박종구 교수

An anti-windup-based approach is newly attempted to deal with time-delay control systems with input saturation. Following the anti-windup paradigm, we assume that controllers have been designed beforehand for time-delay control systems based on existing design techniques which will show desirable performance. Then, an additional compensator is designed to provide graceful performance degradation under control input saturation. By taking the difference of controller states in the absence and pres

The concept of a dynamic state estimator as an alternative to a static state estimator is introduced. Efficient and plausible design algorithms are also provided. The dynamic estimator is an extension of the usual static estimator. Both the model based and generalized dynamic estimators are considered. The essential characteristics of the dynamic estimators to be qualified as an effective estimator design scheme are addressed.

This paper presents a simulation based test method for functional and performance evaluation of robotic components and modules. In the proposed test method, function test procedure consists of unit, state, and interface tests which assess if the functional specifications of robot component 1 or module 2 are met. As for performance test, simulation environment provides a down scaled virtual work space for performance test of robot module accommodating virtual devices in conformity with the detail

Squalene synthase catalyzes the reductive dimerization of two molecules of farnesyl diphosphate to form squalene at the final branch point of the cholesterol biosynthetic pathway. Due to the unique position of this enzyme in the pathway, its inhibitors may have advantages as antihypercholesterolemic agents. Therefore, selective inhibitors of squalene synthase do not prevent the formation of the essential branch products of the isoprene pathway, such as dolichol, coenzyme-Q, and prenylated protei

This paper considers a design problem for time synchronized coverage control of cooperative mobile robots. The derived algorithm provides a coverage control which not only considers the mobility characteristic of each mobile robot for task allocation but generates robot velocity profile for synchronized coverage completion within the constrained time. Since the environment for robot coverage work is modeled as a set of locations to visit by robots, the derived coverage algorithm and its control

This paper proposes a new SLAM (Simultaneous Localization and Mapping) algorithm based on hybrid map method. We express the environment surrounding mobile robot with a grid and a feature map. Using the reliability of estimation for individual map, we calculate the importance factor for Rao-Blackwellized Particle Filter (RBPF) resampling. In this way, we improve the accuracy of the algorithm and reduce computational complexity. Experimental results verify the feasibility and effectiveness of our

In the present paper, a method is proposed that uses the geomagnetic field to estimate the positions of mobile robots in indoor environment. The reinforced concrete, H-beams, and power systems in buildings distort the geomagnetic field and these characteristics are used as regional features to estimate the positions of mobile robots. Another method is also proposed that prepares geomagnetic field maps using the model information obtained from the characteristics of sensors mounted on mobile robo

게임의 발전에 따라 게임에 등장하는 NPC(Non-Player Character)들의 지능 또한 중요성을 더해가고 있다. 단순히 이동하고 플레이어를 공격하기만 하는 수준을 넘어서 NPC들 역시 다양한 기술과 전술을 사용하는 것이 최근의 MMORPG 게임의 추세이다. 본 논문에서는 신경망과 유전자 알고리즘을 이용하여 롤플레잉 게임에 사용되는 캐릭터에게 학습 및 적응 능력을 부여하는 방법을 제안한다. 제안된 지능 캐릭터가 얼마나 게임의 규칙과 전술을 잘 학습하고 적응하는지를 살펴보기 위하여 본 논문에서는 간단한 게임 모델을 제작하여 실험하였다. 캐릭터는 탱커(Tanker), 딜러(Dealer), 힐러(Healer)의 3가지 종류가 있으며, 지능 캐릭터 집단은 신경망과 유전 알고리즘으로 학습되고 FSM으로 움직이는 적 캐릭터 집단과의 전투를 통해 학습한다. 실험 결과 지능 캐릭터가 전투를 통해 자신과 적의 능력에 따른 적절한 전투 방식을 스스로 학습하고, 게임 규칙의 변화에 적응하는 것을