• Journal of information and communication convergence engineering
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• 제17권2호
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• pp.105-116
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• 2019

Recently, there has been an increase in research on wireless sensor networks (WSNs) because they are easy to deploy in applications such as internet-of-things (IoT) and body area networks. However, WSNs have constraints in terms of power, quality-of-service (QoS), computation, and others. To overcome the power constraint issues, wireless energy harvesting has been introduced into WSNs, the application of which has been the focus of many studies. Additionally, to improve system performance in terms of achievable rate, cooperative networks are also being explored in WSNs. We present a review on current research in the area of energy harvesting in WSNs, specifically on the application of simultaneous wireless information and power transfer (SWIPT) in a cooperative sensor network. In addition, we discuss possible future extensions of SWIPT and cooperative networks in WSNs.

• 제어로봇시스템학회논문지
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• 제19권2호
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• pp.102-106
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• 2013

A cooperative navigation method for cooperative flight of UAVs is proposed. The commonly used navigation method for UAVs is based on GNSS measurements. However, when it is not available by jamming or other causes, an alternative method is needed. In this paper, it is shown that UAVs equipped with inertial sensors, passive sensor and wireless communication link can perform accurate navigation through sharing information with each other. Firstly, the appropriate roles for sensors and wireless communication link are assigned. Secondly, a filter to perform navigation cooperative is constructed. Finally, the boundedness of estimation error of the filter under small initial estimation error is analyzed. The simulation results show that the proposed method can reduce navigation errors effectively.

• International Journal of Aeronautical and Space Sciences
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• 제18권3호
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• pp.522-534
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• 2017

According to the characteristics of salvo attack for the multiple flight vehicles (MFV), the design of cooperative guidance law can be converted into the consensus problem of multi-vehicle system through the concept of multi-agent cooperative control. The flight vehicles can be divided into leader and followers depending on different functions, and the flight conditions of leader are independent of the ones of followers. The consensus problem of leader-follower multi-vehicle system is researched by graph theory, and the consensus protocol is also presented. Meanwhile, the finite time guidance law is designed for the flight vehicles via the finite time control method, and the system stability is also analyzed. Whereby, the guidance law can guarantee the line of sight (LOS) angular rates converge to zero in finite time, and hence the cooperative attack of the MFV can be realized. The effectiveness of the designed cooperative guidance method is validated through the simulation with a stationary target and a moving target, respectively.

• 제어로봇시스템학회논문지
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• 제6권3호
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• pp.298-308
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• 2000

In this paper a new two-arm cooperative assembly(or insertion) algorithm is proposed. As a force-guided control method for the cooperative assembly the adaptive accommodation controller is adopted since it does not require any complicated contact state analysis nor depends of the geometrical complexity of the assembly parts. Also the RMRC(resolved motion rate control) method using a relative jacobian is used to solve inverse kinematics for two manipulators. By using the relative jacobian the two cooperative redundant manipulators can be formed as a new single redundant manipulator. Two arms can perform a variety of insertion tasks by using a relative motion between their end effectors. A force/torque sensing model using an approximated penetration depth calculation a, is developed and used to compute a contact force/torque in the graphic assembly simulation . By using the adaptive accommodation controller and the force/torque sensing model both planar and a spatial cooperative assembly tasks have been successfully executed in the graphic simulation. Finally through a cooperative assembly task experiment using a humanoid robot CENTAUR which inserts a spatially bent pin into a hole its feasibility and applicability of the proposed algorithm verified.

• 한국의료질향상학회지
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• 제26권2호
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• pp.95-103
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• 2020

Purpose: This study was to examine whether a health care model that provides comprehensive medical services based on population groups to members of the medical cooperative is applicable as a policy alternative in terms of medical use and cost. Methods: Data were derived from National Health Insurance claim data in 2019. We compared the medical volume and expenses of patients who visited social cooperative-type medical clinics with other patients, control group who visited other clinics in a local area. Results: The average number of visit days was 25.3 days in social cooperative-type medical clinics, more than 24.2 days in the control group (p=.004). However, the average medical cost per visit was KRW 46 thousand in social cooperative-type medical clinics, which was significantly lower than KRW 51 thousand in the control group (p<.001), and the total medical cost was also KRW 16.1 billion in social cooperative-type medical clinics and KRW 16.9 billion in the control group. Conclusion: We identified that a population-based health care model might change patients' behaviors to health care services and decrease total medical cost. Further population based experiment is needed to develop alternative healthcare model.

• 제어로봇시스템학회논문지
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• 제10권12호
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• pp.1233-1240
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• 2004

Recently the need for cooperative control among robots is increasing in a variety of industrial robot applications. Such a control framework enhances the efficiency of the real robotic assembly environment along with extending the robot application. In this paper, an ethernet-based cooperative control framework was proposed. The cooperative control of robots can multiply the handling capacity of robot system, and make it possible to implement jigless cooperation, due to realization of trajectory-synchronized movement between a master robot and slave robots. Coordinate transformation was used to relate among robots in a common coordinate. An optimized ethernet protocol of HiNet was developed to maximize the speed of communication and to minimize the error of synchronous movement. The proposed algorithm and optimization of network protocol was tested in several class of robots.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1909-1914
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• 2004

Passive velocity field control (PVFC) was previously developed for fully mechanical systems, in which the motion task was specified behaviorally in terms of a velocity field, and the closed-loop was passive with respect to a supply rate given by the environment input. However the PVFC was only applied to a single manipulator, the proposed control law was derived geometrically, and the geometric and robustness properties of the closed-loop system were also analyzed. In this paper, we propose a method to apply a decentralized control algorithm to cooperative 3-wheeled mobile robots whose subsystem is under nonholonomic constraints and which convey a common rigid object in a horizontal plain. Moreover it is shown that multiple robot systems ensure stability and the velocities of augmented systems convergence to a scaled multiple of each desired velocity field for cooperative mobile robot systems.

• 한국도서관정보학회지
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• 제25권
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• pp.257-293
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• 1996

This paper reviews various aspects of authouity control system and presents prerequistes for an effective authority control in our future cooperative cataloging. It can be summarized as follows. First, numerous factors affecting authority control must be analyzed and consistent procedures and policies on the authority control have to be established. Second, to make an effective bibiographic data base there must be a standard for the information processing and a systematic organization for information sharing and communicating. Third, for this objective we have to build a MARC format, establish a network for the exchange of automatic authority records among systems, standardize the transcription of multscripts, and establish a centralized automatic authority system for a consistent maintenance of authorityrecords of the union data base. Fourth, it would be one of the best way of achieving cooperative cataloging to set up such a nation-wide authority control system as the NACO in Japan.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1177-1180
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• 1996

In this paper, we propose an algorithm that realizes cooperative behavior by construction of autonomous mobile robot system. Each robot is able to sense other robots and obstacles, and it has the rule of behavior to achieve the goal of the system. In this paper, to improve performance of the whole system, we use Genetic Programming based on Natural Selection. Genetic Programming's chromosome is a program of tree structure and it's major operators are crossover and mutation. We verify the effectiveness of the proposed scheme from the several examples.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.555-557
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• 1992

Recently, realization of an intelligent cooperative interaction system between a man and robot systems is required. In this paper, HyperCard with a voice control is used for above system because of its easy handling and excellent human interfaces. Clicking buttons in the HyperCard by a mouse device or a voice command means controlling each joint of a robot system. Robot teaching operation of grasping a bin and pouring liquid in it into a cup is carried out. This robot teaching method using HyperCard provides a foundation for realizing a user friendly cooperative interaction system.