• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2475-2480
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• 2003

A control system design based on coupled nonlinear oscillators (CNOs) for a self-organized swarm system is presented. In this scheme, agents self-organize to flock and arrange group formations through attractive and repulsive forces among themselves using CNOs. Virtual agents are also used to create richer group formation patterns. The objective of the swarm control in this paper is to follow a moving target with a final group formation in the shortest possible time despite some obstacles. The simulation results have shown that the proposed scheme can effectively construct a self-organized multi-agent swarm system capable of group formation and group immigration despite the emergence of obstacles.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.31B no.1
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• pp.41-48
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• 1994

The conventional resolved motion control is not applicable for the control of robots on the spacecraft on account of the floating base of the robots. When the robots perform the assembly or repair operations, the position and attitude of the base satellite are disturbed by the reaction force/moment caused by the robot motion. This reaction will cause error on the robot. motion. Therefore, we define a new type of Jacobian(Extended Jacobian) to minimize the effects of reaction on the accuracy of the robot performing assembly or repair operations. In this paper, we utilize the redundancy of the closed chain system to minimize the effects of the robot motion on the position and attitude of spacecraft. This will results in the accurate assembly and repair operations by the robot.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.2
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• pp.102-107
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• 2011

In this paper we present cooperation of heterogeneous robot team, composed of a wheeled robot and a helicopter for localization and map building. This heterogeneous robot team can successfully fulfill task by combining the abilities of both robots than single robot because wheeled robot and helicopter have complementing ability. The scenario describes a tightly cooperative task, where the wheeled robot move carrying the helicopter and detect obstacles, if there are obstacles, helicopter take off for map building and land, then robot team move destination avoiding obstacles. We present PID controller for position control of helicopter and transformation algorithm to global coordinate from image pixel coordinate. Experimental result show that the proposed method is valid.

• Journal of Mechanical Science and Technology
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• v.14 no.2
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• pp.188-196
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• 2000

In this paper, our aim is to develop a model for two cooperating flexible manipulators handling a rigid object by using lumped parameters. This model is in turn analyzed on MATLAB. In order to validate the model, a precise simulation model is developed using $ADAMS^{TM}$ (Automatic Dynamic Analysis of Mechanical System). Moreover, to clarify the discussion, the motions of a dual-arm experimental flexible manipulator are considered. Using the developed model, we control a robotic system with a symmetric hybrid position/force control scheme. Finally, experiments and simulations are performed, and a comparison of simulation results with experimental results is given to a rerify the validity of our model.

• Journal of Advanced Navigation Technology
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• v.18 no.1
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• pp.74-77
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• 2014

This paper suggested an error control for multi-channel running on machine to machine environment. This system is suitable for recovering software fault for multimedia CSCW(Computer Supported Cooperative Works) based on machine to machine environment. It is necessary for the system to be protected by reactivity of media service instance instead of breaking process of session. This paper explains a performance analysis of an error recovery system of M2M based computing collaboration environment using rule-based DEVS modeling and simulation techniques.

• Asia pacific journal of information systems
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• v.5 no.1
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• pp.219-235
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• 1995

Complexity of some problems often transcends the problem solving capability of human individuals. As such, we cannot but take a collaborative approach to those complex problems. Collaboration while using computing systems can take place through shared objects. However, current commercial DBMSs do not provide a satisfactory control for concurrent access to objects shared by collaborators. A new concurrency control scheme is proposed which will help a group of people work in a more collaborative and natural way. The idea of softlock is refined into three different kinds of softlocks and the roles of collaborators are taken into account in the proposal of the new scheme. Although these softlocks are illustrated together with read/write hardlocks in this paper, the use of softlocks can be extended to be exploited with other kinds of hardlocks, for example, of granularity locking.

• Proceedings of the KSR Conference
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• 2008.06a
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• pp.1930-1935
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• 2008

Bimodal tram is able to run both general and special road. It has also the advantages of both public bus and subway which have the charateristics of easiness to approach and punctuality respectively. These advantages are accomplished by the cooperative communication between the control center and bimodal tram which is running with the fleet. This paper have investigated the requirement analysis and designing of the car operating computer system which have the functions of communication, broadcasting and display. car operating computer system communicates between bimodal tram and control center with wireless antenna. It can also transmit the location and status information of bimodal tram to control center for managing the bimodal tram fleet on road efficiently and economically.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.9
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• pp.803-812
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• 2000

In this paper we introduce a model based centralized hierarchical controller for cooperative team of soccerplaying multiple mobile robots. The hierarchical controller is composed of high-level and low-level controllers. Using the coordinates information of objects from the vision are simple models of multiple mobile tobots on the playground. Subsequently, the high level controller selects and action model corresponding to the perceived state transition model and generates subgoal and goal-velocity, from which the low level controller generates trajectory of each wheel velocity of the robot. This two layered simplicity. The feasubility of the control strategy has been demonstrated in an implementation for real soccer games at a MiroSot league.

• International Journal of Control, Automation, and Systems
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• v.2 no.3
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• pp.398-405
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• 2004

A human-friendly interactive system that is based on the harmonious symbiotic coexistence of humans and robots is explored. Based on the interactive technology paradigm, a robotic cane is proposed for blind or visually impaired pedestrians to navigate safely and quickly through obstacles and other hazards. Robotic aids, such as robotic canes, require cooperation between humans and robots. Various methods for implementing the appropriate cooperative recognition, planning, and acting, have been investigated. The issues discussed include the interaction between humans and robots, design issues of an interactive robotic cane, and behavior arbitration methodologies for navigation planning.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.9
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• pp.918-925
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• 2006

Medical robotics and computer aided surgery in general, and robotic telesurgery in particular, are promising applications of robotics. In this paper, we shows a novel single-master (PHANTOM based single-master multi-slave telerobotic system) multi-slave system using two parallel mechanism micromanipulators as a slave device. After a general introduction to the systems structure and configuration of telerobotic system, a manipulation control strategy to build the system that human and both manipulators perform the cooperative manipulation, is introduced, followed by its kinematic analysis, mapping method, and experimental results.