• 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.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.8 no.7
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• pp.2281-2301
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• 2014

In wireless ad hoc networks the nodes focus on achieving the maximum SINR for efficient data transmission. In order to achieve maximum SINR the nodes culminate in exhausting the battery power for successful transmissions. This in turn affects the successful transmission of the other nodes as the maximum transmission power opted by each node serves as a source of interference for the other nodes in the network. This paper models the choice of power for each node as a non cooperative game where the throughput of the network with respect to the consumption of power is formulated as a utility function. We propose an adaptive pricing scheme that encourages the nodes to use minimum transmission power to achieve target SINR at the Nash equilibrium and improve their net utility in multiuser scenario.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.8
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• pp.725-730
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• 2012

In this paper, we propose the localization algorithm for the cooperative behavior of the swarm robots based on WSN (Wireless Sensor Network). The proposed method is as follows: First, we measure positions of the L-bot (Leader robot) and F-bots (Follower robots) by using the APIT (Approximate Point In Triangle) and the RSSI (Received Signal Strength Indication). Second, we measure relative positions of the F-bots against the pre-measured position of the L-bot by using trilateration. Then, to revise a position error caused by noise of the wireless signal, we use the particle filter. Finally, we show the effectiveness and feasibility of the proposed method though some simulations.

• Journal of the Korean Society for Industrial and Applied Mathematics
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• v.19 no.3
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• pp.253-270
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• 2015

Two major simultaneous attack strategies have been introduced, as one of cooperative attack of multiple missiles. One strategy is an undesignated time attack, in which the missiles communicate among themselves to synchronize the arrival times by reducing the mutual differences of times-to-go of multiple missiles during the homing. The other is a designated time attack, in which a common impact time is commanded to all members in advance, and thereafter each missile tries to home on the target on time independently. For this individual homing, Impact-Time-Control Guidance (ITCG) law is required. After introducing cooperative proportional navigation (CPN) for the first strategy, this article presents a new closed-form ITCG guidance solution for the second strategy. It is based on the linear formulation, employing base trajectories driven by PNG with various navigation constants. Nonlinear simulation of several engagement situations demonstrates the performance and feasibility of the proposed ITCG law.

• Journal of Fisheries and Marine Sciences Education
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• v.12 no.2
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• pp.224-243
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• 2000

The purpose of this study is to analyze the effects of constructivist instruction applying cooperative learning skill on science academic achievement, science inquiry ability, self-regulated learning, and science related attitude. The subjects of the study were 157 2nd grade junior high school students in Pusan. Subjects were randomly assigned to two groups, experiment and control group. Two groups received 14 sessions training for about 1 month which was done by researcher. The experiment group received constructivist science instruction and the control group received teacher-centered instruction. Constructivist science instruction applying cooperative learning skill consists of five phases: problem recognition, hypothesis establishment, experiment observation, clarification, and application phases. The results of this study are as follows: Constructivist science instruction applying cooperative learning skill had a significant effect on science academic achievement, self-regulated learning and science attitude improvement of middle school students but had no significant improvement of science inquiry ability. And constructivist science instruction had an effect on science academic achievement improvement of the students having high level science inquiry ability. Research suggestions and implications for teaching are discussed.

• Journal of Korea Multimedia Society
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• v.15 no.3
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• pp.345-355
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• 2012

The WiMedia Alliance has specified a Distributed Medium Access Control (D-MAC)/WUSB protocol based on UWB for high speed wireless home networks and WPANs. In this paper, we propose a novel SoQ-based cooperative communication protocol adaptive to current UWB link transmission rate and QoS measure. The proposed SoQ-based cooperative communication protocol has compatibility with current WiMedia D-MAC/Wireless USB standard and is executed at each device according to a SoQ-based Relay Node Selection (RNS) criterion.

• The Journal of Korean Academic Society of Nursing Education
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• v.16 no.2
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• pp.202-212
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• 2010

Purpose: The purpose of this study was to identify the effectiveness of the JigsawⅣ cooperative learning in a facilitative communication class of nursing students. Achievement, communication skill, self-directed learning and experience during the class were measured. Method: This study was a pretest and posttest design with two subject groups. 43 students were in experimental (JigsawⅣ) group and 47 ones were in control (general small discussion) group. Classes were conducted over a 6-week period. The collected data was analyzed by the SPSS 12.0 program. Result: After taking part in the educational program, the experimental group had significantly more improvement in communication skill (F=6.81, p=.002) and self-directed learning (F=11.81, p=.000). In addition, the experimental group showed significantly higher scores for concentration in the class (t=2.26, p=.27), positive emotional state (t=3.01, p=.003) and active participation (t=2.78, p=.007) compared to the control group. However, the achievement between the two groups was not significantly different (F=3.29, p=.073). Conclusion: The findings of this study show that JigsawⅣ cooperative learning has positive effects in improvement of communication skill and self-directed learning. Also, students were excited and interested in the class during cooperative learning. Based on these findings, the author suggests developing additional educational programs focusing on nursing students.

• Journal of Satellite, Information and Communications
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• v.5 no.2
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• pp.64-68
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• 2010

In this paper, we studied the novel synchronization algorithm for cooperative communication system over fading. We research mainly on the decode-and-forward scheme. Also, we inserted spreading sequence in origin data frame to control efficiently data synchronization. In mobile station, inserted spreading sequence in data frame passed through the corelation process. We had decide the delay value of received data through result of correlation process. In simulation, We applied that channel gain of three node had different value in various fading environment. Finally we will be possible to control the received data synchronization using result of corelation value in each node between relay to mobile station and base station to mobile station. The results of this paper can be applicable to the cooperative systems.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.7
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• pp.3447-3469
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• 2019

It is well-known that the cooperative communication and error control technology can improve the network performance, but most existing cooperative MAC protocols have not focused on how to cope with the contention process caused by cooperation and how to reduce the bad influence of channel packet error rate on the system performance. Inspired by this, this paper first modifies and improves the basic rules of the IEEE 802.11 Medium Access Control (MAC) protocol to optimize the contention among the multi-relay in a cooperative ARQ scheme. Secondly, a hybrid ARQ protocol with soft combining is adopted to make full use of the effective information in the error data packet and hence improve the ability of the receiver to decode the data packet correctly. The closed expressions of network performance including throughput and average packet transmission delay in a saturated network are then analyzed and derived by establishing a dedicated two-dimensional Markov model and solving its steady-state distribution. Finally, the performance evaluation and superiority of the proposed protocol are validated in different representative study cases through MATLAB simulations.

• The Journal of Korea Robotics Society
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• v.3 no.3
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• pp.226-236
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• 2008

In this paper, control software architecture is designed to enable a heterogeneous multiple humanoid robot demonstration executing tasks cooperating with each other. In the heterogeneous humanoid robot team, one large humanoid robot and two small humanoid robots are included. For the efficient and reliable information sharing between many software components for humanoid control, sensing and planning, CORBA based software framework is applied. The humanoid tasks are given in terms of finite state diagram based human-robot interface, which is interpreted into the XML based languages defining the details of the humanoid mission. A state transition is triggered based on the event which is described in terms of conditions on the sensor measurements such as robot locations and the external vision system. In the demonstration of the heterogeneous humanoid team, the task of multiple humanoid cleaning the table is given to the humanoid robots and successfully executed based on the given state diagram.