• 한국콘텐츠학회:학술대회논문집
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• 한국콘텐츠학회 2003년도 추계종합학술대회 논문집
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• pp.447-453
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• 2003

Emotion을 이용한 컴퓨터 인공 지능, 그래픽, 로봇, 상호 작용 등 다양한 분야에 나타나고 있다. 이에 각 분야에 적용되어진 이론적 배경과, 적용의 특징, 기술 등을 본 글에서 다루고자 한다. 먼저 이론적 접근방식에 있어서는 심리학적 접근과, 사람의 감정 연구, Behavior-Bas설 접근, 생물 행동적 접근, 등이 있으며 이를 구현하기 위한 기술로는 학습 알고리즘, Neural Network 의 Self-Organizing Maps, Fuzzy Cognition Maps등이 있다. 적용 분야로는 Software Agent, Agent Robot과 Entrainment Robot 등이 있다. 본 글에서는 이들의 적용 사례들을 살펴보고 Emotion Architecture에 대해서 분석하고자 한다.

• 인터넷정보학회논문지
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• 제5권6호
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• pp.1-10
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• 2004

A web robot is a software that has abilities of tracking and collecting web documents on the Internet(l), The performance scalability of recent web robots reached the limit CIS the number of web documents on the internet has increased sharply as the rapid growth of the Internet continues, Accordingly, it is strongly demanded to study on the performance scalability in searching and collecting documents on the web. 'Design of web robot based on Multi-Agent to speed up documents collection ' rather than 'Sequentially executing Web Robot based on the existing Fork-Join method' and the results of analysis on its performance scalability is presented in the thesis, For collection speedup, a Multi-Agent based web robot performs the independent process for inactive URL ('Dead-links' URL), which is caused by overloaded web documents, temporary network or web-server disturbance, after dividing them into each agent. The agents consist of four component; Loader, Extractor, Active URL Scanner and inactive URL Scanner. The thesis models a Multi-Agent based web robot based on 'Amdahl's Law' to speed up documents collection, introduces a numerical formula for collection speedup, and verifies its performance improvement by comparing data from the formula with data from experiments based on the formula. Moreover, 'Dynamic URL Partition algorithm' is introduced and realized to minimize the workload of the web server by maximizing a interval of the web server which can be a collection target.

• 로봇학회논문지
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• 제2권4호
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• pp.317-326
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• 2007

Recently, robotic automation in clinical laboratory becomes of keen interest as a fusion of bio and robotic technology. In this paper, we present a new robotic platform for clinical tests suitable for small or medium sized laboratories using mobile robots. The mobile robot called Mobile Agent is designed as transfer system of blood samples, reagents, microplates, and any instruments. Also, the developed mobile agent can perform diverse tests simultaneously based on its cooperative and distributed ability. The driving circuits for the mobile agent are embedded in the robot, and each mobile agent communicates with other agents by using Bluetooth communication. The RFID system is used to recognize patient information. Also, the magnetic hall sensor is embedded to remove and compensate the cumulated error of locomotion at the bottom of mobile agent. The proposed mobile agent can be easily used for various applications because it is designed to be compatible with general software development tools. The Mobile agents are manufactured, and feasibility of the robot and localization of the agents using magnetic hall sensor are validated by preliminary experiments.

• 한국지능시스템학회논문지
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• 제17권1호
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• pp.80-85
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• 2007

홈네트워크 시스템의 본격적인 보급과 함께 가정용서비스 로봇의 최근 연구 성과들은 인간과 지능로봇이 가정에 공존하며 서로 의사소통을 할 수 있는 시대가 가까운 미래에 현실화 될 수 있음을 보여주고 있다. 한편 가정의 환경적인 특징은 open이기 때문에 그러한 환경에 적응하고 주어진 임무를 수행하는 데는 단일 로봇 또는 단일 홈서버보다는 로봇을 포함하는 홈네트워크 시스템 내의 여러 장치들이 어울려 분산처리를 수행하는 multi-agent 시스템이 일반적으로 더 좋다고 알려져 있다. 따라서 본 논문은 홈네트워크 시스템을 가진 가정에서 필요한 agent들을 정의하기 위해 framework 모델을 구축하고 각 agent 간의 통신 protocol architecture를 제시한다. 이를 위해 로봇 또는 홈서버의 단일 지능이나 기능보다는 그 안에 존재하는 복수개의 agent instance들의 집합으로서 agent를 정의하고, 각 agent 내외에서 agent들 사이의 협력(cooperation)과 타협(negotiation)을 통해 환경과 적응하는 방법 및 사람과 교감(interactive)하는 방법을 제시한다.

• Advances in robotics research
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• 제2권3호
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• pp.247-257
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• 2018

Various studies have been performed to coordinate robots in transporting objects and different artificial intelligence algorithms have been considered in this field. In this paper, we investigate and solve Multi-Robot Transportation problem by using a combined auction algorithm. In this algorithm each robot, as an agent, can perform the auction and allocate tasks. This agent tries to clear the auction by studying different states to increase payoff function. The algorithm presented in this paper has been applied to a multi-robot system where robots are responsible for transporting objects. Using this algorithm, robots are able to improve their actions and decisions. To show the excellence of the proposed algorithm, its performance is compared with three heuristic algorithms by statistical simulation approach.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.59.5-59
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• 2001

Multi-agent robot system is the system which executes by cooperating with each robots and controlling several robots. Capability and function of each robot must be considered for cooperation behavior. Furthermore, it is necessary to analyze the given environment and to replace complex task with some simple tasks. Analysis of the given environment and role assignment for the given tasks are composed of discret event. In this paper, the hierarchical controller for multi-agent robot system using the petri-net state diagram is proposed. The proposed modeling method is implemented for soccer robot system. The effectiveness of proposed modeling method is shown through experiment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1938-1943
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• 2005

Network human-robot interface is an important research topic. In home application, users access the robotic system directly via voice, gestures or through the network. Users explore a system by using the services provided by this system and to some extend users are enable to participate in a service as partners. A service may be provided by a robot, a group of robots or robots and other network connected systems (distributed sensors, information systems, etc). All these services are done in the network environment, where uncertainty such as the unstable network connection, the availability of the partners in a service, exists. Moreover, these services are controlled by several users, accessing at different time by different methods. Our research aimed at solving this problem to provide a high available level, flexible coordination system. In this paper, a multi-agent framework is proposed. This framework is validated by using our new concept of slave agents, a responsive multi-agent environment, a virtual directory facilitator (VDF), and a task allocation system using contract net protocol. Our system uses a mixed model between distributed and centralized model. It uses a centralized agent management system (AMS) to control the overall system. However, the partners and users may be distributed agents connected to the center through agent communication or centralized at the AMS container using the slave agents to represent the physical agents. The system is able to determine the task allocation for a group of robot working as a team to provide a service. A number of experiments have been conducted successfully in our lab environment using Issac robot, a PDA for user agent and a wireless network system, operated under our multi agent framework control. The experiments show that this framework works well and provides some advantages to existing systems.

• 사물인터넷융복합논문지
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• 제7권4호
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• pp.29-34
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• 2021

실 환경에서 로봇에 강화학습을 적용하기 위해서는 수많은 반복 학습이 필요하므로 가상 환경에서의 시뮬레이션을 사용할 수밖에 없다. 또한 실제 사용하는 로봇이 저사양의 하드웨어를 가지고 있는 경우 계산량이 많은 학습 알고리즘을 적용하는 것은 어려운 일이다. 본 연구에서는 저사양의 하드웨어를 가지고 있는 모바일 로봇의 장애물 충돌 회피 문제에 강화학습을 적용하기 위하여 가상의 시뮬레이션 환경으로서 Unity에서 제공하는 강화학습 프레임인 ML-Agent를 활용하였다. 강화학습 알고리즘으로서 ML-Agent에서 제공하는 DQN을 사용하였으며, 이를 활용하여 학습한 결과를 실제 로봇에 적용해 본 결과 1분간 충돌 횟수가 2회 이하로 발생하는 결과를 얻을 수 있었다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 제36회 하계학술대회 논문집 D
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• pp.2771-2773
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• 2005

In network human-robot interaction, human can access services of a robot system through the network The communication is done by interacting with the distributed sensors via voice, gestures or by using user network access device such as computer, PDA. The service organization and exploration is very important for this distributed system. In this paper we propose a new agent-based framework to integrate partners of this distributed system together and help users to explore the service effectively without complicated configuration. Our system consists of several robots. users and distributed sensors. These partners are connected in a decentralized but centralized control system using agent-based technology. Several experiments are conducted successfully using our framework The experiments show that this framework is good in term of increasing the availability of the system, reducing the time users and robots needs to connect to the network at the same time. The framework also provides some coordination methods for the human robot interaction system.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2002년도 추계학술발표논문집 (상)
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• pp.27-30
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• 2002

Recently, there are lots of concerning on the control of multi-agent control system and mixed reality integrating real and virtual environments. In this paper, an integrated agent control system based on mixed reality and mobile environment is proposed. The system consists of a manager, agents, a mapping module, a geographic information module, a WAP server, and a mobile manager. The manager has Hybrid Device Manager(HDM) working for revising images and position data of the agents to display that at the 3D virtual and mobile environments respectively. Especially, the images of the agent is translated to LBM format and displayed on the mobile phone, and the current position of the agent is displayed on the display screen, so that a user are able to control the agent when he is moving. Experimental results shows the proposed system lets us control the agents conveniently at a computer and a mobile phone.