• Transactions on Control, Automation and Systems Engineering
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• 제1권2호
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• pp.147-152
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• 1999

It is an interesting area in the field of artifical intelligence to find an analytic model of cooperative structure for multiagent system accomplishing a given task. Usually it is difficult to design controllers for multi-agent systems without a comprehensive knowledge about the system. One of the way to overcome this limitation is to implement an evolutionary approach to design the controllers. This paper introduces the use of a genetic algorithm to discover a fuzzy logic controller with rules that govern emergent agents solving a pursuit problem in a continuous world. Simulation results indicate that, given the complexity of the problem, an evolutionary approach to find the fuzzy logic controller seems to be promising.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집(한일합동학술편); 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.915-920
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• 1987

When a task requires two robot arms to move in a cooperative manner sharing a common workspace, potential collision exists between the two robot arm . In this paper, a novel approach for collision-free trajectory planning along paths of two SCARA-type robot arms is presented. Specifically, in order to describe potential collision between the links of two moving robot arms along the designated paths, an explicit form of "Virtual Obstacle" is adopted, according to which links of one robot arm are made to grow while the other robot arm is forced to shrink as a point on the path. Then, a notion of "Coordination Chart" is introduced to visualize the collision-free relationship of two trajectories.of two trajectories.

• 대한기계학회논문집A
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• 제24권12호
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• pp.3072-3079
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• 2000

Assembly tasks are often performed by one robot with fixtures. This type of assembly system has low flexibility in terms of the variety of parts and the part-presentation the system can handle. This paper addresses assembly without fixtures using two-manipulator robot. An active method using force feedback is proposed for the peg-in-hole assembly in highly uncertain environment. Assembly states are defined as status having unique motion constraints and events are modeled as variation of the environmental force. The states are recognized through identification of the events using two 6-d. o. f. force/moment sensors. The proposed method is verified and evaluated by experiments with round peg-in-hole assembly.

• Smart Structures and Systems
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• 제7권3호
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• pp.199-211
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• 2011

Using computational modeling, we design a pair of biomimetic microcapsules that exploit chemical mechanisms to communicate and alter their local environment. As a result, these synthetic objects can undergo autonomous, directed motion. In the simulations, signaling microcapsules release "agonist" particles, while target microcapsules release "antagonist" particles and the permeabilities of both capsule types depend on the local particle concentration in the surrounding solution. Additionally, the released nanoscopic particles can bind to the underlying substrate and thereby create adhesion gradients that propel the microcapsules to move. Hydrodynamic interactions and the feedback mechanism provided by the dissolved particles are both necessary to achieve the cooperative behavior exhibited by these microcapsules. Our model provides a platform for integrating both the spatial and temporal behavior of assemblies of "artificial cells", and allows us to design a rich variety of structures capable of exhibiting complex dynamics. Due to the cell-like attributes of polymeric microcapsules and polymersomes, material systems are available for realizing our predictions.

• International Journal of Control, Automation, and Systems
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• 제6권2호
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• pp.253-262
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• 2008

This paper presents a framework for decentralized control of self-organizing swarm systems based on the artificial potential functions (APFs). The framework explores the benefits by associating agents based on position information to realize complex swarming behaviors. A key development is the introduction of a set of association rules by APFs that effectively deal with a host of swarming issues such as flexible and agile formation. In this scheme, multiple agents in a swarm self-organize to flock and achieve formation control through attractive and repulsive forces among themselves using APFs. In particular, this paper presents an association rule for swarming that requires less movement for each agent and compact formation among agents. Extensive simulations are presented to illustrate the viability of the proposed framework.

• 제어로봇시스템학회논문지
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• 제11권4호
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• pp.322-329
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• 2005

This paper considers the application of mobile robot to the herding problem. The herding problem involves a ‘pursuer’ trying to herd a moving ‘evader’ to a predefined location. In this paper, two mobile robots act as pursuer and evader in the fenced area, where the pursuer robot uses a fuzzy cooperative decision strategy (FCDS) in the herding algorithm. To herd evader robot to a predefined position, the pursuer robot calculates strategic herding point and then navigates to that point using FCDS. FCDS consists of a two-level hierarchy: low level motion descriptors and a high level coordinator. In order to optimize the FCDS, we use the multi­thread evolutionary programming algorithm. The proposed algorithm is implemented in the real mobile robot system and its performance is demonstrated using experimental results.

• International Journal of Naval Architecture and Ocean Engineering
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• 제6권3호
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• pp.670-684
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• 2014

Ship Information Systems (SISs) have been one of the main research focuses in ship design and become a multidisciplinary area. With these growing research trends, it is important to consolidate the latest knowledge and information to keep up with the research needs. In this paper, the SIS and its different forms are introduced and discussed. The beginning of this paper discusses the history and evolution of SIS. The next part of this paper focuses on different fields and research areas such as networking technology, information fusion, information decision, message display, ship control in real-time SISs. A Semi-Physical Simulation Platform (SPSIM) designed for SIS research and its running effect through a new Fuzzy-PID fusion algorithm are introduced in this paper then. A brief literature survey and possible future direction concerning each topic is included.

• Bulletin of the Korean Chemical Society
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• 제20권10호
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• pp.1186-1194
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• 1999

Photoresponsive side chain polymers containing aminonitro azobenzene were synthesized for studying optically induced birefringence. Four different copolymers were prepared using methacrylate, a-methylstyrene, and itaconate monomer. Two copolymers are totally amorphous and the other two are liquid crystalline in nature. Trans-to-cis photoisomerization was observed under the exposure of UV light with UV-VIS absorption spectroscopy. Reorientation of polar azobenzene molecules induced optical anisotropy under a linearly polarized light at 532 nm. The dynamic parameters of optically induced birefringence let us compare the effect of polymeric structure on the rate of growth and decay of the birefringence. Besides the effect of glass transition temperature on the dynamics of photoinduced birefringence, we focused our interests on the geometrical hindrance of polar azobenzene molecules and cooperative motion of environmental mesogenic molecules in the vicinity of polar azobenzene moiety.

• 자원ㆍ환경경제연구
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• 제27권4호
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• pp.639-666
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• 2018

This paper analyses the investment options of groundwater development project under water price uncertainty. The optimal investment threshold price which trigger the investment are calibrated base on monopolistic real options model. Stochastic dynamic model is set to reflect the uncertainty of water price which follows the GBM (Geometric Brownian Motion) process. Our finding from non-cooperative investment decision model is that uncertainty of water price could deter the groundwater investment by considering the existence of option values. For policy markers, it is easy to manage 'charges for utilization of groundwater' rather than 'performance guarantee ratio' when managing groundwater investment with pricing policy. And it is necessary to make comprehensive and well-designed policies considering the characteristics of regional groundwater reservoir and groundwater developers.

• Bulletin of the Korean Chemical Society
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• 제22권3호
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• pp.271-275
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• 2001

We investigated H-type molecular aggregation in a simply spin-coated amorphous homopolymer film of polymethacrylate containing push-pull azobenzene moieties. It was found that the aggregate formation was strongly influenced by thermal treatment an d that the aggregate created in the polymer film could be easily disrupted by irradiation of a linearly polarized light. In the first writing cycle of aggregated polymer film, photo-induced birefringence showed a steep increase to the highest value followed by a gradual decrease to the certain asymptotic value under longer irradiation of a linearly polarized light. This unique behavior could be attributed to the cooperative motion and the disruption of the aggregated molecules under continuous irradiation of light.