• International Journal of Control, Automation, and Systems
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• v.6 no.3
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• pp.401-412
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• 2008

This paper discusses a design methodology of cooperative path planning for dynamical multi-agent systems with spatial and temporal constraints. The cooperative behavior of the multi-agent systems is specified in terms of the objective function in an optimization formulation. The path of achieving cooperative tasks is then generated by the optimization formulation constructed based on a differential flatness approach. Three scenarios of multi-agent tasking are proposed at the cooperative task planning framework. Given agent dynamics, both spatial and temporal constraints are considered in the path planning. The path planning algorithm first finds trajectory curves in a lower-dimensional space and then parameterizes the curves by a set of B-spline representations. The coefficients of the B-spline curves are further solved by a sequential quadratic programming solver to achieve the optimization objective and satisfy these constraints. Finally, several illustrative examples of cooperative path/task planning are presented.

• Korean Journal of Radiology
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• v.25 no.3
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• pp.257-266
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• 2024

Objective: To investigate molecular and functional consequences of additional exposures to iodine- or gadolinium-based contrast agents within 24 hours from the initial intravenous administration of iodine-based contrast agents through an animal study. Materials and Methods: Fifty-six Sprague-Dawley male rats were equally divided into eight groups: negative control, positive control (PC) with single-dose administration of CT contrast agent, and additional administration of either CT or MR contrast agents 2, 4, or 24 hours from initial CT contrast agent injection. A 12 µL/g of iodinated contrast agent or a 0.47 µL/g of gadolinium-based contrast agent were injected into the tail vein. Serum levels of blood urea nitrogen, creatinine, cystatin C (Cys C), and malondialdehyde (MDA) were measured. mRNA and protein levels of kidney injury molecule-1 (KIM-1) and neutrophil gelatinase-associated lipocalin (NGAL) were evaluated. Results: Levels of serum creatinine (SCr) were significantly higher in repeated CT contrast agent injection groups than in PC (0.21 ± 0.02 mg/dL for PC; 0.40 ± 0.02, 0.34 ± 0.03, and 0.41 ± 0.10 mg/dL for 2-, 4-, and 24-hour interval groups, respectively; P < 0.001). There was no significant difference in the average Cys C and MDA levels between PC and repeated CT contrast agent injection groups (Cys C, P = 0.256-0.362; MDA, P > 0.99). Additional doses of MR contrast agent did not make significant changes compared to PC in SCr (P > 0.99), Cys C (P = 0.262), and MDA (P = 0.139-0.771) levels. mRNA and protein levels of KIM-1 and NGAL were not significantly different among additional CT or MR contrast agent groups (P > 0.05). Conclusion: A sufficient time interval, probably more than 24 hours, between repeated contrast-enhanced CT examinations may be necessary to avoid deterioration in renal function. However, conducting contrast-enhanced MRI on the same day as contrast-enhanced CT may not induce clinically significant kidney injury.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.134-138
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• 2005

There are several application have been developed on internet-based speech recognition. Internet-based speech recognition is a distributed application and there were various techniques and methods have been using for that purposed. Currently, client-server paradigm was one of the popular technique that been using for client-server communication in web application. However, there is a new paradigm with the same purpose: mobile agent technology. Mobile agent technology has several advantages working on distributed internet-based system. This paper presents, applying mobile agent technology in internet-based speech recognition which based on client-server processing architecture.

• Proceedings of the Korea Inteligent Information System Society Conference
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• 2000.11a
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• pp.169-177
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• 2000

In general, the size of index set of the emotion-based control is smaller than that of the logic-based control. And thus, by using the concept of emotion we can control the behavior's patterns of multiple persons more softly from the global viewpoint. The principle just mentioned, we think, can be applied on fille general purpose system. In this paper we presented a n : n negotiation model in the deal based on emotional agent. Through the emotional layers of the agents we tried to show that the flexible control of the negotiation process is possible especially in case of dynamic environment.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.5
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• pp.526-532
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• 2014

In this paper, we present and analyze a LQ (Linear Quadratic) inverse optimal state-consensus protocol for continuous-time multi-agent systems with undirected graph topology. By Lyapunov analysis of the state-consensus error dynamics, we show the sufficient conditions on the algebraic connectivity of the graph to guarantee LQ inverse optimality and closed-loop stability. A more relaxed stability condition is also provided in terms of the algebraic connectivity. Finally, a formation control protocol for multiple mobile robots is proposed based on the target LQ inverse optimal consensus protocol, and the simulation results are provided to verify the performance of the proposed LQ inverse formation control method.

• Journal of Mechanical Science and Technology
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• v.20 no.11
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• pp.1863-1872
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• 2006

In FMS (Flexible Manufacturing System) and CIM (Computer Integrated Manufacturing), machine-tools have been the target of integration in the last three decades. The conventional concept of integration is being changed into the autonomous manufacturing device based on the knowledge evolution by applying advanced information technology in which an open architecture controller, high-speed network and internet technology are included. In the advanced environment, the machine-tools is not the target of integration anymore, but has been the key subject of cooperation. In the near future, machine-tools will be more improved in the form of a knowledge-evolutionary intelligent device. The final goal of this study is to develop an intelligent machine having knowledge-evolution capability and a management system based on internet operability. The knowledge-evolutionary intelligent machine-tools is expected to gather knowledge autonomically, by producing knowledge, understanding knowledge, reasoning knowledge, making a new decision, dialoguing with other machines, etc. The concept of the knowledge-evolutionary intelligent machine is originated from the machine control being operated by human experts' sense, dialogue and decision. The structure of knowledge evolution in M2M (Machine to Machine) and the scheme for a dialogue agent among agent-based modules such as a sensory agent, a dialogue agent and an expert system (decision support agent) are presented in this paper, with intent to develop the knowledge-evolutionary machine-tools. The dialogue agent functions as an interface for inter-machine cooperation. To design the dialogue agent module in an M2M environment, FIPA (Foundation of Intelligent Physical Agent) standard platform and the ping agent based on FIPA are analyzed in this study. In addition, the dialogue agent is designed and applied to recommend cutting conditions and thermal error compensation in a tapping machine. The knowledge-evolutionary machine-tools are expected easily implemented on the basis of this study and shows a good assistance to sensory and decision support agents.

• ETRI Journal
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• v.29 no.2
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• pp.169-178
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• 2007

With the advent of ubiquitous computing environments, it has become increasingly important for applications to take full advantage of contextual information, such as the user's location, to offer greater services to the user without any explicit requests. In this paper, we propose context-aware active services based on context-aware middleware for URC systems (CAMUS). The CAMUS is a middleware that provides context-aware applications with a development and execution methodology. Accordingly, the applications based on CAMUS respond in a timely fashion to contextual information. This paper presents the system architecture of CAMUS and illustrates the content recommendation and control service agents with the properties, operations, and tasks for context-aware active services. To evaluate CAMUS, we apply the proposed active services to a TV application domain. We implement and experiment with a TV content recommendation service agent, a control service agent, and TV tasks based on CAMUS. The implemented content recommendation service agent divides the user's preferences into common and specific models to apply other recommendations and applications easily, including the TV content recommendations.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.149.2-149
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• 2001

In this paper, we present an agent-based transportation routing method in a semi-conductor production line. The main characteristic of the proposed method is that each AGV agent individually searches candidates of its route with reference of the pheromone information based on the use of an analogy of Ant System. The proposed method is applied to several routing problems. The performances of the proposed method are compared with those of a Genetic Algorithm. The effectiveness of the proposed method is conrmed by many numerical examples. In order to demonstrate the effectiveness of the proposed method for an actual problem, the proposed method is applied to a dynamic motion planning. The proposed method ...

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.149.3-149
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• 2001

Task allocation is a key problem in multiagent systems. The importance of automated negotiation protocols for solving the task allocation problem is increasing as a consequence of increased multi-agent applications. In this paper, we introduce the multiagent Traveling Salesman Problem(TSP) as an example of task reallocation problem, and suggest Vickery auction as an inter-agent coordination mechanism for solving this problem. In order to apply this market-based coordination mechanism into multiagent TSPs, we define the profit of each agent, the ultimate goal of negotiation, cities to be traded out through auctions, the bidding strategy, and the order of auctions. The primary advantage of such approach is that it can find an optimal task allocation ...

• Journal of the Institute of Convergence Signal Processing
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• v.24 no.2
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• pp.103-111
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• 2023

Consensus, that aims to converge the states of agents to the same states through information exchanges between agents, has been widely studied to control the multi-agent systems. In real systems, the measurement variables of each agent may be different, the loss of information across communication may occur, and the different networks for each state may need to be constructed for safety. Moreover, the input saturation and the disturbances in the system may cause instability. Therefore, this paper studies the PID(Proportional-Integral-Derivative)-based consensus control to achieve the swarm behavior of the multi-agent systems considering the heterogeneous state information, the input saturations, and the disturbances. Specifically, we consider the multiple follower agents and the single leader agent modeled by the second-order systems, and investigate the conditions to achieve the consensus based on the stability of the error system. It is confirmed that the proposed algorithm can achieve the consensus if only the connectivity of the position graph is guaranteed. Moreover, by extending the consensus algorithm, we study the formation control problem for the multi-agent systems. Finally, the validity of the proposed algorithm was verified through the simulations.