• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.50.5-50
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• 2002

In this paper, we propose a method using neural network (NN) to improve the motion control of a decentralized control system for cooperative transportation. In our former work, a decentralized control system for transporting a single object by multiple nonholonomic mobile robots has been developed. One of these mobile robots acts as a leader, who is assumed to be able to plan and to manipulate the omnidirectional motion of the object. Other robots, referred to as followers, cooperatively transport the object by keeping a constant position relative to the object. in this work, it is assumed that the leader can not only plan but also broadcast the local velocity of the object. Then...

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.11
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• pp.2152-2156
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• 2011

In this paper, we propose the novel behavior control algorithm by using the efficient searching method based on the characteristic of the swarm robots in unknown space. The proposed method consists of identifying the position and moving state of a robot by the dynamic modelling of a wheel drive vehicle, and planing behavior control rules of the swarm robots based on the sensor range zone. The cooperative search for unknown space is carried out by the proposed behavior control. Finally, some experiments show the effectiveness and the feasibility of the proposed method.

• Journal of information and communication convergence engineering
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• v.12 no.4
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• pp.199-207
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• 2014

A new cooperative MAC protocol called the busy tone cooperative medium access control (BT-COMAC) protocol is proposed to overcome the drawbacks and maximize the advantages of existing schemes. This scheme uses a new metric called decibel power to decide an appropriate helper node. Using received power strength is more efficient in selecting an appropriate helper node, especially in a densely populated network, than the effective transmission rates used in conventional schemes. All communication nodes in a communication service area are assumed to move independently. Two performance metrics are used: System throughput and channel access delay. A performance evaluation of the BT-COMAC protocol is conducted using a computer simulation over a slow fading wireless channel, and its performance results are compared with those of four existing schemes. The numerical results show that the BT-COMAC protocol improves the system throughput by approximately 15% as compared to the best existing scheme.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.7 no.2
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• pp.184-201
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• 2013

In this paper, we study the problem of designing the power and number of cooperative node (CN) in the cooperation phase to maximize the average throughput for secondary user (SU), under the constraint of the total cooperation and transmission power. We first investigate the scheme of cooperative spectrum sensing without a separated control channel. Then, we prove that there indeed exist an optimal CN power when the number of CNs is fixed and an optimal CN number when CN power is fixed. The case without the constraints of the power and number of CN is also studied. Finally, numerical results demonstrate the characteristics and existences of optimal CN power and number. Meanwhile, Monte Carlo simulation results match to the theoretical results well.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.346-349
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• 1995

In this paperwe develop a real-time simulator for direct drive cooperative robot by using OpenGL in a Windows NT based system. This simulator is composed of 2 parts, a display part and an interface part. In the display part the robot is modelled and rendered in 3D space. To do this OpenGL, a kind of graphic library, is used for rendering and animating robots and kinematics gives the information of the current robot configuration. The control and the feedback data are sent and received via the interface part. In real time simulation interfacing part needs fast data transfer rate and good nosic immunity. In experiment we have simulated 2-link direct drive cooperative robots using the trajectory tracking algorithm proposed in reference.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.468-472
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• 1992

In recent years, lots of researches on autonomous mobile robot have been accomplished. However they focused on environment recognition and its processing to make a decision on the motion, And cooperative multi-robot, which must be able to avoid crash and to make mutual communication, has not been studied much. This paper deals with cooperative motion of two robots, 'Meari 1" and "Meari 2 " made in our laboratory, based on communication between the two. Because there is an interference on communication occurring in cooperative motion of multi-robot, many restrictive conditions are required. Therefore, we have designed these robot system so that communication between them is available and mutual interference is precluded, and we used fuzzy interference to overcome unstability of sensor data.of sensor data.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.53 no.3
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• pp.152-157
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• 2004

The purpose of the study was to identify the effects of LT cooperative learning and traditional competitive learning on academic achievement by the level of learning ability in industrial high school students. The results of the study were as follows; the score of posttest of the experimental low grade group was significantly higher than that of control low grade group (p<.05), and the score of posttest was significantly higher than that of pretest in the experimental low and middle grade group (p<.05). Based on these results, it was concluded that LT cooperative learning had positive effect on the enhancement of industrial high school student's academic achievement than the traditional lecture learning. Its effect on high grade students was negative, but its effect was significantly positive on both middle grade and low grade level students.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.2
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• pp.114-120
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• 2011

This paper presents a cooperative standoff tracking of a moving target using multiple unmanned aircraft. To provide guidance commands, vector fields are designed utilizing the Lyapunov stability theory. A roll angle command is generated to keep a constant distance from the target in a circular motion. A speed command and a heading angle command are designed to keep a constant phase angle with respect to the front aircraft and to prevent a collision between aircraft. Numerical simulation is performed to verify the tracking and collision performance of the proposed control laws.

• Journal of IKEEE
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• v.23 no.4
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• pp.1381-1386
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• 2019

As traffic congestion in cities becomes more serious, intelligent traffic control is actively being researched. Reinforcement learning is the most actively used algorithm for traffic signal control, and recently Deep reinforcement learning has attracted attention of researchers. Extended versions of deep reinforcement learning have been emerged as deep reinforcement learning algorithm showed high performance in various fields. However, most of the existing traffic signal control were studied in a single intersection environment, and there is a limitation that the method at a single intersection does not consider the traffic conditions of the entire city. In this paper, we propose a cooperative traffic control at multi-intersection environment. The traffic signal control algorithm is based on a combination of extended versions of deep reinforcement learning and we considers traffic conditions of adjacent intersections. In the experiment, we compare the proposed algorithm with the existing deep reinforcement learning algorithm, and further demonstrate the high performance of our model with and without cooperative method.

• International Journal of Automotive Technology
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• v.3 no.4
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• pp.147-155
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• 2002

Mechatronic subsystems are more and more developed in automotive industries. To enhance the local controls performances, a cooperative control between ABS and Suspension systems is proposed. The respective controls are first designed separately with their dedicated models. Then a hybrid hierarchical architecture is developed. The advantage of this architecture is discussed through vehicle performance with simulation results.