• 제어로봇시스템학회논문지
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• 제11권12호
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• pp.984-990
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• 2005

The aim of this paper is to investigate a control framework for mobile robots, operating in shared environment with humans. The Intelligent Space (iSpace) can sense the whole space and evaluate the situations in the space by distributing sensors. The mobile agents serve the inhabitants in the space utilizes the evaluated information by iSpace. The iSpace evaluates the situations in the space and learns the walking behavior of the inhabitants. The human intelligence manifests in the space as a behavior, as a response to the situation in the space. The iSpace learns the behavior and applies to mobile agent motion planning and control. This paper introduces the application of fuzzy-neural network to describe the obstacle avoidance behavior teamed from humans. Simulation results are introduced to demonstrate the efficiency of this method.

• 전기학회논문지
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• 제60권11호
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• pp.2152-2156
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• 2011

In this paper, we propose the novel behavior control algorithm by using the efficient searching method based on the characteristic of the swarm robots in unknown space. The proposed method consists of identifying the position and moving state of a robot by the dynamic modelling of a wheel drive vehicle, and planing behavior control rules of the swarm robots based on the sensor range zone. The cooperative search for unknown space is carried out by the proposed behavior control. Finally, some experiments show the effectiveness and the feasibility of the proposed method.

• 한국실내디자인학회논문집
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• 제19권4호
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• pp.82-89
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• 2010

The studies published up to now, related to the correlation between spatial structure and visitors' behavior in a museum are rather relatively lacking when it comes to the in-depth consideration for the effect of the actual exhibition environment. So the main purpose of this study is to define the correlation between the light environment and the visitors' behavior. Towards this end, this study uses 'space syntax' to quantify the spatial structure with 'integration', 'connectivity' and 'control value'. Meanwhile, 'tracking score' and 'tracking frequency' were selected as the scope among the indices of behavior's analysis. The results of this study are as follows; First, integration and correlation of tracking score and tracking frequency are lowest when it comes to the extra large historical museums where the difference of intensity of illumination by each convex space. Meanwhile, the most considerable effect is exerted by control value. Compared to tracking score, tracking frequency is closely related to 'syntactic variables'. Second, visitors do not take the short cut the dark exhibition space even when very dark exhibition spaces continue after passing through relatively bright space. Analysis of visitors' behavior by control value in the exhibition space composed of this type of intensity of illumination environment is not valid. Third, visitors move to relatively brighter transitional space compared to the exhibition space with low intensity of illumination when passing through dark exhibition continually. Meanwhile, when visitors pass through the exhibition space there is some difference intensity of illumination they move to relatively dark exhibition center among the subsequent exhibition spaces. Accordingly, when the composition of exhibition space that continues onto the environment of low intensity of illumination is inevitable, differentiating intensity of illumination appropriately would be effective in inducing visit to the subsequent exhibition space.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.123-128
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• 1996

Kinematically redundant manipulators have been studied because of its usefulness of kinematic redundancy. It is natural that the kinematic redundancy induces a kind of control redundancy. By using the weighted kinematically decoupled joint space decomposition, we unify the control redundancy and the kinematic redundancy parameterized by the joint space weighting matrix. Concentrating to the particular component of each decomposition, we can describe the local minimization behavior of the control weighted quadratic by each weighted decomposition. The result extends the conventional results on general setting, and should be of interest in understanding the motion behavior of kinematically redundant manipulators.

• 한국실내디자인학회논문집
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• 제20권6호
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• pp.272-281
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• 2011

The purpose of this study is to analyze the correlation between spatial space structure and visitors' behavior and interpret visitors' behavior concretely from the aspect of exhibition environments. So, this study intends to qualify spatial space structure with integration, connectivity and control value by utilizing space syntax, limit to tracking score among the analysis index and reinterpret with exhibition density and extend of eyesight among the exhibition environments. The results of this study are as follows; First, in case of museums, tracking score shows plus correlation with connectivity and control value among the space syntax variables and very low correlation with integration. In case of art museums, tracking score shows plus correlation with integration and wide variable is judged to more useful to analyze visitor's behavior than minor variable. Second, museums doesn't make a great effect on visitors' behavior from the aspect of extent of eyesight, but from the aspect of exhibition density, visitors relatively watched evenly without short cut at the early stage of exhibition in spite of high exhibition density. And, they conducted short cut as they went to the middle stage of exhibition on the course of watching although the numerical value of exhibition density is low. Third, in case of art museums, visitors' behavior was relatively influenced by exhibition density, not extent of eyesight. But, as they went to the high level on the course of watching, watching speed became rapid and watching length became short in the place the value of extent of eyesight was high. Its reason is judged to be easy to grasp position or space structure of the next exhibition room visually. Therefore, when the concentration of watching is necessary from the aspect of exhibition, to control exhibition density properly before the space is useful to draw visiting to exhibition space afterward.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제6권4호
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• pp.314-320
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• 2006

Navigation in environments that are densely cluttered with obstacles is still a challenge for Autonomous Ground Vehicles (AGVs), especially when the configuration of obstacles is not known a priori. Reactive local navigation schemes that tightly couple the robot actions to the sensor information have proved to be effective in these environments, and because of the environmental uncertainties, STSF(Space and Time Sensor Fusion)-based fuzzy behavior systems have been proposed. Realization of autonomous behavior in mobile robots, using STSF control based on spatial data fusion, requires formulation of rules which are collectively responsible for necessary levels of intelligence. This collection of rules can be conveniently decomposed and efficiently implemented as a hierarchy of fuzzy-behaviors. This paper describes how this can be done using a behavior-based architecture. The approach is motivated by ethological models which suggest hierarchical organizations of behavior. Experimental results show that the proposed method can smoothly and effectively guide a robot through cluttered environments such as dense forests.

• 한국실내디자인학회논문집
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• 제20권4호
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• pp.37-45
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• 2011

This thesis sets out to study the immanent mechanism of architecture which had classified as external spaces in general. As human controls a space, it controls or manages human's behavior, too. This study is depended on the humanities to analyze a various operation of power in the architectural space. It makes a comparative study of a space-power in a dwelling space through a discourse of Michel Foucault and Jacques Lacan, in particular everyday's microscopic scope. According to analytical results, the space-power of dwelling falls under the influence of a spacial arrangement and subject's desire. It has shown a noticeable characteristics in aspects production & consumption, using behavior, and use value. As it is seen through the aspects of production & consumption, owns of the space-power in a dwelling could not be its subject. We have also understood about a physicalistic furniture at the using behavior, it has a special power unconsciously to control a human's action and lifestyle. And then in the aspects of use value, the centric theme is a television. It lies on the core of space-power in dwelling, because is profoundly related to an innate respect of a dwelling value. In conclusion, so this study has the important meaning in the side to offer some interpretative possibility about the architectural space-power through a microscopic structure.

• 한국가구학회지
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• 제23권4호
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• pp.342-354
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• 2012

This study aimed at acknowledging characteristics of space usage and suggesting orientation of space planning and furniture designing that meet various residents' demands correlating with residential area, furniture and family members by doing fact finding of volume of the furniture in medium/small sized apartment. The contents of the study are "experience of functional remodeling," "a number of bedrooms correlating with a number of family" and "furniture arrangement of each space and characteristics of space utilization" based on forty six cases. Followings are results of the study. 1) It was acknowledged that the function of space relating to family members largely depends on furniture arrangement correlating with age of children. It is needed that flexible planning of residential area to meets growing children and various family demands. 2) Functional remodeling requires furniture rearrangement attended with the remodeling. Thus, it is required that ideas in more simple and efficient furniture designing and consideration of construction environment embracing that ideas. 3) It can be acknowledged that the most demanding matter to enjoy satisfied and comfortable life in residential area is the matter of storage area. It is also understandable that the matter can be worse by time going by and the change of living pattern. Therefore, it is required that the consideration of enough storage area compatible with its function of the room and the planning of built-in furniture for storage.

• International Journal of Aeronautical and Space Sciences
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• 제18권1호
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• pp.99-107
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• 2017

In this work, the nutation control of rigid spacecraft with only two momentum wheels is addressed by applying the feedback linearization technique. In this strategy, the primary performance index is to regulate the nutational angle by the momentum control of wheels. The spacecraft attitude equations of motion are transformed to a general linearized form by feedback linearization technique, including a guaranteed control law promising the internal dynamics stability to accomplish the nutation angle small. It is proven that the configuration of inertia properties plays a key role in analyzing spacecraft energy level. The behavior of the momentum wheels is also studied analytically and numerically. Finally, the effectiveness of the proposed nonlinear control law for the momentum transfer is verified by conducting numerical simulations.

• International Journal of Aeronautical and Space Sciences
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• 제10권2호
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• pp.148-160
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• 2009

By the development of recent technology, a new variant of rotorcrafts having four rotors start drawing attention from aerial-robotics engineers more than before. Its potential spans from just being control device test bed to performing difficult task such as carrying surveillance device to unreachable places. In this regards, modeling a quad-rotor is significant in analyzing its dynamic behavior and in synthesizing control system for such a vehicle. This paper summarizes the modeling of a mini quad-rotor aerial vehicle. A first principle approach is considered for deriving the model based on Euler-Newton equations of motion. The result of the modeling is a simulation platform that is expected to acceptably predict the dynamic behavior of the quad-rotor in various flight conditions. Linear models associated with different flight condition can be extracted for the purpose of control synthesis.