• Journal of Korean Library and Information Science Society
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• v.25
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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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• 2000.10a
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• pp.154-154
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• 2000

The cooperative strategy for the teleoperated multi-agent system is presented. And this scheme has been applied to the teleoperated robot soccer system that is newly proposed. For the teleoperated robot soccer system, we made mapping functions to control a 2-wheeled mobile robot using a 2 DoF stickcontroller. The simulation with a real stickcontroller has been evaluated the performance of the proposed mapping function. Then, the basic cooperation strategy has been tested between teleoperated robot and autonomous robot It is shown that the multi-agent system for teleoperation can have a good performance for a job Like a scoring a goal

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.701-706
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• 1994

Holonic manufacturing system is a new approachto the organization and architecture of decentralized, autonomous and cooperative manufacturing system. The new paradigm combines the concepts of hierarchical systems and the integration of autonomous elements in distributed system. Today's scheduling and control techniques are mostly based on a centralized structure. Only little work has been done on scheduling and control of decentralized, autonomous and cooperative manufacturing system. This paper proposes a new approach IPM(Interactive Prediction Method) for scheduling and control of holonic manufacturing system.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.61 no.9
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• pp.1221-1225
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• 2012

This paper describes CSC(Current Sourced Converters)-based HVDC operational strategy for voltage stability enhancement in the power system. In case of CSC-based HVDC system, rectifier and inverter consume reactive power up to about 60% of converter rating. Therefore, CSC-based HVDC is basically not useful system for voltage stability even if AC filters and shunt capacitors are attached. But, If the particular power system condition is fulfilled, CSC-based HVDC also can be the rapid reactive power source for voltage stability enhancement using a cooperative control with converter and AC filters/Shunt Capacitors. In this paper, the cooperative control algorithm is presented and simulated to ${\pm}80kV$ 60MW HVDC system in Jeju island.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.12
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• pp.2078-2090
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• 2001

This paper deals with a precise position synchronous control by a cooperative control method of two axes rotating systems. First, the system's dynamics including motor drives described by a motor circuit equation and Newton's kinetic formulation about rotating system. Next, based on conventional PID(Proportional, Integral, Derivative) control law, current and speed controller are designed very simply to follow up reference speed correctly under some disturbances. Also, position synchronous controller designed to minimize position errors according to integration of speed errors between two motors. Then, the proposed control enables the distributed drives by a software control algorithm to behave in a way as if they are mechanically hard coupled in axes. Further, the stabilities and robustness or the proposed system are investigated. Finally, the proposed system presented here is shown to be more precise position synchronous motion than conventional systems through some simulations and experiments.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1553-1558
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• 2003

The authors investigate influences of manipulator dynamics on and roles of kinesthetic sensation and visual sensation in a Human-Machine Cooperative System (HMCS). At first, the general structure and essential transfer functions of HMCSs are described based on the previous work. Then, after showing theoretical treatment of manipulator dynamics, this paper analyzes the influences on HMCSs in two cases: one is the control design focusing on tool dynamics and reaction force transfer function, and the other is that specifies maneuver transfer function and transfer function for object dynamics variation. In addition to conventional experiments only employing kinesthetic sensation, other experiments with both kinesthetic and visual sensations are performed to examine difference in the roles of these sensations and the validity of the design without the visual sensation.

• Journal of the Korea Society of Computer and Information
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• v.23 no.3
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• pp.25-31
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• 2018

In this paper, we consider the game theoretic approach to investigate the transmit power optimization problem where D2D users share the uplink of the cellular system. Especially, we formulate the transmit power optimization problem as a non cooperative power control game. In the user wide sense, each user may try to select its transmit power level so as to maximize its utility in a selfish way. In the system wide, the transmit power levels of all users eventually converge to the unique point, called Nash Equilibrium. We first formulate the transmit power optimization problem as a non cooperative power control game. Next, we examine the existence of Nash Equilibrium. Finally, we present the numerical example that shows the convergence to the unique transmit power level.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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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.

• International Journal of Naval Architecture and Ocean Engineering
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• v.10 no.1
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• pp.95-102
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• 2018

This paper proposes a dual lifting and its cooperative control system with two different kinds of floating cranes. The Mega-erection and Giga-erection in the ship building are used to handle heavier and wider blocks and modules as ships and off-shore platforms are enlarged. However, there is no equipment to handle such Tera-blocks. In order to overcome the limit on performance of existing floating cranes, the dual lifting is proposed in this research. In the dual lifting, two floating cranes are well-coordinated to add up the lift capabilities of both cranes without any loss such that virtually a single crane is lifting, maneuvering and unloading. Two main constraints for the dual lifting are as follows: First, two barges of floating cranes should be constrained as a rigid body not to cause a relative motion between two barges and main hooks of the two cranes should be controlled as main hooks of a single crane. In order words, it is necessary to develop the cooperative control of two floating cranes in order to sustain a center of gravity of the module and minimize the tilting angle during the lifting and unloading by the two floating cranes. Two floating cranes are handled as a master-slave system. The master crane is able to gather information about all working conditions and make a decision to control the individual hook speed, which communicates the slave crane by TCP/IP. The developed control system has been embedded in the real floating crane systems and the dual lifting has been demonstrated five times at SHI shipyard in 2015. The moving angles of the lifting module are analyzed and verified to be suitable for hoisting control. It is verified that the dual lifting can be applied for many heavier and wider blocks and modules to shorten the construction time of ships and off-shore platforms.

• International Journal of Control, Automation, and Systems
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• v.6 no.3
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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.