을 에이전트라는 추상적 단위와 에이전트간의 상호작용을 토대로 해결하는 다중 에이전트 시스템을 개발하는 체계적 접근방법으로서 개발 방법론의 핵심인 아키텍쳐의 개발방법을 제안한다. 목표를 기반으로 문제영역을 이해하고, 여기에서 추출된 에이전트들을 이용하여 시스템을 개발함에 있어 지침이 되는 아키텍쳐 개발공정을 다중 에이전트 시스템의 특성인 조정과 자율성을 고려하여 제안한다. 각 관점마다 적용될 수 있는 아키텍쳐 스타일과 패턴들을 정의하고, 제안한 아키텍쳐를 UML(Unified Modeling Language)을 이용하여 표현하며, 아키텍쳐를 설명하는 ADL(Architecture Description Language)을 이용하여 정형화시킨다. 또한, 이를 지능형 교통시스템의 출발전 교통정보 안내 서브시스템에 적용, 구현함으로써, 제안하는 아키텍쳐를 검증해 보고, 이를 기반으로 소프트웨어를 개발하는 기초를 마련한다.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.621-624
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• 1997

This paper presents the design procedure for soccer-playing rovots based on the centralized approach. Using a fast vision system, we obtain the configuration of each robot and then the host computer computes the desired motion and commands each robot directly via RF communication. The robot soccer game has a lot of problems such as obstacle avoidance, coordination between robots, dribbling the ball, and so on. To implement such motions, we think that the centralized approach seems to be more powerful than the distributed approach. We describe the technical tips for developing the robots in detail here and explain our strategy for getting the scores.

• Proceedings of the Korean Information Science Society Conference
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• 2002.04a
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• pp.88-90
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• 2002

본 논문은 기존의 멀티 에이전트 기반의 결함 포용 기법에서 결함 포용 정보를 쓰레기 처리하는 쓰레기 처리 에이전트를 제안한다. 쓰레기 처리 에이전트는 정보 에이전트의 영역지식에서 불필요한 결함 포용 정보의 제거 시점을 찾아내고, 이를 정보 에이전트에 알린다. 쓰레기 처리기법에 멀티 에이전트 개념의 도입은 부가적인 메시지 전송을 하지 않고 쓰레기 처리 에이전트를 이용하여 운영체제에서 독립적인 쓰레기 처리를 가능하게 한다. 결함 포용 정보의 쓰레기 처리는 프로세스의 검사점 간격을 이용하여 쓰레기 처리 시점을 결정하기에 결함 발생 후 재수행시 손실메시지 발생으로 인한 불필요한 복귀를 막을 수 있고 에이전트를 사용함으로 쓰레기 처리 기법의 이식성과 확장성의 증대론 기대할 수 있다.

• Nuclear Engineering and Technology
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• v.41 no.3
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• pp.225-236
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• 2009

This study has identified human performance research issues associated with the implementation of new technology in nuclear power plants (NPPs). To identify the research issues, current industry developments and trends were evaluated in the areas of reactor technology, instrumentation and control technology, human-system integration technology, and human factors engineering (HFE) methods and tools. The issues were prioritized into four categories based on evaluations provided by 14 independent subject matter experts representing vendors, utilities, research organizations and regulators. Twenty issues were categorized into the top priority category. The study also identifies the priority of each issue and the rationale for those in the top priority category. The top priority issues were then organized into research program areas of: New Concepts of Operation using Multi-agent Teams, Human-system Interface Design, Complexity Issues in Advanced Systems, Operating Experience of New and Modernized Plants, and HFE Methods and Tools. The results can serve as input to the development of a long-term strategy and plan for addressing human performance in these areas to support the safe operation of new NPPs.

• Proceedings of the Korea Inteligent Information System Society Conference
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• 2002.11a
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• pp.432-444
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• 2002

본 연구에서는 전자상거래의 확산에 따른 환경변화 속에서 다품종소량생산체제의 특성을 가진 주문제조업체들이 동적으로 변화하는 환경과 다양한 고객들의 주문에 대응하여 경쟁력을 제고시키기 위한 멀티에이전트 기반 협상지원시스템(MANESS)을 개발하였다. 이 시스템은 동적으로 변하는 환경과 고객들의 주문에 대응하기 위한, 그리고 유연한 시스템 구조를 이루기 위한 새로운 패러다임으로 부각되는 에이전트기술을 사용하였다. 그 중에서도, 에이전트간의 협업을 통해 문제를 해결하는 멀티에이전트기술을 사용하여 시스템을 개발하였다. 이 시스템은 주문제조업체에서 가장 중요한 거래활동인 협상의 자동화를 통해 주문에서부터 생산에 이르는 일련의 모든 거래활동을 자동화하는 것이다.

• Management Science and Financial Engineering
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• v.11 no.3
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• pp.125-136
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• 2005

As the importance of time-based competition is increasing, information systems for supporting the immediate decision making is strongly required. Especially high -tech product firms are under extreme pressure of rapid response to the demand side due to relatively short life cycle of the product. Therefore, the objective of our research is proposing a framework of estimating demand curve based on e-auction data, which is extremely easy to access and well reflect the limited demand curve in that channel. Firstly, we identify the advantages of using e-auction data for full demand curve estimation and then verify it using Agent-Eased-Modeling and Tobin's censored regression model.