• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.95-98
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• 2001

A hierarchical structure for the cooperative control of multiple mobile robots using coordinates of objects obtained from vision system is proposed. The order-level perceives environments represented by workspace sets. The algorithm selects an object to be moved using an object discrimination part and determines the robot actions. The action-level generates a trajectory of each wheel velocity of robot. The simulation results show the effectiveness of the proposed algorithm.

• Journal of Electrical Engineering and Technology
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• v.4 no.2
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• pp.194-200
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• 2009

In this paper, the cooperative control scheme of micro sources and an ESS (Energy Storage System) during islanded operation is presented and evaluated by a simulation study. The ESS handles the frequency and voltage as a primary control. Then, the secondary regulation control returns the cur-rent power output of ESS into a pre-planned value. The simulation's results show that the proposed co-operative control scheme can regulate the frequency and voltage and reduce the consumption of the stored energy of ESS.

• Journal of Aerospace System Engineering
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• v.18 no.2
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• pp.1-11
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• 2024

This paper applies a relative impact angle control guidance law to a communication-based multi-missile network system with uncertainties and disturbances. The multi-missile network system is represented as a transitive reduction directed acyclic graph. Furthermore, this paper introduces both centralized and decentralized guidance laws based on the graph's structure. The relationship between these guidance laws is analyzed by comparing them based on the communication structure and the presence of system noise. To analyze the effects of decentralized optimal cooperative guidance law, this paper assumes uncertainty in missile dynamics and predicted impact point information for the relative impact angle control mission. Monte Carlo simulations are conducted for various mission environments to analyze the impact of communication and its structure on the system.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1998.03a
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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.

• The Journal of Fisheries Business Administration
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• v.33 no.2
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• pp.99-125
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• 2002

Fisheries cooperative requires dual characteristics in performing its original function. Economic characteristic as an business enterprise and democratic characteristic as cooperative entity need to complete its objectives and survive in the complex rapidly-changing environment. After IMF crisis, fisheries cooperative received enormous government's financial support and credit-business department is perfectly under government's control. Regional fisheries cooperative also faces business failure, therefore pure cooperative movement can't save the fisheries cooperative. Economic characteristic as an business enterprise is more emphasized than democratic characteristic as cooperative entity in recent years. The theory of corporate ownership and governance can be applied to explain the ownership and governance of fisheries cooperative because fisheries cooperative is now similar to an business enterprise. During the IMF crisis the board, the auditors and the minority shareholders in business enterprise were revealed to be powerless against the mighty influence of controlling shareholders. Unconstrained discretion exercised by those controlling shareholders not only led to the firms'insolvency, but also brought down the country's financial system. During the past few years, Korea has experienced many institutional changes regarding its corporate governance structure. The introduction of outside directors, the strengthening of minority shareholders' rights, and enhanced accounting transparency are achieved to improve the efficiency of economic system. Investors, including institutional and individual, also seem to be more aware of governance issues now. Credit-business department of fisheries cooperative is recommended to introduce the institutions same as the case of the corporate governance structure. Fisheries cooperative except economic and credit-business department requires other prescriptions because it is emphasized as democratic cooperative entity. But we should be careful to interpret the ownership and governance structure because they are products of nations, eras and organizations.

• Educational Technology International
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• v.6 no.1
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• pp.103-119
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• 2005

This study investigated to designand implement web-based collaborative learning system Co-Net and map out students' learning procedure using the system, based upon Student Team Achievement Division (STAD Slavin, 1990, 1996). There are technical process and instructional considerations to be made during the design process. The former are those that concern equipment requirements and specifications and include Ease of Use, Speed of Access, and Flexibility. On the other hand, instructional considerationsare concerned with the delivery and access of instructional materials and their outcomes on learners. They are cooperative interactions within groups and group heterogeneity, learner control, group incentives, individual accountability, equal opportunity for earning high scores and contributing to group effort, task specialization, and competition among groups. A web site for a virtual learning environment designed and built by the authors and known as Co-Net is then explained along with the whole process learners inside the environment. The main page of Co-Net consists of 15 menus to implement cooperative learning process. The cooperative learning activities using 15 menus are composed of six phases (1) preparation of the new knowledge (2) presentation of the new knowledge (3) knowledge assimilation and application (4) team and individual evaluation (5) team and individual recognition Throughout the five phases, the appropriate use of cooperative learning techniques has been shown to have both academic and social benefits to learners.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.15 no.25
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• pp.63-74
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• 1992

This study proposes D- shortage control system which is a convenient tool for cooperative companies to reduce shortages which frequently break out between the manufacturing companies and the cooperative companies. On the ground of theoretical analysis of MRP and JIT system, D- shortage control system sets up a schedule that secures the delivery date by precedent scheduling( D-) comparing with MRP It also syncronizes business, production and release, and builds the pull system comparing with JIT. The factors causing shotages are the scheduling absurdity and the controlling absurdity. The scheduling absurdity can be settled by the calculating required quantity method of MRP and the controlling absurdity can be settled by daily control of business, production and pruchasing fuctions by the pull system of JIT. And the inventory and the WIP can be reduced by the operating of PULL system and by the settlement of D- shortage control practices. The Application of D- shortage control system, therefore, enables the rationalization of logistics and reduces the inventory And it leads to the reinforced competitiveness and the security of subsistence of manufacturer by the cost ruduction, the reduction of financial difficulty, and the insurance of the delivery date.

• Smart Structures and Systems
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• v.23 no.1
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• pp.1-14
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• 2019

Control algorithms are the most important aspects in successful control of structures against earthquakes. In recent years, intelligent control methods rather than classical control methods have been more considered by researchers, due to some specific capabilities such as handling nonlinear and complex systems, adaptability, and robustness to errors and uncertainties. However, due to lack of learning ability of fuzzy controller, it is used in combination with a genetic algorithm, which in turn suffers from some problems like premature convergence around an incorrect target. Therefore in this research, the introduction and design of the Fuzzy Cooperative Coevolution (Fuzzy CoCo) controller and Adaptive Neural-Fuzzy Inference System (ANFIS) have been innovatively presented for semi-active seismic control. In this research, in order to improve the seismic behavior of structures, a semi-active control of building using Magneto Rheological (MR) damper is proposed to determine input voltage of Magneto Rheological (MR) dampers using ANFIS and Fuzzy CoCo. Genetic Algorithm (GA) is used to optimize the performance of controllers. In this paper, the design of controllers is based on the reduction of the Park-Ang damage index. In order to assess the effectiveness of the designed control system, its function is numerically studied on a 9-story benchmark building, and is compared to those of a Wavelet Neural Network (WNN), fuzzy logic controller optimized by genetic algorithm (GAFLC), Linear Quadratic Gaussian (LQG) and Clipped Optimal Control (COC) systems in terms of seismic performance. The results showed desirable performance of the ANFIS and Fuzzy CoCo controllers in considerably reducing the structure responses under different earthquakes; for instance ANFIS and Fuzzy CoCo controllers showed respectively 38 and 46% reductions in peak inter-story drift ($J_1$) compared to the LQG controller; 30 and 39% reductions in $J_1$ compared to the COC controller and 3 and 16% reductions in $J_1$ compared to the GAFLC controller. When compared to other controllers, one can conclude that Fuzzy CoCo controller performs better.

• Journal of Communications and Networks
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• v.13 no.5
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• pp.463-471
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• 2011

Cooperative communications using relays in wireless networks have similar effects of multiple-input and multiple-output without the need of multiple antennas at each node. To implement cooperation into a system, efficient protocols are desired. In IEEE 802.11 families such as a/b/g, mobile stations can automatically adjust transmission rates according to channel conditions. However throughput performance degradation is observed by low-rate stations in multi-rate circumstances resulting in so-called performance anomaly. In this paper, we propose active relay-based cooperative medium access control (AR-CMAC) protocol, in which active relays desiring to transmit their own data for cooperation participate in relaying, and it is designed to increase throughput as a solution to performance anomaly. We have analyzed the performance of the simplified AR-CMAC using an embedded Markov chain model to demonstrate the gain of AR-CMAC and to verify it with our simulations. Simulations in an infrastructure network with an IEEE 802.11b/g access point show noticeable improvement than the legacy schemes.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.12
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• pp.1079-1085
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• 2000

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). An immune system is the living bodys self-protection and self-maintenance system. these features can be applied to decision making of the optimal swarm behavior in a 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. When the environmental condition (antigen) changes, a robot selects an appropriate behavior strategy (antibody). And its behavior strategy is stimulated and suppressed by other robots using communication (immune network). Finally, much stimulated strategy is adopted as a swarm behavior strategy. This control scheme is based on clonal selection and immune network hypothesis, and it is used for decision making of the optimal swarm strategy. Adaptation ability of the robot is enhanced by adding T-cell model as a control parameter in dynamic environments.