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Barycentric Approximator for Reinforcement Learning Control
조황 한국정밀공학회 2002 International Journal of Precision Engineering and Vol.3 No.1
Recently, various experiments to apply reinforcement learning method to the self-learning intelligent control of continuous dynamic system have been reported in the machine learning related research community. The reports have produced mixed results of some successes and some failures, and show that the success of reinforcement learning method in application to the intelligent control of continuous control systems depends on the ability to combine proper function approximation method with temporal difference methods such as Q-learning and value iteration. One of the difficulties in using function approximation method in connection with temporal difference method is the absence of guarantee for the convergence of the algorithm. This paper provides a proof of convergence of a particular function approximation method based on "barycentric interpolator" which is known to be computationally more efficient than multilinear interpolation.
전방향 바퀴구동식 메커니즘의 설계 및 해석에 관한 연구
조황,박성원 광운대학교 신기술연구소 1999 신기술연구소논문집 Vol.28 No.-
본 논문은 바퀴식 주행로봇의 운동성을 최대로 하기 위하여 다륜 조향/구동 메커니즘을 제안하고 이 를 구현하기 위하여, 가능한 여러 형때의 조향/구동 방식 중에서, 실제 설계 및 제어의 용이함과 경제성을 고려하여 2개의 조향/구동 모듈을 사용하는 이중 세발자전거 방식을 사용한다. 이 방식을 사용하게 될 경우, 로봇시스템은 1개 또는 2개의 구동 자유도와 2개의 조향 자유도를 갖는다. 본 논문에서 제안된 시스템은 경로가 매끄러운 경우, 즉 곡률의 변화가 연속적인 경우는 전방향 운행특성을 정확히 흉내낼 수 있음을 보여준다. 또한, 제안된 시스템에 매우 효과적으로사용될 수 있는 직선 자세제어 알고리즘을 제 시 한다. In this paper, a mobile system with multi-wheel steering and driving mechanism is proposed to maximize manipulability of the system. Among various possible configurations, the two wheels-steering and driving systems, which is very economic and may be called a dual tricycle, is used to reduce the complexity in actual design and difficulties in control. The robot system possesses total three degrees of freedom, one for driving and two for steering. However, we show that the proposed system can exactly emulate characteristics of the omnidirectional motion as long as the planned path is smooth (i.e., the curvature changes continuously while velocity is not zero). A straight posture control algorithm, which is very efficient in actual applications, is also developed for the system as well.
사상인(四象人) 침혈(針穴) 선택의 방법론에 대한 연구(십이정경(十二正經)을 중심으로)
조황성,Cho, Hwang-Sung 사상체질의학회 2005 사상체질의학회지 Vol.17 No.1
1. Objectives Scarcely referred except for a few phrases of the acupuncture of Dongmugong. He stated every disease could be cured through acupunture. In addition, generally there are a certain point('hyul-穴') of the body that suits according to the constitutions, and just as there are a theory that 'ascend-descend-loosen-tighten(升降緩束)' so as therapy of the symptom has the same. However, he did not indicate the concrete method of the four constitutional acupuncture. He only asked his descendants to study about it. 2. Methods Therefore, author of the thesis tries to describe the theory approach to the seletive method of four constitutional acupunture point based on ${\ulcorner}$Dongyi Suse Bowon(東醫壽世保元)${\lrcorner}$ 3. Results and Conclusions The author of the thesis recommended the methods to apply twelve channels to sasangin's disease and symptoms according to the ascend(升)-descend(降)-loosen(緩)-tighten(束)
조황성,Cho, Hwang-Sung 한국한의학연구원 1995 한국 한의학연구소 논문집 Vol.1 No.1
Dong-Mu's philosophy is based on the postulation of 'Sa Sim Sin Mul'. The attempt toactualize the postulation is seen through the books 'Kyun chigo' and 'Dongeuisusebowon'. That is to say the physiology, pathology and pharmacology of Sasang based on Dong-Mu's philosophy all belong to the category of Sa Sim Sin Mul. But the interpretations of Sasang prescription have been made as 'The recipe for symptoms'. it is different from Dong-Mu's view. Appearing of disease can interpretate the strength and weakness of resistance based on the constitution. So, I tried to analogize properties of drugs showed in his writings on the assumption of resistance of the constitution.