• The Journal of Korea Robotics Society
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• v.17 no.1
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• pp.76-85
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• 2022

One of the most fundamental challenges when designing controllers for dynamic systems is the adjustment of controller parameters. Usually the system model is used to get the initial controller, but eventually the controller parameters must be manually adjusted in the real system to achieve the best performance. To avoid this manual tuning step, data-driven methods such as machine learning were used. Recently, reinforcement learning became one alternative of this problem to be considered as an agent learns policies in large state space with trial-and-error Markov Decision Process (MDP) which is widely used in the field of robotics. However, on initial training step, as an agent tries to explore to the new state space with random action and acts directly on the controller parameters in real systems, MDP can lead the system safety-critical system failures. Therefore, the issue of 'safe exploration' became important. In this paper we meet 'safe exploration' condition with Control Barrier Function (CBF) which converts direct constraints on the state space to the implicit constraint of the control inputs. Given an initial low-performance controller, it automatically optimizes the parameters of the control law while ensuring safety by the CBF so that the agent can learn how to predict and control unknown and often stochastic environments. Simulation results on a quadrotor UAV indicate that the proposed method can safely optimize controller parameters quickly and automatically.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.25 no.3
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• pp.377-383
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• 2021

Recently, in accordance with the 4th industrial revolution, The use of autonomous mobile robots for flexible logistics transfer is increasing in factories, the warehouses and the service areas, etc. In large factories, many manual work is required to use Simultaneous Localization and Mapping(SLAM), so the need for the improved mobile robot autonomous driving is emerging. Accordingly, in this paper, an algorithm for mapless navigation that travels in an optimal path avoiding fixed or moving obstacles is proposed. For mapless navigation, the robot is trained to avoid fixed or moving obstacles through Deep Q Network (DQN) and accuracy 90% and 93% are obtained for two types of obstacle avoidance, respectively. In addition, DQN requires a lot of learning time to meet the required performance before use. To shorten this, the target size change algorithm is proposed and confirmed the reduced learning time and performance of obstacle avoidance through simulation.

• The Journal of the Korea institute of electronic communication sciences
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• v.17 no.3
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• pp.483-490
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• 2022

Malaria is a disease caused by a parasite and it is prevalent in all over the world. The usual method used to recognize malaria cells is a thick and thin blood smears examination methods, but this method requires a lot of manual calculation, so the efficiency and accuracy are very low as well as the lack of pathologists in impoverished country has led to high malaria mortality rates. In this paper, a malaria cell image recognition model using transfer learning is proposed, which consists in the feature extractor, the residual structure and the fully connected layers. When the pre-training parameters of the VGG-19 model are imported to the proposed model, the parameters of some convolutional layers model are frozen and the fine-tuning method is used to fit the data for the model. Also we implement another malaria cell recognition model without residual structure to compare with the proposed model. The simulation results shows that the model using the residual structure gets better performance than the other model without residual structure and the proposed model has the best accuracy of 97.33% compared to other recent papers.