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Circuit Driving of RC Scale Cars using Reinforcement Learning
Minhyeok Kwon,Yongsoon Eun 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
This paper presents control of an RC scale car in a scale circuit using reinforcement learning. Experimental environment has been constructed with 1/27 scale remote controlled car, motion tracking system, and a computer that sends steering and thrust commands to the RC car based on feedback from the motion tracking system. The control consists of two layers. Low-level controller receives a desired velocity vector as a reference and do a basic PI control for thrust and P control for steering. High-level controller is trained by reinforcement learning that receives the car state and outputs the velocity command vector. The state include position, velocity, heading of the RC car, distances to surrounding boundaries of the circuit. The high-level controller takes the form of a recursive neural network, which is trained entirely in virtual environment. The car dynamics in the virtual environment is a bicycle model that includes tire slip force from the literature. With the resulting policy (high-level controller) the RC car successfully completes 10 laps in the actual environment of the circuit without colliding to the boundaries.
Minhyeok Kwon,Heonyoung Lim,Yeonsik Kang,Changhwan Kim,Gwitae Park 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10
This paper presents a hierarchical optimal time path planning method which can handle time constraints of the optimal path in complex and dynamic environments. The optimal time path minimizes a sharp change of orientation and waiting time to avoid a collision with moving obstacle. The path generation problem is divided into three sub-problems. The first is to generate the smooth global path using the A<SUP>*</SUP> algorithm. The second is to solve the optimization problem which computes the maximum velocity and the time permitted for a robot in the obstacle zone. The third is to adjust the time interval for obtaining the shortest path using the motion information of moving obstacles and the maximum velocity of a robot. To show the validity and effectiveness of the proposed method, realistic simulation is performed.
Honey bees in crisis: Investigation of honey bee viruses in South Korea through virome analysis
Minhyeok Kwon,Chuleui Jung,Eui-Joon Kil 한국응용곤충학회 2023 한국응용곤충학회 학술대회논문집 Vol.2023 No.10
South Korea experienced a significant decline in honey bee populations starting in 2021, which continued for two years until the winter of 2022. To investigate the potential causes of this decline, we conducted a virome analysis, considering viruses as possible culprits. Samples were collected during two periods: April-May 2022 and May-June 2023. From libraries contsructed from their total RNA, we secured a total of 25 raw FASTQ files by high-throughput sequencing. In the honey bees collected in 2022, we identified eight previously unreported honey bee viruses including Lake Sinai viruses, one novel honey bee-related virus, and one novel plant-related virus. In the subsequent sampling in 2023, we found that most of the viruses identified in 2022 were still present. Additionally, the novel honey bee virus reported in 2022 was also found in the 2023 collections, along with three more honey bee-related novel viruses. Notably, numerous plant viruses were detected in honey bees collected during the flowering season. This analysis suggests that the viruses observed in South Korean honey bees are likely distributed nationwide. These findings provide fundamental data for future research on honey bee viruses in South Korea.
Ongoing detection of viruses in honey bees: Virome analysis to investigate honey bee virus epidemics
Minhyeok Kwon,Chuleui Jung,Eui-Joon Kil 한국응용곤충학회 2023 한국응용곤충학회 학술대회논문집 Vol.2023 No.10
Over the course of two winters, the significant decline in honey bee populations in Korea has emerged as a major social issue. This phenomenon is expected as attributed to factors such as the failure of pest control due to the pesticide resistance of the Varroa mite. This mite can transmit some viruses that infect honey bees, and these viruses are among the primary causes of the globally occurring colony collapse disorder. Traditional diagnostic methods like (RT-)PCR and ELISA are not ideal for identifying pathogens that are newly emerging or have undergone mutations. To detect any novel or mutated viruses beyond those that have been primarily diagnosed in Korea, we introduced virome analysis technology in the field of honey bees. Employing this method with high-throughput sequencing techniques, we were able to identify all existing viruses within individual or group samples. We discovered that the Lake Sinai virus, which has been reported worldwide but not in Korea, has already significantly spread within the country. Additionally, we were able to confirm the prevalence of viruses previously reported in Korea, such as the recently dominant Black Queen Cell Virus. Through this virome analysis, we can provide foundational data for determining the direction and countermeasures for virus diagnosis.
동적 환경을 위한 A* 알고리즘 기반의 경로 및 속도 프로파일 설계
권민혁(Minhyeok Kwon),강연식(Yeonsik Kang),김창환(ChangHwan Kim),박귀태(Gwitae Park) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.5
This paper presents a hierarchical trajectory planning method which can handle a collision-free of the planned path in complex and dynamic environments. A PV (Path & Velocity profile) planning method minimizes a sharp change of orientation and waiting time to avoid a collision with moving obstacle through detour path. The path generation problem is solved by three steps. In the first step, a smooth global path is generated using A * algorithm. The second step sets up the velocity profile for the optimization problem considering the maximum velocity and acceleration. In the third step, the velocity profile for obtaining the shortest path is optimized using the fuzzy and genetic algorithm. To show the validity and effectiveness of the proposed method, realistic simulations are performed.
텍스트마이닝으로 보는 일본 문학관의 관광적 활용 양상 분석 ‘코로나 이전 시기 권역별 양상: KH Coder와 LDA 토픽 모델링을 중심으로
권민혁 ( Kwon Minhyeok ) 고려대학교 글로벌일본연구원 2023 일본연구 Vol.40 No.0
본 논문은 텍스트마이닝을 활용해 국내 문학관의 관광적 활용 양상을 분석한 선행연구의 후속연구로, 일본 내 문학관의 관광적 활용 양상을 분석하여 문학관을 지역의 관광시설로 활용할 수 있는 방안을 모색하는 데 그 목적이 있다. 먼저 리스틀리(Listly)와 Python으로 일본 여행 전문 사이트 ‘쟈란(じゃらん)’과 ‘4travel’에서 검색 키워드 ‘文学館(문학관)’을 입력해 ‘구치코미(口コミ, 이하 리뷰)’ 게시글을 수집하였다. 일본 전국을 8개의 권역으로 구분한 뒤 이에 맞춰 수집한 리뷰 데이터를 분류하였다. 이후 KH Coder로 공기어 네트워크를 만들고 Python으로 LDA 토픽 모델링을 실시하였다. 그 결과 일본 내에서는 문학관의 1) 건물 외관 2) 정원 시설 3) 자연경관 4) 2차 콘텐츠와 테마파크 5) 생가 복원을 통해 지역의 관광자원으로 활용되고 있는 것으로 확인되었다. 본 연구에서 텍스트마이닝을 통해 일본 내 문학관의 관광적 활용 양상을 양적으로 살펴봄으로써 일본에서 문학관이 자리하고 있는 관광적 위치를 전체적으로 파악할 수 있었다. This paper is a follow-up study of previous studies that analyzed the tourism use of domestic literature museums using text mining. Its purpose is to analyze the tourism use of literature museums in Japan to find ways to use them as local tourism facilities. First, through ‘Listly’ and ‘Python’, the search keyword ‘文学館 (Literary Museum)’ was entered on Japanese travel sites ‘Jaran(じゃらん)’ and ‘4travel’ to collect reviews of ‘Kuchi Komi (below review)’. Japan was divided into eight regions, and the review data collected accordingly were classified. After that, the co-occurrence network was created with KH Coder and LDA topic modeling was performed with Python. As a result, it has been confirmed that it is used as a local tourism resource in Japan through the exterior of the building of the literature museum, garden facilities, natural scenery, secondary contents, theme parks, and the restoration of birthplace. Through this paper, it was possible to grasp the tourism application patterns of Japanese literary museums.