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Strategy of object search for distributed autonomous robotic systems
김호덕,심귀보,Han-Ui Yoon 한국지능시스템학회 2006 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.6 No.3
This paper presents the strategy for searching a hidden object in an unknown area for using by multiple distributed autonomous robotic systems (DARS). To search the target in Markovian space, DARS should recognize their surrounding at where they are located and generate some rules to act upon by themselves. First of all, DARS obtain 6-distances from itself to environment by infrared sensor which are hexagonally allocated around itself. Second, it calculates 6-areas with those distances then take an action, i.e., turn and move toward where the widest space will be guaranteed. After the action is taken, the value of Q will be updated by relative formula at the state. We set up an experimental environment with five small mobile robots, obstacles, and a target object, and tried to research for a target object while navigating in a un known hallway where some obstacles were placed. In the end of this paper, we present the results of three algorithms a random search, an area-based action making process to determine the next action of the robot and hexagon-based Q-learning to enhance the area-based action making process.
김호덕,양현창,박창현,심귀보 한국지능시스템학회 2007 한국지능시스템학회 학술발표 논문집 Vol.17 No.1
Electroencephalographic(EEG)는 심리학의 영역에서 인간 두뇌의 활동을 측정 기록하는데 오래전부터 사용하였다. 과학의 발달함에 따라 점차적으로 인간의 두뇌에서 감정을 조절하는 기본적인 영역들이 밝혀지고 있다. 그래서 인간의 감정을 조절하는 인간의 두뇌 활동 영역들을 EEG를 이용하여 측정하였다. 본 논문에서는 EEG의 신호들과 몸짓을 이용해서 감정을 인식하였다. 특히, 기존에 생체신호나 몸짓 중 한 가지만을 이용하여 각각 실험해서 감성을 인식하였지만, 본 논문에서는 EEG 신호와 몸짓을 동시에 이용해서 피 실험자의 감성을 인식하는 실험을 하였다. 실험결과 기존의 생체신호나 몸짓 한 가지만을 가지고 실험했을 때의 인식률 보다 더 높은 인식률을 보임을 알 수 있었다. 그리고 생체신호와 몸짓들의 특징 신호들은 강화학습의 개념을 이용한 IFS(Interactive Feature Selection)를 이용하여 특징 선택을 하였다.
Emotion recognition method for deiver services
김호덕,심귀보 한국지능시스템학회 2007 INTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGE Vol.7 No.4
Electroencephalographic (EEG) is used to record activities of human brain in the area of psychology for many years. As technology developed, neural basis of functional areas of emotion processing is revealed gradually. So we measure fundamental areas of human brain that controls emotion of human by using EEG. Hands gestures such as shaking and head gesture such as nodding are often used as human body languages for communication with each other, and their recognition is important that it is a useful communication medium between human and computers. Research methods about gesture recognition are used of computer vision. Recognition method which uses one of EEG signals and Gestures in the existing research. In this paper, we use together EEG signals and Gestures for Emotion Recognition of human. And we select the driver emotion as a specific target. The experimental result shows that using of both EEG signals and gestures gets high recognition rates better than using EEG signals or gestures. Both EEG signals and gestures use Interactive Feature Selection (IFS) for the feature selection whose method is based on the reinforcement learning.
허혈 및 재관류시 관상혈관내 혈전형성에 관한 임상 및 실험적 연구
김호덕,정혜림,오승환,라봉진,Kim, Ho-Dirk,Jung, Hye-Lim,Oh, Seung-Hwan,Rah, Bong-Jin 한국현미경학회 1993 Applied microscopy Vol.23 No.1
Background: It has been well established and is now no longer a controversial issue that ischemia produces a series of inflammatory reactions and the ischemic myocardium cannot survive without adequate restoration of coronary flow, ie, reperfusion. Nevertheless, controversies that intravascular pluggings (IVP) by polymorphonuclear leukocytes (PMNs) or platelets may cause contractile dysfunction in ischemia and even in repefusion still remain. Accordingly, we attempted to examine the intravascular plug fomation as well as the ultrastructural changes in myocytes and microvessels and to determine the relation among them. Methods: 1) Human (n= 10, 39-63 years of age; 3 females and 7 males): left ventricular myocardium (LVM) was biopsied from chronic ischemic heart disease patient during bypass surgery. 2) Calf (Holstein-Friesian species, n=4): Circumflex branch of the left coronary artery (LCx) was occluded (ischemia) for 45 minutes and recanalized (reperfusion) for 3 and 6 hours, respectively and LVMs were biopsied after occlusion and recanalization, respectiverly. 3) Rat (Sprague-Dawley species, n=20): Left coronary artery (LCA) was occluded for 20 minutes and recanalized for an hour as the method described by Selye et al., (1960) and hearts were removed after occlusion and recanalization, respectively. 4) Pig (landrace type, n=7): Anterior ascending branch of the left coronary artery (LAD) was coccluded for 45 minutes and recanalized for 2 hours and LVMs were biopsied after occlusion and recanalization, repectively. All of the LVMs were routinely prepared for transmissiom electron microscopy. Rseults: In human, most of the LVM showed irreversible ultrastructural changes in myocytes and frequent IVPs by PMNs or platelets without any significant correlation with age or sex. In the animal LVM, myocytes showed reversible ultrastructural changes with slight variations in accordance with the species, duration of ischemia and reperfusion or site of biopsy, however, injuries were more severe in the subendocardial myocytes and IVPs by PMNs or platelets were frequently observed. Ultrastructural changes in the myocytes seemed to be gradually improved by recanalization, howerver, IVPs were still observed after recanalization. Conclusion: These results suggest that microvessels are more resistant to ischemic insult than the myocytes themselves and IVP by PMNs and platelets may play an important role to produce ischemic or reperfusion injuries. Thus, it is favorable that angioplasty is preceded by thrombolysis and it is likely that restoration of myocardial function requires relarively long period of time even after recanalization.