• 전자공학회논문지S
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• 제34S권3호
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• pp.33-45
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• 1997

In this paper, we propsoe a new method of th ecommunication system for cooperative behaviors and works in collective autonomous mobile robots. A communication function among the collective robots is essential to intelligent cooperative works. In genral, global communication is effective for small number of robots. However when the number of robot goes on increasing, this becomes difficult to be realized because of limited communication capacity and increasing amount of information to handle. And also the problems such as communciation interfeence and improper message transmission occur. So we propose local communication system based on infrared sensor to realize the cooperative behavior among robots as the solution of above problem. It is possible to prevent overflow of information and exchange of complex information by fusion sign board model which transmits the information to unspecified robots and message passing model which communicate a specific robot. And we formularize optimal communication range by analysis of information propagation mechanism from the proposed comunication system. At last we verify the effectiveness of the proposed communication system from example of cooperative works.

• 한국지능시스템학회논문지
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• 제11권7호
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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.

• 한국조리학회지
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• 제22권8호
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• pp.1-16
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• 2016

본 연구의 목적은 외식업종사자의 서비스 수행에 대한 팀 신뢰 및 협력행동의 효과와 팀 신뢰, 협력행동, 서비스 수행 간 관계에서 팀워크 역량 및 타부서 지원의 조절효과를 검증하는 것이다. 본 연구를 위하여 서울, 경기, 송도, 경주, 부산에 위치한 호텔과 외식업체에 근무하는 식음 조리 종사원 1,080명을 대상으로 설문조사를 실시하였고, 불성실한 응답을 제외하고, 841명의 자료를 통계분석에 사용하였다. 연구가설을 검증을 위하여 구조방정식모형 분석을 실시한 결과, 상사신뢰와 동료신뢰로 구성된 팀 신뢰는 외식업종사자들의 협력행동에 정적인 영향을 주는 것으로 나타났다. 또한 외식업종사자들의 협력행동은 그들이 인식하는 서비스 수행에 정적인 영향을 주는 것으로 나타났다. 즉, 팀 내 협력행동이 증가할수록 서비스 수행 수준이 높아지는 것으로 나타났다. 조절효과 분석결과, 외식업종사자의 팀 신뢰와 협력행동 간 관계에서 팀워크 역량의 조절효과가 나타나지 않은 반면, 협력행동과 서비스 수행 간 관계에서 타부서 지원의 조절효과가 밝혀졌다. 연구결과를 토대로 본 연구의 학문적 의의 및 실무적 시사점, 그리고 후속 연구에 대한 제언이 논의되었다.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제2권3호
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• pp.185-190
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• 2002

In distributed autonomous robotic systems (DARS), each robot must behave by itself according to its states ad environments, and if necessary, must cooperate with other robots in order to carry out their given tasks. Its most significant merit is that they determine their behavior independently, and cooperate with other robots in order to perform the given tasks. Especially, in DARS, it is essential for each robot to have evolution ability in order to increase the performance of system. In this paper, a schema co-evolutionary algorithm is proposed for the evolution of collective autonomous mobile robots. Each robot exchanges the information, chromosome used in this algorithm, through communication with other robots. Each robot diffuses its chromosome to two or more robots, receives other robot's chromosome and creates new species. Therefore if one robot receives another robot's chromosome, the robot creates new chromosome. We verify the effectiveness of the proposed algorithm by applying it to cooperative search problem.

• 제어로봇시스템학회논문지
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• 제18권8호
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• pp.725-730
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• 2012

In this paper, we propose the localization algorithm for the cooperative behavior of the swarm robots based on WSN (Wireless Sensor Network). The proposed method is as follows: First, we measure positions of the L-bot (Leader robot) and F-bots (Follower robots) by using the APIT (Approximate Point In Triangle) and the RSSI (Received Signal Strength Indication). Second, we measure relative positions of the F-bots against the pre-measured position of the L-bot by using trilateration. Then, to revise a position error caused by noise of the wireless signal, we use the particle filter. Finally, we show the effectiveness and feasibility of the proposed method though some simulations.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1998년도 춘계학술대회 학술발표 논문집
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• pp.127-130
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• 1998

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. Thus these features can be applied to decision making of optimal swarm behavior in dynamically changing environment. For the purpose of 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-call 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 scheme is based of 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.

• 전기학회논문지
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• 제60권11호
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• pp.2152-2156
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• 2011

In this paper, we propose the novel behavior control algorithm by using the efficient searching method based on the characteristic of the swarm robots in unknown space. The proposed method consists of identifying the position and moving state of a robot by the dynamic modelling of a wheel drive vehicle, and planing behavior control rules of the swarm robots based on the sensor range zone. The cooperative search for unknown space is carried out by the proposed behavior control. Finally, some experiments show the effectiveness and the feasibility of the proposed method.

• 아동학회지
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• 제29권4호
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• pp.115-134
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• 2008

This study analyzed home environment, self-efficacy and parents' child rearing attitudes of disruptive children and of cooperative children in the classroom. Participants were 322 children(11-12 years of age) and 49 teachers. Instruments were four kinds of questionnaires. Data were analyzed by T-test and Fisher's exact test. Results of between group differences in parents' academic backgrounds showed more parents of cooperative children had completed high school. Disruptive children's mothers were more occupied outside the home; cooperative children's mothers engaged in more housework at home. Disruptive children's perceptions of their economic status were lower than cooperative children's perceptions. Results of comparison of general self-efficacy, scholastic self-efficacy, and home environment showed that disruptive children were statistically lower than cooperative children on all sub-variables.

• 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.

• 한국심리학회지 : 코칭
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• 제6권1호
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• pp.57-93
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• 2022

본 연구의 목적은 공공기관 조직구성원의 혁신행동과 협력행동에 영향을 미치는 공무원 상사의 코칭리더십의 효과를 검증하고, 상사의 코칭리더십과 부하 직원의 혁신행동과 협력행동 사이에서 부하의 인지적 유연성, 동료의 성장 가능성에 대한 믿음의 매개효과를 검증하는 것이다. 서울에 소재한 교육행정기관에 근무하는 공무원을 대상으로 상사 155명, 부하직원 442명 총 597부의 자료를 수집하여, 상사가 답변한 부하들의혁신행동과 협력행동의 측정값을 부하 직원의 응답 결과와 짝을 맞추어 부하직원의 데이터에 합친 후, 결측치와 불성실한 응답지를 제외한 총 397부의 데이터를 분석하였다. 연구 결과는 첫째, 공무원 상사의 코칭리더십은 부하 직원의 혁신행동, 협력행동에 유의미한 긍정적인 영향을 미치는 것을 확인하였고 둘째, 상사의 코칭리더십은 부하 직원의 인지적 유연성, 동료의 성장가능성에 대한 믿음에 긍정적인 영향을 미치는 것을 검증하였고, 셋째, 인지적 유연성은 상사의 코칭리더십과 혁신행동 사이를 매개하는 것을 확인하였고, 넷째, 동료의 성장 가능성에 대한 믿음이 협력행동에 유의미한 정(+)의 효과를 나타내는 것은 확인하지 못하였다. 이상의 연구 결과를 기반으로 본 연구의 의의와 시사점, 제한점 그리고 후속 연구를 위한 제언 등을 논의하였다.