• 제어로봇시스템학회논문지
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• 제16권2호
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• pp.107-113
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• 2010

In this paper, a prototype of cooperative work model for multi-robots system is introduced and the evolutionary approach is applied to generate the motions for the cooperative works of multi-robots system using genetic algorithm. The cooperative tasks can be performed by a humanoid robot and a mobile robot to deliver objects from shelves. Generation of the humanoid motions such as pick up, rotation, and place operation for the cooperative works are evolved. Modeling and computer simulation for the cooperative robots system are executed in Webots environments. Experimental results show the feasible and reasonable solutions for humanoid cooperative tasks are obtained.

• Asia pacific journal of information systems
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• 제9권1호
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• pp.17-38
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• 1999

While the value of information technology has long been a hot issue, few solid results have been found as of yet. It is partly due to methodological factors and model underspecifcation. This study empirically develops a ITS(information technology structure) taxonomy and investigates the relationships between ITS taxonomy and business performance in the Korean firms. Among factors that impact business performance, organization structure and control system are selected and they are hypothesized to moderate-the relationships between ITS taxonomy and business performance. By surveying 91 manufacturing firms and applying hierarchical cluster analysis, four ITS are identified : centralized, decentralized, centralized cooperative, decentralized cooperative. ANOVA, correlation analysis and crosstable analysis say the presence of moderating effect of organization structure and control system. Cooperative ITS is best in business performance. Centralized ITS is related to functional organizational form. Decentralized ITS is related to product organizational form with decentralized decision making, Centralized cooperative ITS is related to matrix organizational form. Decentralized cooperative ITS is related to matrix organizational form with high integration. These findings have implications for the opportunities and challenges to match information technology with organization structure and control system.

• 한국항공운항학회지
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• 제28권2호
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• pp.1-11
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• 2020

This study was carried out to verify how much instructor's communication skill affects the student pilot's study motivation and satisfaction. The instructor's communication styles are classified into 3 groups by pre-analysis. Three types are cooperative type, control type and professional type. Intellectual cause, performance proficiency cause, social cause and stimulation avoidance cause are extracted and analyzed for the cause of study motivation. Cooperative and control type affected all of 4 factors of student's study motivation by influence analysis. Intellectual cause affected control and cooperative type positively, especially more to cooperative type. Performance proficiency cause also had positive influence to control and cooperative type. Stimulation avoidance cause didn't appear to affect all sub-classified 4 factors of instructor's communication type. Influence analysis of student's study satisfaction from instructor's communication style showed that independent variable affected all sub factors positively. Degree of positive influence affected the control type the most, cooperative type was the 2nd, and professional type was the 3rd.

• 한국군사과학기술학회지
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• 제19권4호
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• pp.517-525
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• 2016

In this research, the effect of the pressure control of cooperative control system with regenerative brake for a military series hybrid-electric vehicle was studied. A cooperative control system with regenerative brake was developed to maximize regenerative energy from electric traction motors of the vehicle. However, the pressure control method of the system was modified to solve a time delay problem and it deteriorates the performance of the system. A Simulink model including the hybrid-electric components, the cooperative control system with regenerative brake, and the vehicle dynamics was developed and used to find a solution. The regenerative energy ratio with respect to the whole brake energy was increased in this research from less than 60 % to over 80 %.

• 한국생산제조학회지
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• 제26권1호
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• pp.121-129
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• 2017

In this study, we investigated a cooperative control system of assembly robots using wireless LAN. We developed two different types of robots to assemble three blocks on a workbench. Robot1 can assemble blocks on a workbench and Robot2 can carry blocks to Robot1. We constructed an ROS-based communication system and shared data. Three blocks and one workbench were recognized by camera-image processing By developing the UI using Windows programming language Visual C#, we evaluated the status of the robots and blocks and controlled the robots. The control system was developed by constructing all elements necessary for cooperative control, such as robot design and fabrication, motor control, ROS-based communication, and image processing. Thus, we completed fundamental tasks required for assembly.

• International Journal of Control, Automation, and Systems
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• 제6권3호
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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.

• International Journal of Control, Automation, and Systems
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• 제4권6호
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• pp.725-735
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• 2006

This paper deals with the problem of self-learning cooperative motion control for the pushing task of a humanoid robot in the sagittal plane. A model with 27 linked rigid bodies is developed to simulate the system dynamics. A simple genetic algorithm(SGA) is used to find the cooperative motion, which is to minimize the total energy consumption for the entire humanoid robot body. And the multi-layer neural network based on backpropagation(BP) is also constructed and applied to generalize parameters, which are obtained from the optimization procedure by SGA, in order to control the system.

• Journal of Information Processing Systems
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• 제15권2호
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• pp.320-330
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• 2019

This study analyzed changes in sociality and democratic-citizenship among elementary school students in the information class and the science class at the Science Education Institute for the Gifted, who were divided into an experimental group and a control group. The experimental group engaged in the Learning Together (LT) cooperative form of learning for which the remix function of Scratch, an educational programming language, was applied, while the control group was given general instructor-led lessons. Members in the experimental group were able to modify processes during projects through the usage of the remix function, thereby actively participating in the projects and eventually generating team-based results. The post-class t-tests showed a greater degree of improvements in sociality and democratic citizenship for the experimental group that was offered the remix-function-based cooperative learning than the control group. Statistically significant differences were present between two groups particularly in "cooperative spirit" sub-domain of sociality and the "community" and "responsibility" sub-domains of democratic citizenship.

• 한국가정과교육학회지
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• 제13권3호
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• pp.131-146
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• 2001

The purpose of this study were to develop cooperative learning lesson plan for middle school home economics class and to identify the effect of cooperative learning on students\` self-esteem. The content of lesson was chosen from the food and nutrition section of home economics textbooks for middle school. The main structure of the lesson plan stems from $\boxDr$Lesson Plan Guide of Structuring Cooperative Learning Lesson Plan for Teachers$\boxUl$ by D. Johnson. R Johnson and E. Holubec. Various kinds of references including media reading materials cooperative group activity reports and cooperative group activity checking lists were newly developed according to the content of lesson. Eight hour lesson plans were developed and applied to 2nd grade middle school students and pre-test and post-test were taken to test the effect of Johnson\`s cooperative learning method on students\` self-esteem. Students at a Middle School located in Seoul were divided into two grouts, the three classes as experimental group and the other three classes as control group. The data were analyzed by ANCOVA using SPSS/WIN program. As a result, the hypothesis that the degree of self-esteem of the experimental group is higher than that of control group was adopted (P.(001). Among the sub-factors of self -esteem. the global self-esteem and the social-peer self-esteem scores of the experimental group were higher than that of the control group(p.(001 each). but the school-academic self-esteem score was not different (p> .05) According to the post-experiment free-style report. student as a dynamic subject could get initiatives and interests in home economics class more effectively by cooperative learning. Therefore, it could be said that cooperative learning has positive effect on the promotion of students\` self-esteem and is considered to be a good teaching method of home economics subject.

• 한국정밀공학회지
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• 제17권9호
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• pp.87-94
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• 2000

In this paper we discuss the control scheme on cooperative control of two flexible manipulators working in 3D space. We propose a control scheme which consists of hybrid position/force control and vibration suppression control. Hybrid position/force control is extended from the scheme for two cooperating rigid manipulators to that for flexible ones. in addition to the control vibration suppression control based upon a lumped-mass-spring model of the flexible manipulators is applied. To illustrate the validity of the proposed control scheme we show experimental results. in the experiment a rigid object is handled by two cooperating flexible manipulators in 3D space.