• International Journal of Control, Automation, and Systems
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• 제6권2호
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• pp.282-287
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• 2008

In distributed mobile robot systems, autonomous robots accomplish complicated tasks through intelligent cooperation with each other. This paper presents behavior learning and online distributed evolution for cooperative behavior of a group of autonomous robots. Learning and evolution capabilities are essential for a group of autonomous robots to adapt to unstructured environments. Behavior learning finds an optimal state-action mapping of a robot for a given operating condition. In behavior learning, a Q-learning algorithm is modified to handle delayed rewards in the distributed robot systems. A group of robots implements cooperative behaviors through communication with other robots. Individual robots improve the state-action mapping through online evolution with the crossover operator based on the Q-values and their update frequencies. A cooperative material search problem demonstrated the effectiveness of the proposed behavior learning and online distributed evolution method for implementing cooperative behavior of a group of autonomous mobile robots.

• Transactions on Control, Automation and Systems Engineering
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• 제4권2호
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• pp.176-187
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• 2002

This paper focuses on the study of simulation and evolution of Micro Air Vehicles. Micro Air Vehicles or MAVs are small flying robots that are used for surveillance, search and rescue, and other missions. The simulated robots are designed based on realistic characteristics and the brains (controllers) of the robots are generated using genetic algorithms, i .e., simulated evolution. The objective for the experiments is to investigate the effects of robot team size and topology (simulation environment) on the evolution of simulated robots. The testing of team sizes deals with finding an ideal number of robots to be deployed for a given mission. The goal of the topology experiments is to see if there is an ideal topology (environment) to evolve the robots in order to increase their utility in most environments. We compare the results of the various experiments by evaluating the fitness values of the robots i .e., performance measure. In addition, evolved robot teams are tested in different situation in order to determine if the results can be generalized, and statistical analysis is performed to evaluate the evolved results.

• 한국태양에너지학회 논문집
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• 제32권spc3호
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• pp.289-294
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• 2012

In recent years, understanding the dynamics of DC distribution system has become critically important due mainly to the increasing needs for the interconnection of DC distributed generators and the (DC-based) electric vehicle (EV) charging systems. In this paper, the characteristics of the DC grid system connected to the compact proton exchange membrane fuel cell (PEMFC) has been studied. In particular, the voltage and current transient phenomena were measured by varying the load of the DC grid system. Also, the voltage and current ripple were measured at the different load conditions. Our experimental results clearly manifested that the study contributes to the establishment of fundamental method to characterize the small DC grid system including distributed generation.

• 제어로봇시스템학회논문지
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• 제10권2호
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• pp.197-203
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• 2004

A real-time network in a distributed control system plays an important role for the reliable data transmission. Compared to the field-buses used in the past, TCP/IP protocol on the top of Ethered provides a compatibility between applications as well as an economical method to develop softwares. This paper proposes a modified TCP/IP structure for IEEE-1394 network, with which asynchronous and isochronous data transmission is selectively used for the real-time data transmission in a distributed control system. This paper also shows the performance of the proposed protocol by experiments.

• 제어로봇시스템학회논문지
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• 제18권7호
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• pp.617-621
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• 2012

This paper studies asymptotic consensus problem for linear multi-agent systems. We propose a distributed state feedback control algorithm for solving the problem under fixed and undirected network communication. In contrast with the conventional algorithms that use global information (e.g., graph connectivity), the proposed algorithm only uses local information from neighbors. The principle for achieving asymptotic consensus is that, for each agent, a distributed update law gradually increases the coupling gain of LQR-type feedback and thus, the overall stability of the multi-agent system is recovered by the gain margin of LQR.

• 제어로봇시스템학회논문지
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• 제10권12호
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• pp.1264-1270
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• 2004

In this paper, a standard robot design methodology is suggested and a software architecture for modular robot is introduced. The robot is modularized by several functions, and the module is produced according to a standard proposal. Each module requires standard interface for communicate in distributed environments. Software architecture was developed to support distributed component environment, and application development support tools are developed for user convenience. Many robot softwares are developed in a library form so that, they are being used widely robot application software development. Also a device driver was developed for the mostly used sensor and actuator. It is verified that the modular robot can be applied in various fields through guide, errand and guard scenario.

• 제어로봇시스템학회논문지
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• 제5권1호
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• pp.115-121
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• 1999

Advanced digital computer technology enables the computer-based controllers to replace the traditional analog controllers used in factory automations. This replacement, however, brings up the side effects caused by the quantization error and non-real-time execution of control software. This paper describes the structure of real-time simulator and controller that can be used for design and verification of real-time digital controllers. The virtual machine concept adopted by the proposed real-time simulator makes the proposed simulator be independent from the specific hardware platforms. The proposed system can also be used in the loosely coupled distributed environments connected through local area network using real-time message passing algorithm and virtual data table based on the shared memory mechanism.

• 제어로봇시스템학회논문지
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• 제16권9호
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• pp.846-851
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• 2010

In this paper, we newly propose a novel control strategy of a three joints-robot finger for the purpose of artificial hands. The robot finger is specifically modeled by using a 3D CAD program (CATIA), considering human fingers, and then the proposed control method is verified through the dynamic simulation tool (Simulink and Recurdyn R2). Each slider is individually controlled to be located at the optimal positions where the maximal joint torque can be generated. To prove the effectiveness of the proposed control method, we devise two cases for the reference position of sliders. By comparing the control performance of two cases, the validity of the proposed control method will be verified.

• 로봇학회논문지
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• 제4권1호
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• pp.68-73
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• 2009

The UPnP is middleware architecture that supports dynamic distributed computing environment. It has many good features for possible use as middleware in robot system integration. There is a need for bulky binary data transmission between distributed robot S/W components. Since the UPnP utilizes SOAP protocol for message transmission, however, it is not efficient to send bulky binary data. In order to overcome this weak point, this paper proposes UPnP-MTOM, MTOM (Message Transmission Optimization Mechanism) implementation over UPnP, as an efficient way for bulky binary data transmission with UPnP messages. This paper presents our implementation method and experimental results of the UPnP-MTOM implementation.

• 로봇학회논문지
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• 제2권1호
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• pp.21-28
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• 2007

The Intelligent Space(ISpace) provides challenging research fields for surveillance, human-computer interfacing, networked camera conferencing, industrial monitoring or service and training applications. ISpace is the space where many intelligent devices, such as computers and sensors, are distributed. According to the cooperation of many intelligent devices, the environment, it is very important that the system knows the location information to offer the useful services. In order to achieve these goals, we present a method for representing, tracking and human following by fusing distributed multiple vision systems in ISpace, with application to pedestrian tracking in a crowd. And the article presents the integration of color distributions into particle filtering. Particle filters provide a robust tracking framework under ambiguity conditions. We propose to track the moving objects by generating hypotheses not in the image plan but on the top-view reconstruction of the scene. Comparative results on real video sequences show the advantage of our method for multi-object tracking. Also, the method is applied to the intelligent environment and its performance is verified by the experiments.