• Proceedings of the Korean Society of Precision Engineering Conference
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• 1992.10a
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• pp.215-219
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• 1992

This paper presents a motion coordination of two robot manipulators coordinating an object. To coordinate the object, a force/position control scheme in a mode of leaer/follower is devised. The dynamics of the object are incorporated into the dynamics of the leader arm, which yields a reduced order model of two arm system. In order to regulate interaction forces between two arm, the dynamics of the follower arm are expressed as force dynamic equations such that a novel direct forces between two arms and two different type of bounded input disturbances, boundedness and asymptotic stability results based on a proposed Lyapunov function are shown. Also, a sufficient condition for a stability robustness is derived based on the Lyapunov approach.

• Proceedings of the Korea Information Processing Society Conference
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• 2000.10a
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• pp.285-288
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• 2000

본 논문에서는 다중 에이전트(multi-agent) 환경에서 에이전트들의 행동을 효율적으로 조정 (coordination)하기 위해 강화 학습(reinforcement learning)을 이용하였다. 제안된 방법은 각 에이전트가 목표(goal)와의 거리 관계(distance relationship)와 인접 에이전트들과의 공간 관계(spatial relationship)를 이용하였다. 그러므로 각 에이전트는 다른 에이전트와 충돌(collision) 현상이 발생하지 않으면서, 최적의 다음 상태를 선택할 수 있다. 또한, 상태 공간으로부터 입력되는 강화 값이 0과 1 사이의 값을 갖기 때문에 각 에이전트가 선택한 (상태, 행동) 쌍이 얼마나 좋은가를 나타낼 수 있다. 제안된 방법을 먹이 포획 문제(prey pursuit problem)에 적용한 결과 지역 제어(local control)나. 분산 제어(distributed control) 전략을 이용한 방법보다 여러 에이전트들의 행동을 효율적으로 조정할 수 있었으며, 매우 빠르게 먹이를 포획할 수 있음을 알 수 있었다.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.50 no.11
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• pp.505-513
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• 2001

This paper presents the new three-level optimal control scheme for the large scale nonlinear systems, which is based on fast walsh transform. It is well known that optimization for nonlinear systems leads to the resolution of a nonlinear two point boundary value problem which always requires a numerical iterative technique for their solution. However, Three-level costate coordination can avoid two point boundary condition in subsystem. But this method also has the defect that must solve high order differential equation in intermediate level. The proposed method makes use of fast walsh transform, therefore, is simple in computation because of solving algebra equation instead of differential equation.

• Journal of Korea Society of Industrial Information Systems
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• v.17 no.7
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• pp.119-125
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• 2012

This paper suggest the on-line coordination control between on-load tap changers and Switched Shunts for ensuring the voltage stability using local data obtained from one substation. Inappropriate control of on-load tap changers that are able to maintain voltage profile might cause unintended result that is harmful to system stability, especially voltage stability. This paper utilizes Z-index that could inform the whole system condition from only one substation data. Simulation is performed using the HYPERSIM that is a digital simulator and matlab simulink to confirm the proposed algorithm.

• International Commerce and Information Review
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• v.14 no.2
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• pp.81-119
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• 2012

In order to maintain high level of control over and close coordination of foreign marketing activities, export manufacturers often consider vertical integration strategy into global distribution. However, full integration is not always a feasible option. The purpose of this study is to investigate the alternative ways to achieve optimal level of control over export channel system for desirable channel performance. This study investigates different options for integration of the vertical channel structure, and examines their effect on the performance. The findings of this study suggest different combination of ownership and coordination level has varying impact upon channel performance: efficiency, effectiveness, and adaptiveness. This implies exporters may achieve desirable performance control over export channel without fully integrating the channel via ownership.

• 한국ITS학회:학술대회논문집
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• 2003.11a
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• pp.127-131
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• 2003

• Proceedings of the KOR-KST Conference
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• 2007.05a
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• pp.362-371
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• 2007

• Korea journal of population studies
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• v.13 no.2
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• pp.56-66
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• 1990

• Journal of the Korean Academy of Child and Adolescent Psychiatry
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• v.28 no.4
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• pp.244-251
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• 2017

Objectives: The objective of this study was to investigate the effect of pharmacological treatments for attention-deficit hyperactivity disorder (ADHD) on motor coordination, using the Developmental Coordination Disorder Questionnaire (DCDQ). Methods: The participants were recruited from April 2015 to November 2016 from the Department of Psychiatry of Asan Medical Center and were treated for 3 months with methylphenidate or atomoxetine. The illness severity at baseline and 3 months were scored using the ADHD Rating Scale (ARS), Clinical Global Impression-Severity Scale (CGI-S) and/or Clinical Global Impression-Improvement Scale (CGI-I). A total of 39 children with ADHD (age $8.0{\pm}1.4years$, 36 boys) completed the Advanced Test of Attention (ATA) and their parents completed the DCDQ at baseline and 3 months. The paired t-test, mixed between-within analysis of variance and correlation analysis were used. Results: The CGI-S (p<0.001), ARS (p<0.001), and fine motor/hand writing (p=0.005) on the DCDQ were significantly changed between pre-treatment and post-treatment. When the participants were divided into those who were suspected of having developmental coordination disorder (DCD) (n=23) and those who probably did not (n=16), the control during movement, fine motor/hand writing and general coordination scores on the DCDQ showed the main effects for group (p<0.001, p<0.001 and p<0.001, respectively). The fine motor/hand writing on the DCDQ has a significant main effect for time [F(1,37)=7.31, p=0.010, ${\eta}^2=0.405$] and the interaction effect between group and time was also significant [F(1,37)=4.63, p=0.038, ${\eta}^2=0.111$]. The baseline visual commission error on the ATA is significantly correlated with the changes in the DCDQ total scores (r=0.330, p=0.040). Conclusion: Our results provide preliminary evidence that pharmacological treatment for ADHD improves not only the core symptoms of ADHD, but also the motor coordination. Further studies are needed to confirm the effect of the pharmacological treatment for ADHD on the motor coordination.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1710-1715
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• 2005

Two fuzzy controllers are coordinated to control a cartpole such that the pole is balanced as well as the cart is brought back to the track origin. The coordination is due to the BOXES scheme that is established through the evaluation of the outcomes of the control action by one of the fuzzy controllers. It is found that the control scheme is good at selecting proper fuzzy controller so that the pole is balanced fast while the cart moves back to the track origin steadily.