• The Transactions of the Korea Information Processing Society
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• v.13 no.8
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• pp.356-366
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• 2024

Users of intelligent robots require access to the status data of the robots for various reasons. The status data of intelligent robots can be generated by combining the status data of the functional agents that constitute the intelligent robot. However, existing intelligent robot systems do not generate the necessary agent status data for creating the status data of intelligent service robots, or they generate it in different ways, making it impossible to collect this information in a uniform manner. Furthermore, these systems have limitations such as collecting the same information redundantly if multiple users request it and only using a single method of communication to deliver robot information, thereby failing to offer the communication methods desired by users. This paper proposes a multi-agent monitoring system for intelligent service robots designed to overcome these limitations. This monitoring system generates status data in response to the actions performed by functional agents, thereby allowing for the unified generation and collection of agent status data. Additionally, the monitoring system resolves data redundancy issues by collecting the necessary data just once, in accordance with user monitoring demands, and delivers status data through a proxy that supports the preferred communication methods of users, thereby providing compatibility with various communication methods. Through experiments, we have verified that this monitoring system can deliver the status data of intelligent robots to multiple users using various communication methods.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.39B no.8
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• pp.528-537
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• 2014

Wireless Sensor Network(WSN) is a network which consists of sensor nodes(SNs) in data collection area. It is hard for the SNs to replace battery. Thus energy and transfer efficiency is important because the energy is limited. In this paper, we propose energy-efficient data collection algorithm for wireless sensor networks by using mobile agent in distance-based cluster structure. For avoid collisions and guarantee low latency, make distance-based topology and build cluster by the topology. For performance comparison of the proposed algorithm, compare with existing mobile agent algorithm. When network constructed by 300 nodes, proposed algorithm has performance increase than existing algorithm(GCF, LCF, TBID) in network lifetime 194, 124.6, 1.46 times each and data merging energy efficiency 87.5%, 85%, 45% each.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.17 no.6
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• pp.1706-1727
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• 2023

Under Water Sensor Networks (UWSN) has gained attraction among various communities for its potential applications like acoustic monitoring, 3D mapping, tsunami detection, oil spill monitoring, and target tracking. Unlike terrestrial sensor networks, it performs an acoustic mode of communication to carry out collaborative tasks. Typically, surface sink nodes are deployed for aggregating acoustic phenomena collected from the underwater sensors through the multi-hop path. In this context, UWSN is constrained by factors such as lower bandwidth, high propagation delay, and limited battery power. Also, the vulnerabilities to compromise the aquatic environment are in growing numbers. The paper proposes an Energy-Efficient standalone Intrusion Detection System (EEIDS) to entail the acoustic environment against malicious attacks and improve the network lifetime. In EEIDS, attributes such as node ID, residual energy, and depth value are verified for forwarding the data packets in a secured path and stabilizing the nodes' energy levels. Initially, for each node, three agents are modeled to perform the assigned responsibilities. For instance, ID agent verifies the node's authentication of the node, EN agent checks for the residual energy of the node, and D agent substantiates the depth value of each node. Next, the classification of normal and malevolent nodes is performed by determining the score for each node. Furthermore, the proposed system utilizes the sheep-flock heredity algorithm to validate the input attributes using the optimized probability values stored in the training dataset. This assists in finding out the best-fit motes in the UWSN. Significantly, the proposed system detects and isolates the malicious nodes with tampered credentials and nodes with lower residual energy in minimal time. The parameters such as the time taken for malicious node detection, network lifetime, energy consumption, and delivery ratio are investigated using simulation tools. Comparison results show that the proposed EEIDS outperforms the existing acoustic security systems.

• International Journal of Control, Automation, and Systems
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• v.1 no.3
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• pp.301-307
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• 2003

A control system design based on coupled nonlinear oscillators (CNOs) for a self- organized swarm system is presented. In this scheme, agents self-organize to flock and arrange group formations through attractive and repulsive forces among themselves using CNOs. Virtual agents are also used to create richer group formation patterns. The objective of the swarm control in this paper is to follow a moving target with a final group formation in the shortest possible time despite some obstacles. The simulation results have shown that the proposed scheme can effectively construct a self-organized multi-agent swarm system capable of group formation and group immigration despite the emergence of obstacles.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.1
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• pp.34-39
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• 2013

This paper proposes the implementation of robust fuzzy controller for designing intelligent wind farm and mitiagating the fluctuation of wind power generator. The existing researches are limited to individual wind turbine with variable speed so that it is necessary to study the multi-agent wind turbine power system. The scopes of these studies include from the arrangements of each power turbine to the control algorithms for the wind farm. For solving these problems, we introduce the composition of intelligent wind farm and use the T-S (Takagi-Sugeno) fuzzy model which is suitable for designing fuzzy controller. The control object in wind farm enables the minimizing the fluctuation of wind power generator. Simulation results for wind fram which is modelled as mathematically are demonstrated to visualize the feasibility of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2475-2480
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• 2003

A control system design based on coupled nonlinear oscillators (CNOs) for a self-organized swarm system is presented. In this scheme, agents self-organize to flock and arrange group formations through attractive and repulsive forces among themselves using CNOs. Virtual agents are also used to create richer group formation patterns. The objective of the swarm control in this paper is to follow a moving target with a final group formation in the shortest possible time despite some obstacles. The simulation results have shown that the proposed scheme can effectively construct a self-organized multi-agent swarm system capable of group formation and group immigration despite the emergence of obstacles.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.1081-1087
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• 2008

This paper describes limitations and solutions of the existing processor-monitoring concept for a military supersonics aircraft Flight Control Computer (FLCC) equipped with modern architecture processor to perform the system integration test. Safecritical FLCC integration test, which requires automatic test for thousands of test cases and real-time input/output test condition generation, depends on the processor-monitoring device called Processor Interface (PI). The PI, which relies upon on the FLCC processor's external address and data-bus data, has some limitations due to multi-fetching capability of the modern sophisticated military processors, like C6000's VLIW (Very-Long Instruction Word) architecture and PowerPC's Superscalar architecture. Several techniques for limitations were developed and proper monitoring approach was presented for modem processor-adopted FLCC system integration test.

• Proceedings of the Korea Association of Information Systems Conference
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• 2004.05a
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• pp.109-121
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• 2004

현재 오프라인에서 행해지고 있는 거래들을 온라인에서 지원하기 위란 거래 시스템에 대한 연구들이 많이 진행되고 있다. 하지만 이러한 거래 시스템들은 일반적인 상거래, 즉 판매자가 제시한 가격에 구매자가 구매를 하는 고정가격제 거래방식을 지원하는 시스템이 대부분 이었고 판매자와 구매자가 협상을 통해 적절한 가격선을 찾을 수 있도록 지원해 주는 거래 시스템에 대한 연구는 미흡하다. 이러한 자동 협상 시스템은 전자상거래 환경에서의 다양한 환경변화와 복잡한 문제 등에 보다 빠르고 유연하게 대처하고 많은 협상을 일관성있고 효율적으로 수행하기 위해서 필요하다. 본 연구에서는 전자상거래 환경에서 자동으로 협상을 수행하는 자동협상시스템을 개발하였다. 이 시스템은 협상안을 자동으로 생성하고, 또한 상대방의 협상안을 평가하여 Counter 협상안을 작성${\cdot}$전송하거나 Accept 또는 Reject를 할 수 있는 멀티 에이전트 기반 자동협상 시스템이다.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09b
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• pp.27-30
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• 2003

웹 기반하에서 사용자의 질의에 대한 효율적인 검색결과를 제공하기 위하여 다양한 검색 알고리즘들이 개발되어 왔으며, 이러한 알고리즘들의 대부분은 사용자의 선호도나 편의성을 고려하였다. 그러나 지금까지 개발된 검색 알고리즘들은 일반적으로 웹이라는 수평의 비계층적인 웹 환경에서 개발된 것으로서 기업의 전사적 네트워크와 같이 계층적이고 기능적으로 복잡하게 구성되어 있는 웹 기반 환경에서는 적용하기가 힘든 실정이다. 본 논문에서는 이러한 특수한 웹 기반 환경하에서 사용자에게 효율적으로 마이닝 결과를 제공할 수 있는 멀티-에이전트 기반의 웹 마이닝 시스템을 제안한다. 이를 위해 우리는 계층적 웹 기반 환경이라는 네트워크 모델을 제시하며, 제시된 웹 환경에서 적용할 수 있는 4개의 협력 에이전트와 14개의 프로세스 모듈을 가진 멀티-에이전트 기반의 웹 마이닝 시스템을 설계한다. 그리고 각 에이전트에 대한 세부기능을 계층적 환경을 고려하여 모듈별로 설명하며 특히, 새로운 머징 에이전트와 개선된 랭킹 알고리즘을 그래프 이론을 적용하여 제안한다.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.11
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• pp.1038-1043
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• 2010

In this paper, an adaptive sliding-mode formation control and collision avoidance are proposed for electrically driven nonholonomic mobile robots with model uncertainties and external disturbances. A sliding surface based on the leader-follower approach is developed to achieve the desired formation in the presence of model uncertainties and disturbances. Moreover, by using the collision avoidance function, the mobile robots can avoid the obstacles successfully. Finally, simulations illustrate the effectiveness of the proposed control system.