Sang Heon Lee

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The idea of placing small mobile robots to move around in a large building to detect potential intruders has been around for some time. However, there are still two major hurdles to overcome: to locate itself in the environment and to make a decision on how to move around safely and effectively at a reasonable computation cost. This paper describes a(More)
Ba sed on biophysical ice-core data collected in the landfast ice off Barrow, Alaska, USA, in 2002 and 2003, a one-dimensional ice–ocean ecosystem model was developed to determine the factors controlling the bottom-ice algal community. The data and model results revealed a three-stage ice-algal bloom: (1) onset and early slow growth stage before mid-March,(More)
When a robot system collides with its environment, unexpected position errors occur due to the effect of impact. Large actuation effort may grow up to compensate for these errors. The sudden increases of actuator torque may violate the torque limit. In this papec we propose to employ redundant actuation mode to facilitate disturbance rejection. An optimal(More)
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