• International Journal of Control, Automation, and Systems
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• v.6 no.3
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• pp.401-412
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• 2008

This paper discusses a design methodology of cooperative path planning for dynamical multi-agent systems with spatial and temporal constraints. The cooperative behavior of the multi-agent systems is specified in terms of the objective function in an optimization formulation. The path of achieving cooperative tasks is then generated by the optimization formulation constructed based on a differential flatness approach. Three scenarios of multi-agent tasking are proposed at the cooperative task planning framework. Given agent dynamics, both spatial and temporal constraints are considered in the path planning. The path planning algorithm first finds trajectory curves in a lower-dimensional space and then parameterizes the curves by a set of B-spline representations. The coefficients of the B-spline curves are further solved by a sequential quadratic programming solver to achieve the optimization objective and satisfy these constraints. Finally, several illustrative examples of cooperative path/task planning are presented.

• Journal of the Korean Society for Library and Information Science
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• v.29
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• pp.257-279
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• 1995

Cooperative program planning and teaching is a strategy for developing and implementing resource based learning. This approach combines the classroom teacher's subject expertise and knowledge of the students with the teacher­librarian's specialized knowledge of the availability and use of learning materials. And the purpose of cooperative program planning is to develop learning experiences or units of study that effectively integrate the student's resource center activities with other learning experiences. There are also some conditions that are conducive to effective planning sessions. First, the teacher-librarian must be prepared to initiate planning with teachers, rather than waiting for teachers to come to them. Second, the teacher-librarian must be prepared to present suggestions in such a way that the teacher can respond. The purpose of this study is (1) to investigate the planning process of cooperative program planning and teaching in the previous studies and (2) to find general problems when the cooperative program planning and teaching apply in actual situation. For these purposes, I chose a school library and a teacher-librarian in Seoul to observe how this cooperative program planning and teaching carry out in the school library. Main findings are summarized as follows: (1) A teacher who teaches alone for one grade is more proper to carry out the cooperative program planning and teaching. Young teachers are usually more active to change their teaching methods. (2) The cooperative program planning and teaching is a program what needs a lot of materials. When there is no right reference book in a school library, it would be good to access DB through PC telecommunication. It is also possile to contact lirarians who work in large public libraries or university libraries. (3) The cooerative program planning and teaching needs cooperative working between a teacher-librarian and a teacher. Thus a teacher-librarian should be in his school in the day time like the other teachers for the program's planning process. ( 4) There has to be a guide to change into resource based learning in teaching method. Thus the Korean Library Association or Korean Library and Information Science Society should offer a seminar or a workshop about cooperative program planning and teaching for the teacher-librarians. (5) It needs a system that a teacher-librarian can know about student's assignments so that he can prepare reference books for them. (6) The school library can be able to offer excellent service like cooperative program planning and teaching to the teachers and students according to a teacher-librarian's enthusiasm.

• Land and Housing Review
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• v.5 no.2
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• pp.57-68
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• 2014

As social needs are increasing to minimize the occurrence of external effect due to urban development and to diffuse the benefits of development to surrounding areas, diverse cooperative planning methods are increasingly being discussed. In the long term, laws and systems need to be refined to support cooperative planning, but prior to such development, elements, procedures, and methodologies wherein cooperative planning in U.S.A cases could be implemented were examined to derive the alternative to and implications of cooperative planning that can apply not only to single administrative districts but also to complex boundary new towns being developed by various local governments. This paper surveyed and analyzed the cases of Wisconsin State of the U.S.A, thereby deriving the following implications. First, joint planning areas should be established within the boundary area of various local governments to establish cooperative planning areas in special areas such as complex boundary new towns, and to this end, urban planning means should be prepared. Together with such efforts, to boost the flexibility of cooperative planning, life sphere unit-based planning unit should be established, and a well-organized operation system to activate communities should be prepared. Also, revenues, generated through regional growth, should be distributed to individual local governments through joint tax according to the agreed-upon ratios, and as such, measures to share services and operate joint tax in small-size regions should be secured. Together with such efforts, to establish cooperative governance, measures to manage conflicts through the participation by stakeholders and arbitrators should be prepared from the planning stage, and measures for implementing cooperative planning at the level of basic urban planning should be prepared.

• Plant Journal
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• v.7 no.4
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• pp.67-76
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• 2011

Two main features of the recent building project are the enlargement of the size and the technological complexity. Due to these features, the number or the size of organizations participating in building project is also increasing and the relationships between the organizations are becoming more interdependent than ever. Owing to these features, some delays or errors in the decision-making process in the phase of planning of a building project may influence many subjects related to the project. The most important factor for a successful project is to arbitrate confrontations and build cooperative relationships between parties who have different interests with one another in the project. Efforts were made to find out general features of building project and the features in the phase of planning in order to set a direction of this research. To solve problems in the phase of planning, the concept of 'cooperative design', which means that different features and interests of various organizations should be reflected from the phase of planning, was introduced. By introducing cooperative design in building projects, more rapid and objective decision-makings are possible.

• The Journal of Korean Academic Society of Nursing Education
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• v.11 no.2
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• pp.127-134
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• 2005

Purpose: The purpose of the study was to develop a cooperative clinical nursing education model in response to the challenge to provide quality clinical instruction for nursing students. Method: A hypothesized model was developed based on literature review and Cho's partnership model of preservice teacher. Final model was refined with cooperative committee meetings, workshop and post clinical education meetings. Results: A Cooperative clinical nursing education model was developed with three phases(collaboration, planning, redefinition of major roles) and ten constructs(organization of cooperative committee, goal setting, partnership contract, planning objectives, and operating manual). Conclusion: The Cooperative clinical nursing education model support the need for continued collaborative partnership between nursing college and hospitals to foster quality clinical instruction.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.10a
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• pp.165-166
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• 2009

• Land and Housing Review
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• v.10 no.4
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• pp.31-39
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• 2019

Singapore, a city state with less than 6 million population, has continued successful cooperative development and become one of the most successful Asian countries in exporting expertise in urban and real estate development. This research aims to analyze Singapore's cooperative development with socialist countries including China and Vietnam from Singapore's perspective as an investor. For cooperative development projects in China, Singapore adopted Singapore-style physical urban planning concepts as well as its own institutional and administrative systems. Singapore-Vietnam cooperative development managed to acquire profitable land and diversify its portfolio in terms of industry types and rents. This made Singapore's industrial parks more competitive than other parks in Vietnam. By showcasing successful project implementation in China and Vietnam, Singapore has proved that its model for industrial park and urban development is transferable. Singapore's success in cooperative development with socialist countries provides important implications for future cooperative development between South and North Korea. For example, phased development approaches starting from individual industrial parks expanding to mixed-use townships will be very useful to realize sustainable urban planning in North Korea and reduce financial risks. Singapore dominated development opportunities in advance when socialist countries opened their economy. To pattern ourselves after Singapore, we should not only improve our relationship with North Korea but also prepare with practical components such as financing and organizational structure.

• International journal of advanced smart convergence
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• v.12 no.4
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• pp.8-19
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• 2023

This paper presents advancement in multi- unmanned aerial vehicle (UAV) cooperative area surveillance, focusing on optimizing UAV route planning through the application of genetic algorithms. Addressing the complexities of comprehensive coverage, two real-time dynamic path planning methods are introduced, leveraging genetic algorithms to enhance surveillance efficiency while accounting for flight constraints. These methodologies adapt multi-UAV routes by encoding turning angles and employing coverage-driven fitness functions, facilitating real-time monitoring optimization. The paper introduces a novel path planning model for scenarios where UAVs navigate collaboratively without predetermined destinations during regional surveillance. Empirical evaluations confirm the effectiveness of the proposed methods, showcasing improved coverage and heightened efficiency in multi-UAV path planning. Furthermore, we introduce innovative optimization strategies, (Foresightedness and Multi-step) offering distinct trade-offs between solution quality and computational time. This research contributes innovative solutions to the intricate challenges of cooperative area surveillance, showcasing the transformative potential of genetic algorithms in multi-UAV technology. By enabling smarter route planning, these methods underscore the feasibility of more efficient, adaptable, and intelligent cooperative surveillance missions.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.8
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• pp.948-954
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• 1999

In this paper, we propose a cooperative motion planning algorithm for two tightly-coupled mobile robots. Specifically, the considered cooperative work is that two mobile robots should transfer a long rigid object along a predefined path. To resolve the problem, we introduce a master-slave concept for two obile robots having the same structure. According to the velocity of the master robot and the positions of two robots on the path, the velocity of the slave robot is determined. The slave normally tracks the master's motion, but in case that the velocity of the slave exceeds the velocity limit, the roles of the robots should be interchanged. The effectiveness of the proposed algorithm is proved by computer simulations.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.30B no.10
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• pp.50-58
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• 1993

The problem of trajectory planning in two redundant robot systems is considered. The trajectory of each robot for the cooperative task is generated so that the robots assume their optimal configurations while following a given desired task. The cooperative task compatibility in and the weighted sum of manipulabilities are proposed and investigated as quality measures. The cooperative task compatibility includes the velocity and force transmission charateristics to the task requirements and so it measures the compatibilities of robot postures with respect to a given task. The weighted sum of manipuabilities of robot postures with respect to a given task. The weighted sum of manipulabilities is also considered as a quality measure since it is helpful to avoid singularities. The usefulness of the cooperative task compatibility and the weighted sum of manipulabilities are shown by computer simulation studies.