Multi Agent Robot System(MARS)의 Robot Agent 간 정보교환을 위한 네트워크 프로그램 구현

고광은(Kwang-Eun Ko),이정수(Jeong-Soo Lee),장인훈(In-Hun Jang),심귀보(Kwee-Bo Sim) 한국지능시스템학회 2007 한국지능시스템학회논문지 Vol.17 No.5

홈서버와 가정용서비스 로봇, 다양한 Device를 포함하는 홈네트워크 시스템을 이용하여 가정환경 내에서 발생 가능한 다양하게 분산된 임무들을 수행하는데 있어서 Multi-Agent 시스템을 응용하는 것은 효율적이라고 알려져 있다. 이러한 시스템에서 휴먼 인터페이스와 물리적 서비스 제공의 중추 역할을 하는 것은 바로 지능형 서비스 로봇이다. 따라서, 기존의 Multi Agent System을 응용하여 Multi Agent Robot System을 정의할 수 있다. 가정이라는 ‘open’된 특성의 환경에서 Multi Agent Robot System이 사용자에게 좀 더 효율적인 서비스를 제공하기 위해서는 존재하는 모든 Agent 간의 유기적인 정보교환과 협력이 필요하다. 이것을 위하여 자율구동하며 사용자에게 물리적 서비스를 제공할 수 있는 다수의 로봇들을 Agent로 정의하고, 로봇 Agent간의 통신과, 로봇 이외의 Agent로써의 역할을 감당할 수 있는 홈서버 등의 Agent와 로봇 Agent들의 통신을 사용자 interface에 직접 표현할 수 있는 시뮬레이터를 설계, 제시한다. Using home network system including home server, home service robot, a variety of device, it is generally known that application of Multi Agent System for performing variously distributed process that can be occur in home environment, is efficient method. In this system, it is intelligent service robot that a key of human interface and physical service offer. Therefore, using application of established multi agent system, we can defined Multi Agent Robot System. In 'open' home environment, between all agent data interaction and cooperation are needed for Multi Agent System offer to user that more efficient service. For this, we focus our attention on define as agent that can autonomic drive and offer to user that physical service robots and, design, suggest the simulator can display that between robot agents communication or between other agents, like home server, and robot agents communication information to user interface.

홈 네트워크 응용을 위한 Multi Agent System (MAS) 프레임워크

장인훈(In-Hun Jang),심귀보(Kwee-Bo Sim) 한국지능시스템학회 2007 한국지능시스템학회논문지 Vol.17 No.1

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. As home network system begins serving in earnest, the recent fruits of research in home service robot show that the new epoch that human and intelligent robots are living, communicating and interacting together at home, may come true in the near future. In the other hand, it is generally known that the multiagent system, performing distributed process together with other different devices in a home network system, is better than single robot or single home server for adapting themselves to home environment and completing their mission because the characteristic of home environment is 'open'. Therefore, in this paper we suggest the framework model to define agents, which is needed for the home with a home network system, and the communication protocol architecture between agents. For this, we focus our attention on an agent comprising the set of many agent instances rather than the single intelligent or ability of a robot or home server, and also suggest the way of adaptation for agent systems to their environments and interaction with human in the manner of cooperation and negotiation among agents or agent instances in each agent.

Multi-Agent System을 이용한 배전계통 자율 적응 최적 보호 시스템

鄭廣鎬,崔勉松,李承宰 明知大學校 産業技術硏究所 2004 産業技術硏究所論文集 Vol.23 No.-

The topology of the power distribution network with protection scheme using over current relay is changed frequently because of load change, maintenance, mending and so on, but the setting values of protective devices are maximum values to ignore load and topology changes of the distribution network. Therefore the protection system can't isolate the light fault from distribution system. Currently, multi-agent system is focused one's attention on the world. And also the protective device is made by digital component and it has communication ability through the influence of communication technology. Because of these reasons, "an adaptive optimal protection of a distribution system network using multi-agent system" is proposed to apply multi agent system for automatic operation of protective system in this paper. The characteristic of multi-agent system has autonomy that is self-start ability and intelligence, with own knowledge, reasoning and judging ability. The agent works together to achieve a global goal, in which case each agent does the given job only. A protective agent of the proposed system has two autonomous functions with basic the protective function. One is the detecting function of network change. The other is the resetting function for optimal protection of a distribution system by coordinating with neighbor agents. When the fault is detected on network, agents isolate fault from network, then it sets parameters to new operation conditions by collaborating with other device agents. This system has adaptive protection with optimization "Protectability" applying protection. It is the "Protectability" concept for evaluation of protection system to describe how the system is well protection by an index numerical value. This system can operate optimal protection, because it detects adequate parameter by optimal method based on collaboration with neighbor agent. The purpose of proposed paper is development of system which has automatic detection of network change and rapidly automatic adaptation against network change with optimal method to set adequate parameter for complete protection.

A Multiagent-Based Hybrid Power Control and Management of Distributed Power Sources

Yoon, Gi-Gab,Hong, Won-Pyo,Lee, Ki-Hong The Korean Institute of IIIuminating and Electrica 2011 조명·전기설비학회논문지 Vol.25 No.8

In this paper, a multi-agent control system for DC-coupled photovoltaic (PV), fuel cell (FC), ultracapacitor(UC) and battery hybrid power system is studied for commercial buildings & apartment buildings microgrid. In this proposed system, the PV system provides electric energy to the electrolyzer to produce hydrogen for future use and transfer to the load side, if possible. Whenever the PV system cannot completely meet load demands, the FC system provides power to meet the remaining load. A multi-agent system based-power management and control algorithm is proposed for the hybrid power system by taking into account the characteristics of each power source. The main works of this paper are hybridization of alternate energy sources with FC systems using long and short storage strategies to build the multi-agent control system with pragmatic design, and a dynamic model proposed for a PV/FC/UC/battery bank hybrid power generation system. A dynamic simulation model for the hybrid power system has been developed using Matlab/Simulink, SimPowerSystems and Stateflow. Simulation results are also presented to demonstrate the effectiveness of the proposed multi-agent control and management system for building microgrid.

A Multiagent-Based Hybrid Power Control and Management of Distributed Power Sources

윤기갑,홍원표,이기홍 한국조명.전기설비학회 2011 조명·전기설비학회논문지 Vol.25 No.8

In this paper, a multi-agent control system for DC-coupled photovoltaic (PV), fuel cell (FC), ultracapacitor(UC) and battery hybrid power system is studied for commercial buildings & apartment buildings microgrid. In this proposed system, the PV system provides electric energy to the electrolyzer to produce hydrogen for future use and transfer to the load side, if possible. Whenever the PV system cannot completely meet load demands, the FC system provides power to meet the remaining load. A multi-agent system based-power management and control algorithm is proposed for the hybrid power system by taking into account the characteristics of each power source. The main works of this paper are hybridization of alternate energy sources with FC systems using long and short storage strategies to build the multi-agent control system with pragmatic design, and a dynamic model proposed for a PV/FC/UC/battery bank hybrid power generation system. A dynamic simulation model for the hybrid power system has been developed using Matlab/Simulink, SimPowerSystems and Stateflow. Simulation results are also presented to demonstrate the effectiveness of the proposed multi-agent control and management system for building microgrid.

마이크로그리드시스템의 분산 에너지관리시스템 설계를 위한 통합시뮬레이션 모델 개발

조재훈(Jae Hoon Cho),박선홍(Sun Hong Park),이대종(Dae Jong Lee),조영임(Young Im Cho),전명근(Myung Geun Chun) 한국지능시스템학회 2011 한국지능시스템학회논문지 Vol.21 No.1

본 논문에서는 신재생에너지원을 포함하는 독립형 마이크로그리드시스템의 멀티에이전트시스템 기반의 분산에너지관리시스템 설계를 위한 통합시뮬레이션 모델을 제안한다. 멀티에이전트기반 분산에너지관리시스템은 일반적인 중앙에너지관리시스템에 비해 여러 장점들을 가지고 있으나 각 상태에 따른 설계가 비교적 복잡하여 기존의 전력시스템 도구를 이용하여 분산에너지관리시스템을 설계하기에는 많은 어려운 점들이 있었다. 또한 설계된 에너지관리시스템을 실제 시스템에 적용하여 평가하는 것은 비능률적이기 때문에 효과적인 에너지관시스템을 설계하기 위해서는 통합시뮬레이션 모델이 필요하다. 제안된 통합시뮬레이션 모델은 Matlab/Simpowersystem 기반의 마이크로그리드시스템의 시뮬레이션 모델과 이벤트기반의 알고리즘 설계에 많은 장점이 있는 Matlab/StateFlow을 이용하여 설계된 멀티에이전트기반의 분산에너지관리시스템으로 구성되었다. 통합시뮬레이션 모델의 효용성을 보이기 위하여 특정한 동작 조건들에서 제안된 모델의 출력들을 분석하였다. In this paper, an integrated simulation model for designing multi-agent system based DEMS (distributed energy management system) in stand-alone micro-grid system is proposed. In the design of the EMS(energy management system), the multi-agent based DEMS are more effective than conventional centralized EMS, but it is difficult to design the DEMS by general design tools for power system because of various states of a microgrid system during operation of stand-alone mode. Also, since performance test of the DEMS using a real system is inefficient, an integrated simulation model is required for designing an effective multi-agent system based DEMS. The proposed model consists of Matlab/SimPowerSystems based simulation model of the microgrid system and the Multi-agnet based DEMS designed by Matlab/StateFlow tool. In order to show the effect of the proposed model, the model outputs are analyzed for specified operation conditions.

A Multiagent-Based Hybrid Power Control and Management of Distributed Power Sources

Gi-Gab Yoon,Won-Pyo Hong,Ki-Hong Lee 한국조명·전기설비학회 2011 조명·전기설비학회논문지 Vol.25 No.8

In this paper, a multi-agent control system for DC-coupled photovoltaic (PV), fuel cell (FC), ultracapacitor(UC) and battery hybrid power system is studied for commercial buildings & apartment buildings microgrid. In this proposed system, the PV system provides electric energy to the electrolyzer to produce hydrogen for future use and transfer to the load side, if possible. Whenever the PV system cannot completely meet load demands, the FC system provides power to meet the remaining load. A multi-agent system based-power management and control algorithm is proposed for the hybrid power system by taking into account the characteristics of each power source. The main works of this paper are hybridization of alternate energy sources with FC systems using long and short storage strategies to build the multi-agent control system with pragmatic design, and a dynamic model proposed for a PV/FC/UC/battery bank hybrid power generation system. A dynamic simulation model for the hybrid power system has been developed using Matlab/Simulink, SimPowerSystems and Stateflow. Simulation results are also presented to demonstrate the effectiveness of the proposed multi-agent control and management system for building microgrid.

An Intelligent Web based e-Learning Multi Agent System

조영임(Young Im Cho) 한국지능시스템학회 2007 한국지능시스템학회논문지 Vol.17 No.1

이 논문에서는 멀티에이전트 기반 지능형 웹기반 이러닝 시스템을 구현하였다. 이 시스템 구현을 위해 사용자들의 취향검사를 수행하였고, 결과 사용자 그룹에 맞는 적절한 이러닝 커뮤니티를 형성하였다. 제안하는 시스템인 IMAS는 신경회로망에 의해 이러닝 커뮤니티를 학습하였고, 새로운 분산기반 멀티에이전트 프레임워크를 이용하여 에이전트를 생성한다. In this paper, we developed an intelligent web based e-learning system based on multi agents. To do development of the system, we applied an inclination test that is based on the education theory to do grouping the desirable e-learning community. The proposed system, Intelligent Web based e-learning Multi Agent System (IMAS), is used the multi agents paradigm including learning manner by neural network for grouping of e-learning community and a new distributed multi agent framework proposed here.

다중 에이전트 환경에서의 커뮤니티 기반 유비쿼터스 시스템을 위한 모델과 개발 도구

정유나(Youna Jung),이정태(Jungtae Lee),김민구(Minkoo Kim) 한국정보과학회 2006 정보과학회논문지 : 소프트웨어 및 응용 Vol.33 No.12

To develop a ubiquitous system, several researches have been tried to apply multi-agent models to design a system. Even though current multi-agent models provide many benefits with ubiquitous system developments, there are still some deficiencies in completely supporting the characteristics of ubiquitous systems such as dynamic formation and termination of mission-oriented organizations and interrelationship between organizations. In addition, existing agent-based models only concern aboutanalysis and design of a system, then place a burden of implementation on developers. Therefore, in this paper, we propose the high-level abstraction model of a multi-agent based ubiquitous system and the development process concerning implementation as well as design of systems. In addition, we implemented a development toolkit, called as CDTK (Community computing system Development Tool Kit), then developed a small community computing system using the CDTK. 최근 유비쿼터스 시스템을 설계하고 개발하기 위한 방법들 중 하나로서, 다중 에이전트 모델을 이용하는 방식이 연구되고 있다. 이러한 방식은 다중 에이전트 모델의 장점을 유비쿼터스시스템에서 수용할 수 있도록 하였다. 그러나, 특정 유비쿼터스 시스템에 대해서는 기존의 다중 에이전트 모델들만으로는 완벽하게 기술하기에 어려운 부분이 있다. 본 논문에서는 사용자의 요구가 동적으로 생성되면 개체들이 협업하여 이를 해결하는 협업 위주의 유비쿼터스 시스템에 초점을 맞추었다. 이러한 시스템에서는 서비스를 제공하기 위하여 형성되는 컴퓨팅 요소들간의 협업 조직이 매우 중요하지만, 일반적인 다중 에이전트 모델로는 이러한 협업 조직을 효과적으로 표현하기가 쉽지 않다. 즉, 기존의 모델만으로는 이러한 협업 조직의 동적인 생성과 소멸, 동적인 조직의 구성방식, 그리고 서비스를 제공하기 위한 조직 내에서 또한 조직들간의 협업 방식을 기술하기가 쉽지 않다는 것이다. 따라서 본 논문에서는 그러한 협업 조직을 커뮤니티라 하고, 협업 중심의 유비쿼터스 시스템을 커뮤니티에 기반하여 기술하는 추상화 모델로서 커뮤니티 컴퓨팅모델을 제안하였다. 또한 본 논문에서는 유비쿼터스 시스템을 위한 체계적인 개발 체계가 수립되어 있지 않다는 점에 주목하고, 제안된 커뮤니티 컴퓨팅 모델을 기반으로 응용 시스템을 개발하기 위한 시스템 개발 과정을 제안하고 이를 빠르고 편리하게 도와주는 개발 도구를 구현하여 보았다. 마지막으로, 소규모의 유비쿼터스 시스템을 제안한 추상화 모델로 기술하고 개발 도구를 사용하여 다중 에이전트 플랫폼에서 개발하여, 제안한 방법의 실현성을 검증하여 보았다.

Consensus in Multi-Agent Systems with Nonlinear Uncertainties under a Fixed Undirected Graph

Jie Luo,Chengyu Cao 제어·로봇·시스템학회 2014 International Journal of Control, Automation, and Vol.12 No.2

This paper presents consensus algorithms by integrating cooperative control and adaptive control laws for multi-agent systems with unknown nonlinear uncertainties. An ideal multi-agent system without uncertainties is introduced first. The cooperative control law, based on an artificial potential function, is designed to make the ideal multi-agent system achieve consensus under a fixed and connected undirected graph. The presence of uncertainties will degenerate the performance, or even destabilize the whole multi-agent system. The L1 adaptive control law is therefore introduced to handle unknown nonlinear uncertainties. Two different consensus cases are considered: 1) normal consensus—where all agents reach an agreement on an initially undetermined position and velocity, and 2) consensus with a virtual leader—where all agents’ states converge to the virtual leader’s states. Under a fixed and connected undirected graph, the presented consensus algorithms enable the real multi-agent system to stay close to the ideal multi-agent system which achieves consensus with or without a virtual leader. Simulation results of 2-D consensus with nonlinear uncertainties are provided to demonstrate the presented algorithms.