• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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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...

• Journal of Ubiquitous Convergence Technology
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• 제1권1호
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• pp.53-59
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• 2007

This paper proposes a new group mobility model for wireless communication. The mobility model considers the psychological and sociological behavior of each node and the perception of other nodes for describing interactions among a set of nodes. The model assumes no permanent membership of a group, capable of capturing natural behaviors as fork and join. It emulates a cooperative movement pattern observed in mobile ad hoc networks of military operation and campus, in which a set of mobile stations accomplish a cooperative motion affected by the individual behavior as well as a group behavior. The model also employs a physic model to avoid a sudden stopping and a sharping turning.

• 대한지구과학교육학회지
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• 제8권1호
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• pp.87-97
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• 2015

This study is to find out that the effect of class applied Jigsaw cooperative learning to self-directed learning skills and task commitment. This study has been aimed at 2 class 66 students pre-service teachers who take "Science and study of teaching materials I" enrolled in B University of Education located in B city. This study targets to 2009 revision of elementary school science curriculum of changes in earth's surface(3-1), the volcano and earthquakes (4-1), the solar system and the stars (5-1), the motion of the Earth and the Moon (6-1) sections. Clarify the subject of study for implementing a research topics are as follows. First, What is the effect of class applied Jigsaw cooperative learning to self-directed learning skills? Second, what is the effect of class applied Jigsaw cooperative learning to task commitment? Third, what is awareness of class applied Jigsaw cooperative learning? Results of the study were as follows: First, class applied Jigsaw cooperative learning was effective in improving self-directed learning skills. Second, class applied Jigsaw cooperative learning was effective in improving task commitment. Third, in the course of discussion, students got consideration for others with leadership in their discussion was good in the class applied Jigsaw cooperative learning discussion. There was a response that they would like to do the class continually.

• Journal of Positioning, Navigation, and Timing
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• 제2권1호
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• pp.91-100
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• 2013

This paper introduces an indoor sensor fusion wireless communication device which provides the Location Based Service (LBS) using fire prevention facility. The proposed system can provide information in real time by optimizing the hardware of Wi-Fi technology. The proposed system can be applied to a fire prevention facility (i.e., emergency exit) and provide information such as escape way, emergency exit location, and accident alarm to smart phone users, dedicated terminal holders, or other related organizations including guardians, which makes them respond instantly with lifesaving, emergency mobilization, etc. Also, the proposed system can be used as a composite fire detection sensor node with additional fire and motion detect sensors.

• 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.

• 한국지진공학회:학술대회논문집
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• 한국지진공학회 2000년도 춘계 학술발표회 논문집 Proceedings of EESK Conference-Spring
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• pp.468-476
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• 2000

The Criteria of strong motion seismograph installed at free surface and structure is developed as a cooperative project of KEERC considering seismicity and state of seismic instrumentation of Korea. The background of this development and basic concepts are summarized in this report. The criteria of seismic sensor and recorder is also introduced. It is highly recommended to apply this criteria to installation and operation of seismograph at free surface and structure.

• 로봇학회논문지
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• 제14권3호
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• pp.179-185
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• 2019

This paper presents cable-hydraulic driven 3DoF (Degree-of-Freedom) manipulator for cooperative robot with high output/low inertia and enhancing lager workspace of hydraulic manipulator. Hydraulic actuation could be solution to design more higher output manipulator than the one of electric motor actuation due to install actuation source and robot joint separated. In spite of this advantage, the conventional hydraulic driven manipulator using cylinder or vane actuator is not suitable for the candidate of cooperative robot because smaller workspace owing to small RoM (Range of Motion) hydraulic actuator. In this paper, we propose 3DoF manipulator with cable-hydraulic actuation which is more larger ratio of payload-to-weight than the one of conventional cooperative manipulator and larger workspace than the one of existing hydraulic driven manipulator. The performance of proposed manipulator was demonstrated by the experiments for confirming overall workspace task, high payload operation task under worst situation and comparing repeatability between developed manipulator and existed cooperative robots. The results of experiments showed that the appropriate performance of proposed manipulator for cooperative robot.

• 전자공학회논문지B
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• 제31B권1호
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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.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.257-257
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• 2000

The objective of this research is to monitor and control the vehicle motion in order to remove out the existing safety risk based upon the human-machine cooperative vehicle control. A predictive control method is proposed to control the steering wheel of the vehicle to keep the lane. Desired angle of the steering wheel to control the vehicle motion could be calculated based upon vehicle dynamics, current and estimated pose of the vehicle every sample steps. The vehicle pose and the road curvature were calculated by geometrically fusing sensor data from camera image, tachometer and steering wheel encoder though the Perception Net, where not only the state variables, but also the corresponding uncertainties were propagated in forward and backward direction in such a way to satisfy the given constraint condition, maintain consistency, reduce the uncertainties, and guarantee robustness. A series of experiments was conducted to evaluate the control performance, in which a car Like robot was utilized to quit unwanted safety problem. As the results, the robot was keeping very well a given lane with arbitrary shape at moderate speed.

• Journal of Yeungnam Medical Science
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• 제7권2호
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• pp.103-108
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• 1990

기능적전기자극(FES)을 이용하여 중추신경장해환자의 체간제어를 행하는 방법을 고안하여 체간제어에 필요한 각 각의 관절운동을 실현시켜 보았다. 건강인에게 전기자극실험을 행하고 기능적전기자극애 의해 체위변환의 실현가능성을 검증했다. 또한 상지를 함께 이용한 체위변환시의 근전도를 해석하여 보다 적절한 체위변환의 방법을 검토했다.