Projects have been done in Samsung

[2004] SHADOW Project - Graphics Library for Digital TV
[2005 ~ 2006] DSP Project - Digital TV Software Platform
[2007] MultiCube Project - Asynchronous File System for Flash Memory
[2008 ~ ] Robo-Ray Project - Software Platform for Humanoid Robots
[2009 ~ ] TAME Project - An Affective Component for Robots and CE Devices

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Q-Learning

I applied Q-Learning to path planning and Hanoi Tower. Q-Learning is more clear than Back-Propagation and easier to use compared with other machine learning algorithms.

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A* Algorithm

I made a program which could test the A* algorithm. You can build a map and test your own A* algorithm : you can change hueristic equation and add the smoothing algorithm and so on.

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Machine Learning and Algrorithm

Neural Network

I used Back-propagation for recognizing objects such as sphere and cube. First, this program trained with desired images. Then, it read images from a camera and analyzed it based on the trained weight functions. Moreover, I implemented a back-propagation program.

This program is Self-Organizing Map(SOM). I made this program for categorizing data.

Q-Learning

This program is a back-propagation training progam. You can add layers and nodes, train your own data, and change some parameters such as steepness, momentum and learning rate. Finally, you can save the result of training to a file. I applied Q-Learning to path planning and Hanoi Tower. Q-Learning is more clear than Back-Propagation and easier to use compared with other machine learning algorithms.

A* Algorithm

I made a program which could test the A* algorithm. You can build a map and test your own A* algorithm: you can change hueristic equations and add the smoothing algorithm and so on.

More

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Vector Field Histogram(VFH) Simulator

This simulator can test VFH in various environments and make your own environment using a map editor. I made this simulator and tested my navigation algorithm in many cases before testing the algorithms in a real robot. OpenGL was used to construct 3D environments.

VFH Simulator Architecture

VFH Simulator Map Editor

Test Results

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Samsung Software Membership Projects (SSM)

Home Networking

This project was to monitor a house in the Internet. A user could access the camera and get various information of a house on a homepage which we made. This was my first Software Member Ship project.

X-Men Project

In this project, my part was to implement a navigation program. I applied HIMM and VFH to an omni wheel robot and it could send camera images to a PDA of an user and the user could control the robot with the PDA.

Goliath Project

My team designed this robot's appearance and made it. My part was a navigation program and a behavior generation program. I used A* algorithm and Histogram In Motion Mapping(HIMM) for navigation. We could generate a variety of behaviors with the behavior generation program.

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Mobile Robot

I implemented a program which could build a map and avoid obstacles by gathering distance data from a robot. Moreover, I make the mobile robot and used PID algorithm to control a DC motor of a RC car.
Spec : 8 Ultrasonic Sensors, 1 Digital Compass, 1 DC Motor, PIC MCU




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