• Proceedings of the Korea Information Processing Society Conference
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• 2020.11a
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• pp.1034-1035
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• 2020

인공지능은 스스로 학습하며 기존 통계 분석보다 탁월한 분석 역량을 지니고 있어 스마트팩토리 혁신에 새로운 전기를 마련할 것으로 기대된다. 이를 증명하듯 스마트팩토리의 주요 분야인 공정 간 연계 제어, 전문가 공정 제어, 로봇 자동화 등에서 활발한 연구가 이어지고 있다. 본 논문에서는 소포물 분류 시스템에 전통적인 룰 기반의 제어 방식 대신 다중 에이전트 강화 학습 제어 방식을 설계 및 적용하여 효과적인 행동 제어가 가능함을 입증한다.

• Proceedings of the Korea Inteligent Information System Society Conference
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• 2002.11a
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• pp.363-369
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• 2002

가정 내에서의 초고속망 이용이 활성화되면서 가정 내에서의 활동은 매우 다양하고 복잡하며 그에 따른 서비스도 여러 가지 형태가 존재한다. 외부 인터넷망과 연동되는 홈 네트워크의 개념이 생기기 전부터 흠 오토메이션, 홈시큐리티 등의 서비스를 제공하기 위한 고립적인 형태의 망과 서비스 제공 시스템이 있었다. 월드 와이드 웹 서비스를 기본으로 한 인터넷의 폭발적인 활성화와 고속 인터넷망의 확산에 따라 가정 내에서 제공되는 서비스를 인터넷과 연계시키려는 시도가 보편화되었고 가정 내에서 사용되는 독립적인 기기들을 인터넷에 연결하여, 외부의 정보를 이용해서 활용하거나, 가전내의 기기들을 외부에서 액세스할 수 있게 되었다. 이렇게 하여 보다 풍부한 서비스를 제공하고, 사용상의 시간적인 제약을 완화할 수 있다. 예들 들어 인터넷상에서 조리법을 전송받아 전자레인지를 작동할 수 있으며, 외부에서 잘못 켜둔 가스밸브를 잠글 수도 있다. 가정 내에서 wrhd되던 이러한 서비스들은 서로 다른 하드웨어와 통신방법을 사용하고 있어, 이러한 서비스를 통합하여 운영, 관리할 수 있도록 하는 흠 서버의 개념이 대두되었다. 외부 인터넷 망과 연계된 흠 오토메이션, 홈 시큐리티등을 제공할 수 있는 기반이 마련되었고, 가정 내에서 독립적으로 제공되던 서비스들을 단일 홈 서버를 통해서 관리하려는 시도가 진행되었다. 그러나 홈 서버는 개발하는 업체의 보유기술에 따라 중심기능은 약간씩 차이를 보이고 있다. 홈 서버 응용 영역은 전문 지식을 소유한 인력과의 연계가 필요하고, 다양한 서비스 영역 행위가 아주 복잡하기 때문에 이들을 연결해 주는 자치 시스템을 필요로 한다. 또한 홈 서버 서비스 영역에서 정보는 각 영역 전문가가 가진 지식의 전달을 필요로 하기 때문에, 지식을 주고받는 멀티 에이전트의 시스템의 활용 영역으로 적당하다. 멀티 에이전트 시스템은 분산된 환경에서 에이전트간에 에이전트 통신 언어를 사용해서 대화를 하기도 하고, 상호 협력하는 에이전트들로 구성된 시스템을 뜻하며 흠 서버처럼 동적이고 고도의 자치성을 요구하는 영역에 적당하다. 멀티 에이전트 플랫폼으로는 FIPA(Foundation for Intelligent Physical Agents)가 제시한 에이전트 표준 플랫폼이 1997년부터 2000년에 이르기까지, 계속적으로 변화, 발전하고 있다. 본 연구는 FIPA에서 제시하는 플랫폼을 기반으로 홈 서버에 정보가전을 제어하는 에이전트를 두고 외부에서 다른 에이전트가 홈 서버에 위치하는 에이전트와의 통신을 통하기 정보가전을 지능적으로 제어하도록 하였다. 정보가전 에이전트는 가정 내 가전제품을 외부에서 제어하기 위한 에이전트이다. 단순한 관리가 아닌 에이전트로 하여금 지능적으로 가전제품 관리를 하게 한다. 정보가전 에이전트는 홈 서버에서 작동하는 에이전트와 PDA에서 작동하는 에이전트로 구성된다. 정보가전 에이전트는 전력량, 수도 사용량 제어와 가전제품 제어 기능과 보안 관련 서비스를 제공한다. 두 에이전트는 FIPA에서 정의된 규격에 맞게 만들어지기 때문에 FIPA명세서를 따르는 다른 에이전트와 자유로운 통신이 가능하다.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.5
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• pp.423-428
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• 2013

This paper investigates a boundary tracking problem using multiple quadrotor UAVs to detect and track the boundary of physical events. We set the boundary estimation problem as a classification problem of the region in which the physical events occur, and employ SVL (Support Vector Learning). We also demonstrate a velocity vector field which is globally attractive to a desired closed path with circulation at the desired speed and a virtual phase for stabilizing the collective configuration of the multiple quadrotors. Experimental results with multiple quadrotors show that this study provides good performance of the collective boundary tracking.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.12
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• pp.1122-1131
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• 2012

This paper presents obstacle avoidance method for scout robot or industrial robot in unknown environment by using IR sensor and vision system. In the proposed method, robots share the information where the obstacles are located in real-time, thus the robots can choose the best path for obstacle avoidance. Using IR sensor and vision system, multiple robots efficiently evade the obstacles by the proposed cooperation method. No landmark is used at wall or floor in experiment environment. The obstacles don't have specific color or shape. To get the information of the obstacle, vision system extracts the obstacle coordinate by using an image labeling method. The information obtained by IR sensor is about the obstacle range and the locomotion direction to decide the optimal path for avoiding obstacle. The experiment was conducted in $7m{\times}7m$ indoor environment with two-wheeled mobile robots. It is shown that multiple robots efficiently move along the optimal path in cooperation with each other in the space where obstacles are located.

• YAKHAK HOEJI
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• v.36 no.4
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• pp.370-378
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• 1992

A simple and sensitive high performance liquid chromatographic method to quantitate ${\alpha}-keto$ acids in serum and urine was investigated. ${\alpha}-Keto$ acids react with 1,2-diamino-4,5-methylenedioxybenzene (DMB) in the presence of 2-mercapto-ethanol and sodium hydrogen sulfite to form highly fluorescent derivatives, substituted 6,7-methylenedioxyquinoxalinol. The derivatization procedure was performed in water bath at $100^{\circ}C$, and completed within 50 min. By the use of a reversed-phase column and multi-step gradient with two solvents, a mixture containing twelve of these derivatives were efficiently resolved within 35 minutes. The optimal wavelengh of the fluorescence detector are ${\lambda}_{ex}=364\;nm$ and ${\lambda}_{em}=445\;nm$. The quantitation of the individual ${\alpha}-Keto$ acids was reproducible with relative standard deviation of $3.0{\sim}7.9%$ and had a detection limits of $10{\sim}60$ fmol, except for p-hydroxyphenylpyruvic acid (960 fmol).

• KIPS Transactions on Computer and Communication Systems
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• v.11 no.9
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• pp.281-288
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• 2022

AGVs are often used in industrial applications to transport heavy materials around a large industrial building, such as factories or warehouses. In particular, in fulfillment centers their usefulness is maximized for automation. To increase productivity in warehouses such as fulfillment centers, sophisticated path planning of AGVs is required. We propose a scheme that can be applied to QMIX, a popular cooperative MARL algorithm. The performance was measured with three metrics in several fulfillment center layouts, and the results are presented through comparison with the performance of the existing QMIX. Additionally, we visualize the transport paths of trained AGVs for a visible analysis of the behavior patterns of the AGVs as heat maps.

• The Journal of Engineering Research
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• v.6 no.2
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• pp.11-22
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• 2004

A distributed constraint satisfaction problem (distributed CSP) is a constraint satisfaction problem(CSP) in which variables and constraints are distributed among multiple automated agents. ACSP is a problem to find a consistent assignment of values to variables. Even though the definition of a CSP is very simple, a surprisingly wide variety of AI problems can be formalized as CSPs. Similarly, various application problems in DAI (Distributed AI) that are concerned with finding a consistent combination of agent actions can be formalized as distributed CAPs. In recent years, many new backtracking algorithms for solving distributed CSPs have been proposed. But most of all, they have common drawbacks that the algorithm assumes the priority of agents is static. In this thesis, we establish a basic algorithm for solving distributed CSPs called dynamic priority search algorithm that is more efficient than common backtracking algorithms in which the priority order is static. In this algorithm, agents act asynchronously and concurrently based on their local knowledge without any global control, and have a flexible organization, in which the hierarchical order is changed dynamically, while the completeness of the algorithm is guaranteed. And we showed that the dynamic priority search algorithm can solve various problems, such as the distributed 200-queens problem, the distributed graph-coloring problem that common backtracking algorithm fails to solve within a reasonable amount of time. The experimental results on example problems show that this algorithm is by far more efficient than the backtracking algorithm, in which the priority order is static. The priority order represents a hierarchy of agent authority, i.e., the priority of decision-making. Therefore, these results imply that a flexible agent organization, in which the hierarchical order is changed dynamically, actually performs better than an organization in which the hierarchical order is static and rigid. Furthermore, we describe that the agent can be available to hold multiple variables in the searching scheme.

• Journal of Pharmaceutical Investigation
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• v.28 no.2
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• pp.87-92
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• 1998

Kojic acid (KA) is an antimelanogenic agent which has been widely used in cosmetics to whiten the skin color. However, it has the drawbacks of the skin irritancy and the instability against the pH, temperature, and light. In order to overcome these problems, various topical gels and multiple emulsion creams which can control the release of active ingredient, KA, were formulated employing cream bases of mineral oil with caprylic capric triglyceride and hydrophilic polymers such as chitosan, carbopol. and pluronics. Using Franz diffusion cells mounted with a synthetic cellulose membrane (MWCO 12,000), drug release characteristics of the formulations were evaluated by the HPLC assay of KA concentration in the receptor compartment of pH 7.4 phosphate buffered saline solution. Drug release from chitosan-based gels (ChitoGel) obeyed to the first order kinetics with a rapid release especially in the initial period. However, pluronic-based gels (PluGel) and carbopol-based gels (CarboGel) revealed controlled release of drug to some extent, followed by the square root-time kinetics. Moreover, the release of KA was further controlled with the W/O/W multiple emulsion creams (MultiCream), showing the apparent zero order release kinetics by virtue of dynamic ratecontrolling membrane of the oil layer. The flux $(J,\;{\mu}g/cm^2/hr)$ of ChitoGel. CarboGel. PluGel. and MultiCream in the initial period of 6hr were 73.30, 28.67. 24.04 and 7.72, respectively. On the other hand, the skin irritancy score of ChitoGel and MultiCream were observed as 2.5 and 2.3 respectively, in the rabbit skin irritation test. Although there were insignificant differences at p<0.05 between those formulations, it was possible to conclude that the W/O/W multiple emulsion creams containing KA might be a good candidate for an antimelanogenic drug delivery system due to the controlled release of acidic drug molecules.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.25 no.11
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• pp.1663-1669
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• 2021

This paper considers the cooperative control problem for multiple leaders and a single follower with interactions. The leaders are controllable, and the follower has interactions with all leaders and is controlled by the interactions. Then, we study the cooperative control problem that achieves the consensus by controlling the leaders. The leaders and the follower are modeled by the single-integrator and the double-integrator, respectively, and it is assumed that the interactions have the nonlinearities. The leaders can estimate the interaction between the follower and exchange the estimated information with neighbors. Then, this paper proposes the consensus-based cooperative control algorithm using the information exchange of the estimated interactions and the virtual velocity variables to achieve the velocity consensus. We analyze the convergence of the agents to the common state based on the Lasalle's Invaraince Principle. Finally, we provide the numerical example to validate the theoretical results.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2006.06a
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• pp.242-242
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• 2006

Increasingly complex tasks are performed by computers or cellular phone, requiring more and more memory capacity as well as faster and faster processing speeds. This leads to a constant need to develop more highly integrated circuit systems. Therefore, there have been numerous studies by many engineers investigating circuit patterning. In particular, PCB including module/package substrates such as FCB (Flip Chip Board) has been developed toward being low profile, low power and multi-functionalized due to the demands on miniaturization, increasing functional density of the boards and higher performances of the electric devices. Imprint lithography have received significant attention due to an alternative technology for photolithography on such devices. The imprint technique. is one of promising candidates, especially due to the fact that the expected resolution limits are far beyond the requirements of the PCB industry in the near future. For applying imprint lithography to FCB, it is very important to control thermal properties and mechanical properties of dielectric materials. These properties are very dependent on epoxy resin, curing agent, accelerator, filler and curing degree(%) of dielectric materials. In this work, the epoxy composites filled with silica fillers and cured with various accelerators having various curing degree(%) were prepared. The characterization of the thermal and mechanical properties wasperformed by thermal mechanical analysis (TMA), thermogravimetric analysis (TGA), differential scanning calorimetry (DSC), rheometer, an universal test machine (UTM).