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최환도(Hwan-Do Choi),김재현(Jae-Heon Kim),김중완(Joong-Wan Kim) 대한기계학회 2002 대한기계학회 춘추학술대회 Vol.2002 No.5
This paper presents an artificial intelligent model for a soccer robot We classified soccer robot as artificial intelligent model into three elemental groups including instinct, intuition and reason. Instinct is responsible for keeping the ball, walking or rushing toward the ball This is very simple fundamental action without regard to associates and enemies. Intuition contributes to the faster/slower moving and simple basic tuning to get near to the ball and to make a goal noticing associates and enemies. Reason is. the most intelligent part, the law of reason is not simple relatively with instinct and intuition. We shall expect to design the best law of reason for a soccer robot some time. We also compared nerve system and muscles of human being model with controller and motors of a physical soccer robot model individually. We had designed several algorithms and made programs to investigate effects and control soccer robot.
균열발생시기 결정을 위한 항공기 엔진 구성품의 비파괴검사 결과에 대한 통계적 분석
최재만(Jaeman Choi),권영한(Younghan Kwon),최환서(Hwanseo Choi),양승효(Seunghyo Yang),우상욱(Sangwook Woo),조순미(Soonmi Cho),이승주(Seungjoo Lee) 대한기계학회 2009 大韓機械學會論文集A Vol.33 No.12
In this study statistical analysis was performed for NDI(Non-Destructive Inspection) results of F100 engine front seal support assembly. NDI results can be statistically considered as Quantal Response Data. It is found that the suitable probability distribution to the failure data is normal distribution through MLE(Maximum Likelihood Estimation) of the Quantal Response Data. Moreover, Cumulative Distribution Function, failure rate function and B-Life are calculated on the supposed distribution.
김재헌(J. H. Kim),최환도(H. D. Choi),김중완(J. W. Kim),전언찬(U. C. Jeon) 대한기계학회 2002 대한기계학회 춘추학술대회 Vol.2002 No.5
This research is presented for optimizing the coefficients of spring and damper by impulse which is applied to AGV when the two containers are loaded on AGV. The suspension is estimated to the condition that two containers, initial velocity of container, initial height of container and maximum of suspension stroke. The coefficients of spring am damper are calculated numerically through Newmark method uses finite difference expansions. The procedure of calculation is applied by one DOFs of mass-spring-damper system. The coefficients of spring and damper have large value as increase of beight or decrease of stroke. The result of calculation is shown in graph and the investigation is used AGV design.
적응형 정책학습을 이용한 다양한 환경에서의 강인한 주행성능 개선
이교운(Kyowoon Lee),김성운(Seongun Kim),한지연(Jiyeon Han),최환일(Hwanil Choi),Daiki Matsunaga,최재식(Jaesik Choi) 대한전기학회 2021 대한전기학회 학술대회 논문집 Vol.2021 No.10
The optimal robot navigation policies vary according to the environment. This paper addresses a challenge to adaptively learn and find an optimal policy for the various environment settings for a mobile robot without extensively training for each environment. To solve this problem, we apply policy transfer with strategy optimization. We first train a family of policies for various environmental settings, and find the best policy with strategy optimization. We evaluate our method on the simulation with the various environment settings and show that the proposed algorithm is adaptive to the various environments.