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다각형 기반의 Q-Learning과 Cascade SVM을 이용한 군집로봇의 목표물 추적 알고리즘
서상욱,양현창,심귀보,Seo, Sang-Wook,Yang, Hyung-Chang,Sim, Kwee-Bo 대한임베디드공학회 2008 대한임베디드공학회논문지 Vol.3 No.2
This paper presents the polygon-based Q-leaning and Cascade Support Vector Machine algorithm for object search with multiple robots. We organized an experimental environment with ten mobile robots, twenty five obstacles, and an object, and then we sent the robots to a hallway, where some obstacles were lying about, to search for a hidden object. In experiment, we used four different control methods: a random search, a fusion model with Distance-based action making (DBAM) and Area-based action making (ABAM) process to determine the next action of the robots, and hexagon-based Q-learning and dodecagon-based Q-learning and Cascade SVM to enhance the fusion model with DBAM and ABAM process.
NEW SIDE NCAP AE MDB 적용에 따른 차체 및 인체 상해 변화에 관한 연구
서상욱(Sangwook Seo) 한국자동차공학회 2012 한국자동차공학회 학술대회 및 전시회 Vol.2012 No.11
Recent important as the protection of occupants of each country NCAP tests are to be strengthened, and Korea NCAP and Euro NCAP crash test of the enhanced regulation will apply in 2015. The weight of AE-MDB is 550kg heavier than the ECE Regulation 95 barrier, and the speed of side impact test is 55km/h as like the Korea NCAP. As a result, enhanced AE-MDB tests than the existing ECE Regulation 95 barrier was increased both the value of the acceleration vehicle and Dummy injuries(HIC36, rib compression, Pelvis force). This paper is purposed to analyze the relationship between the Occupant Injury and vehicle structure according to new AE-MDB test method changes.
서상욱(SW Seo) 대한산부인과학회 1961 Obstetrics & Gynecology Science Vol.4 No.3
12종의 무기 및 유기물질의 각종농도의 수용액을 한국인 성인정자에 작용시켜 그의 완전살감에 필요한 최저농도를 비교하여 본바 다음과 같은 결과를 얻었다. 1. NaOH, HCl, HgCl2, Tartaric acid, Acetic acid, H2O2의 살정자 최저농도는 0.5%에서 0.8% 사이였다. 2. 미제가루비누 Tide의 살정자최저농도는 4%이었다. Many investigations on the spermicidal effects of various chemical agents have been reported. Holzaepfel and Greenlee studied the spermicidal activities of various organic substances by the method of Brown and Gamble but the author conducted a study on the lowest spermicidal concentration of twelve water soluble chemical agents available in Korea. The semen used in this series was obtained from healthy Koreans rainging from 20 to 25 years of age. Each semen was collected in a clean and dried Petri dish. In order to minimize individual differences, 5 semen samples were mixed together and then used within 3 hours at room temperature. Each drop of semen and candidate solution were dropped respectively on the silde glass and mixed homogenously. Under a microscope the complete cessation of the sperm motility in the solution which occurred within 3 minutes indicates the lowest concentration of the candidate solution. The results obtained are as follows: 1) The lowest spermicidal concentrations of NaOH, HCl, HgCl2, Tartaric acid, Acetic acid, Hydrogen Peroxide are within a range of 0.5% to 0.8%. 2) The lowest spermicidal concentration of powdered soap, Tide (U.S. made) is 4%.
Q-learning과 Cascade SVM을 이용한 군집로봇의 행동학습 및 진화
서상욱(Sang-Woo Seo),양현창(Hyun-Chang Yang),심귀보(Kwee-Bo Sim) 한국지능시스템학회 2009 한국지능시스템학회논문지 Vol.19 No.2
군집 로봇시스템에서 개개의 로봇은 스스로 주위의 환경과 자신의 상태를 스스로 판단하여 행동하고, 필요에 따라서는 다른 로봇과 협조를 통하여 어떤 주어진 일을 수행할 수 있어야 한다. 따라서 개개의 로봇은 동적으로 변화하는 환경에 잘 적응할 수 있는 학습과 진화능력을 갖는 것이 필수적이다. 본 논문에서는 SVM을 여러 개 이용한 강화학습과 분산유전알고리즘을 이용한 새로운 자율이동로봇의 행동학습 및 진화방법을 제안한다. 또한 개개의 로봇이 통신을 통하여 염색체를 교환하는 분산유산알고리즘은 각기 다른 환경에서 학습한 우수한 염색체로부터 자신의 능력을 향상시킨다. 특히 본 논문에서는 진화의 성능을 향상시키기 위하여 Cascade SVM을 기반으로 한 강화학습의 특성을 이용한 선택 교배방법을 채택하였다. In swarm robot systems, each robot must behaves by itself according to the its states and environments, and if necessary, must cooperates with other robots in order to carry out a given task. Therefore it is essential that each robot has both learning and evolution ability to adapt the dynamic environments. In this paper, reinforcement learning method using many SVM based on structural risk minimization and distributed genetic algorithms is proposed for behavior learning and evolution of collective autonomous mobile robots. By distributed genetic algorithm exchanging the chromosome acquired under different environments by communication each robot can improve its behavior ability. Specially, in order to improve the performance of evolution, selective crossover using the characteristic of reinforcement learning that basis of Cascade SVM is adopted in this paper.
국내 운행중인 자동차 충돌특성 및 변형양상에 관한 실험적 연구
서상욱(Sangwook Seo),김규현(Gyuhyun Kim),이은덕(Eundok Lee) 한국자동차공학회 2010 한국자동차공학회 부문종합 학술대회 Vol.2010 No.5
The purpose of this study is to conduct various crash tests of cars in domestic service and measure the deformation and body decelerations of vehicles. A relationship between impact speed and cars damage data such as deformation, body decelerations and etc are analyzed. The characteristics of crash tests of car in domestic service are obtained and will be used for developing a precise accident reconstruction program recorded such as Automatic Accident Recording System(AARS). In this study, the test results of the full frontal impact and side impact are reviewed. The results show that the decelerations of cars in domestic service are decreased on the increment of the vehicle weight. But duration of decelerations is increased on the increment of the vehicle weight.
서상욱(Sangwook Seo),김규현(Gyuhyun Kim),송지현(Jihyun Song) 한국자동차공학회 2009 한국자동차공학회 부문종합 학술대회 Vol.2009 No.4
The purpose of this study is to conduct various crash tests of passenger cars and measure the deformation, occupant injuries and body decelerations of vehicles. A relationship between impact speed and vehicle damage data such as deformation, body decelerations and etc are analyzed. The characteristics of domestic cars in crash tests are obtained and will be used for developing a precise accident reconstruction program by using a data which is recording at Automatic Accident Recording System(AARS). In this study, the test results of the full frontal barrier crash and side impact are reviewed and examined. The results show that the decelerations of passenger cars are decreased on the increment of the vehicle weight. But duration of decelerations are increased on the increment of the vehicle weight.