• Journal of the Korean Society for Aviation and Aeronautics
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• v.27 no.3
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• pp.1-14
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• 2019

Cooperative systems among various unmanned vehicles are widely used in various field and emerging. Unmanned vehicles are able to operate various missions without operator onboard and they are highly stable. Collaborative work of multiple unmanned vehicles is emphasized due to the difficulty of recent missions such as SEAD (Suppression of the Enemy Air Defenses), MUSIC (Manned Unmanned Systems Integration Capability), goldentime in the rescue mission. In this study, ROS and Pixhawk were proposed as a method of construction of a collaboration system and framework for an integrated simulation environment for heterogeneous unmanned vehicles is proposed. Totally 5 unmanned vehicles were set for the simulation for the observation of illegal fishing boats. This paper shows the feasibility of the cooperative system using ROS and Pixhawk through the simulation and the experiment.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.284-289
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• 1995

This paper presents a haptic display of a cooperative work between the networked multiple users. Excluding the possibility of large timedelay among the users, it is presented the way of configuring individual haptic display systems including the computation of interaction forces, joint driving forces of haptic devices and simulation of the virtual objects. A haptic display system is developed consisting of two haptic display devices operated by two remote users and experimental results to show the validity of the proposed method are also presented.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 1997.06a
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• pp.83-88
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• 1997

In this study, we focus on precise and natural cooperative object manipulation in a virtual space. We introduce two virtually expanded physical laws-virtual mechanical equilibrium on a rigid object and exclusive object arrangement-to create realistic cooperative manipulation. We have built a trial system according to our proposed design. The method is expected to allow users to exchange intended manipulation by haptic and visual channels.

• IEMEK Journal of Embedded Systems and Applications
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• v.7 no.6
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• pp.339-343
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• 2012

Security and monitoring system has many applications and commonly used for detection, warning, alarm, etc. As the networking technology advances, user requirements are getting higher. An intelligent and cooperative surveillance system is proposed to meet current user demands and improve the performance. This paper focuses on the implementation issue for the embedded intelligent surveillance system. To cover wide area cooperative function is implemented and connected by wireless sensor network technology. Also to improve the performance lots of sensors are employed into the surveillance system to reduce the error but improve the detection probability. The proposed surveillance system is composed of vision sensor (camera), mic array sensor, PIR sensor, etc. Between the sensors, data is transferred by IEEE 802.11s or Zigbee protocol. We deployed a private network for the sensors and multiple gateways for better data throughput. The developed system is targeted to the traffic accident detection and alarm. However, its application can be easily changed to others by just changing software algorithm in a DSP chip.

• Journal of the Korean Institute of Intelligent Systems
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• v.11 no.7
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• pp.591-597
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• 2001

In this paper, we propose a method of cooperative control (T-cell modeling) and selection of group behavior strategy (B-cell modeling) based on immune system in distributed autonomous robotic system (DARS). Immune system is living body's self-protection and self-maintenance system. These features can be applied to decision making of optimal swarm behavior in dynamically changing environment. For applying immune system to DARS, a robot is regarded as a B-cell, each environmental condition as an antigen, a behavior strategy as an antibody and control parameter as a T-cell respectively. The executing process of proposed method is as follows. When the environmental condition changes, a robot selects an appropriate behavior strategy. And its behavior strategy is stimulated and suppressed by other robot using communication. Finally much stimulated strategy is adopted as a swarm behavior strategy. This control school is based on clonal selection and idiotopic network hypothesis. And it is used for decision making of optimal swarm strategy. By T-cell modeling, adaptation ability of robot is enhanced in dynamic environments.

• Korean Journal of Mathematics
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• v.23 no.4
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• pp.619-630
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• 2015

This paper is devoted to investigate the multiple solutions for a class of the cooperative elliptic system involving subcritical Sobolev exponents on the bounded domain with smooth boundary. We first show the uniqueness and the negativity of the solution for the linear system of the problem via the direct calculation. We next use the variational method and the mountain pass theorem in the critical point theory.

• Korean Journal of Cognitive Science
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• v.11 no.1
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• pp.67-80
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• 2000

Distributed cooperative information system is the one that has various knowledge sources as well as problem solving capabilities to get information in a distributed and heterogeneous data environment. In a distributed cooperative information system. a control mechanism to facilitate the available information is very important. and usually the role of the control mechanism determines the behavior of the total system In this research. we proposed a model of the distributed cooperative information system which is based on the multi-agent paradigm. We also implemented a test system to show l its feasibility. The proposed system makes the knowledge sources into agents and a special agent called 'facilitator' controls the cooperation between the knowledge agents The facilitator uses the knowledge granularity level to determine the sequence of the activation of the agents. In other words. the knowledge source with simple but fast processing mechanism activates first while more sophisticated but slow knowledge sources are activated late. In an environment in which we have several knowledge sources for the same topic. the proposed system will simulate the focusing mechanism of human cognitive process.

• Journal of the Korean Society of Earth Science Education
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• v.8 no.1
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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.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.12 no.5
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• pp.2177-2193
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• 2018

This paper studies resource allocation schemes for the relay-aided cooperative system consisting of multiple source-destination pairs and decode-forward (DF) relays. Specially, relaying selection, multisubcarrier pairing and assignment, and power allocation are investigated jointly. We consider a combinatorial optimization problem on quality of experience (QoE) and energy consumption based on relay-aided cooperative system. For providing better QoE and lower energy consumption we formulate a multi-objective optimization problem to maximize the total mean opinion score (MOS) value and minimize the total power consumption. To this end, we employ the nondominated sorting genetic algorithm version II (NSGA-II) and obtain sets of Pareto optimal solutions. Specially, two formulas are devised for the optimal solutions of the multi-objective optimization problems with and without a service priority constraint. Moreover, simulation results show that the proposed schemes are superior to the existing ones.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.3
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• pp.1301-1318
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• 2017

In order to utilize the licensed channel of cognitive radio (CR) when the primary user (PU) is detected busy, a benefit-exchange access mode based on cooperative communication is proposed to allow secondary user (SU) to access the busy channel through giving assistance to PU's communication in exchange for some transmission bandwidth. A holistic joint optimization problem is formulated to maximize the total throughput of CR system through jointly optimizing the parameters of cooperative spectrum sensing (CSS), including the local sensing time, the pre-configured sensing decision threshold, the forward power of cooperative communication, and the bandwidth and transmission power allocated to SUs in benefit-exchange access mode and traditional access mode, respectively. To solve this complex problem, a combination of bi-level optimization, interior-point optimization and exhaustive optimization is proposed. Simulation results show that, compared with the tradition throughput maximizing model (TTMM), the proposed holistic joint optimization model (HJOM) can make use of the channel effectively even if PU is busy, and the total throughput of CR obtains a considerable improvement by HJOM.