• Title/Summary/Keyword: Mission Assignment

Search Result 19, Processing Time 0.022 seconds

Neighbor-Referenced Coordination of Multi-robot Formations (다중 로봇의 네이버기준 편대제어)

  • Lee, Geun-Ho;Chong, Nak-Young
    • The Journal of Korea Robotics Society
    • /
    • v.3 no.2
    • /
    • pp.106-111
    • /
    • 2008
  • This paper presents a decentralized coordination for a small-scale mobile robot teams performing a task through cooperation. Robot teams are required to generate and maintain various geometric patterns adapting to an environment and/or a task in many cooperative applications. In particular, all robots must continue to strive toward achieving the team's mission even if some members fail to perform their role. Toward this end, given the number of robots in a team, an effective coordination is investigated for decentralized formation control strategies. Specifically, all members are required first to reach agreement on their coordinate system and have an identifier (ID) for role assignment in a self-organizing way. Then, employing IDs on individual robots within a common coordinate system, a decentralized neighbor-referenced formation control is realized to generate, keep, and switch between different geometric shapes. This approach is verified using an in-house simulator and physical mobile robots. We detail and evaluate the formation control approach, whose common features include self-organization, robustness, and flexibility.

  • PDF

Implementation of a X-Plane and MATLAB/Simulink based Simulation System for Multiple UAVs (X-Plane 및 MATLAB/Simulink 기반의 복수무인기 모의실험 시스템 개발)

  • Moon, Sangwoo;Oh, Eun-Mi;You, Dong-Il;Shim, David Hyunchul
    • Journal of Institute of Control, Robotics and Systems
    • /
    • v.19 no.5
    • /
    • pp.442-449
    • /
    • 2013
  • In this paper, a simulation system based on X-Plane and MATLAB/Simulink for multiple UAVs is presented. For the conceptual design of this proposed system, a hierarchical system architecture for multiple UAVs is presented. This architecture has object-oriented data structure which consists of three objects (UAV status, mission and task, and environment) and a hierarchy consisting of four layers (decision making layer, task assignment layer, path and motion planning layer, and collision avoidance layer) is also proposed. In addition, this paper shows a implementation of simulation system based on the proposed system architecture using X-Plane and MATLAB/Simulink. The result of simulation from the developed system in this paper validate capability of application for multiple UAVs in real environment.

A study on the Korea's global e-Trade marketing spreading strategy (글로벌 전자무역 마케팅 확산전략에 대한 연구)

  • Park, Yong-Hwan;Lee, Seung-Kwan
    • The Journal of Information Technology
    • /
    • v.7 no.3
    • /
    • pp.99-112
    • /
    • 2004
  • Internet is changing all of the commercial practices and customs on international business transaction. So called e-Trade in global marketing is expected to dominate the global trade in 21st century and thus is being introduced as a major mission assignment for exporting countries. e-Trade has the potential to accelerated existing threads and introduce new ways of carrying out global trade. It is especially important in Korea, which has a high dependency rate on trade. Trade efficiency through the channel of e-Trade is an alternative to strengthen international competition of korean small and medium sized global trading firm.

  • PDF

A Simultaneous Delivery and Pick-up Heterogeneous Vehicle Routing Problem with Separate Loading Area (다품종 독립 적재공간을 갖는 배달과 수거를 동시에 고려한 차량경로문제)

  • Kim, Gak-Gyu;Kim, Seong-Woo;Kim, Seong-Woo
    • Journal of Korean Institute of Industrial Engineers
    • /
    • v.39 no.6
    • /
    • pp.554-561
    • /
    • 2013
  • As a special topic of the vehicle routing problems (VRP), VRPSDP extends the vehicle routing problem as considering simultaneous pickup and delivery for goods. The past studies have mainly dealt with a only weight constraint of a loading capacity for heterogeneous products. However. this study suggests VRPSDP considering separate loading area according to characteristics of loading species. The objective is to design a set of minimum distance routes for the vehicle routing assignment with independent capacity for heterogeneous species. And then we present a another HVRPSDP model which is easy to utilizes in a unique circumstance that is a guarantee of executing a task simultaneously from the various areas under restricted time and raising an application of vehicles that returns at the depot for the next mission like the military group. The optimal results of the suggested mathematical models are solved by the ILOG CPLEX software ver. 12.4 that is provided by IBM company.

A Reliable Broadcast Scheme for Wireless Sensor Networks (무선 센서 네트워크를 위한 신뢰적 브로드캐스팅 기법)

  • Choi, Won-Suk;Cho, Sung-Rae
    • The Journal of Korean Institute of Communications and Information Sciences
    • /
    • v.33 no.4B
    • /
    • pp.165-173
    • /
    • 2008
  • In this paper, we propose a new reliable broadcast protocol referred to as timer-based reliable broadcast (TRB) for wireless sensor networks (WSNs). The proposed TRB scheme exploits (1) bitmap based explicit ACK to effectively reduce the unnecessary error control messages and (2) randomized timer for ACK transmission to substantially reduce the possibility of contentions. Although it has been argued that 100% reliability is not necessary in WSNs, there should be messages (such as mission-critical message, task assignment, software updates, etc.) that need to be reliably delivered to the entire sensor field. We propose to use the TRB algorithm for such cases. Performance evaluation shows that the TRB scheme achieves 100 % reliability significantly better than other schemes with expense of slightly increased energy consumption.

A COMPARISON STUDY OF SPACE RADIATION DOSE ANALYSIS PROGRAMS: SPENVIS SECTORING TOOL AND SIGMA II

  • Chae Jongwon
    • Bulletin of the Korean Space Science Society
    • /
    • 2004.10b
    • /
    • pp.347-350
    • /
    • 2004
  • A space radiation analysis has been used to evaluate an ability of electronic equipment boxes or spacecrafts to endure various radiation effects, so it helps design thicknesses of structure and allocate components to meet the radiation requirements. A comparison study of space radiation dose analysis programs SPENVIS Sectoring Tool (SST) and SIGMA II is conducted through some structure cases, simple sphere shell, box and representative satellite configurations. The results and a discussion of comparison will be given. A general comparison will be shown for understanding those programs. The both programs use the same strategy, solid angle sectoring with ray-tracing method to produce an approximate dose at points in representative simple and complex models of spacecraft structures. Also the particle environment data corresponding to mission specification and radiation transport data are used as input data. But there are distinctions between them. The specification of geometry model and its input scheme, the assignment of dose point and the numbers, the prerequisite programs and ways of representing results will be discussed. SST is a web-based interactive program for sectoring analysis of complex geometries. It may be useful for a preliminary dose assessment with user-friendly interfaces and a package approach. SIGMA II is able to obtain from RSICC (Radiation Safety Information Computational Center) as a FOR-TRAN 77 source code. It may be suitable for either parametric preliminary design or detailed final design, e.g. a manned flight or radiation-sensitive component configuration design. It needs some debugs, recompiling and a tedious work to make geometrical quadric surfaces for actual spacecraft configuration, and has poor documentation. It is recommend to vist RSICC homepage and GEANT4/SSAT homepage.

  • PDF

Task Allocation and Path Planning for Multiple Unmanned Vehicles on Grid Maps (격자 지도 기반의 다수 무인 이동체 임무 할당 및 경로 계획)

  • Byeong-Min Jeong;Dae-Sung Jang;Nam-Eung Hwang;Joon-Won Kim;Han-Lim Choi
    • Journal of Aerospace System Engineering
    • /
    • v.18 no.2
    • /
    • pp.56-63
    • /
    • 2024
  • As the safety of unmanned vehicles continues to improve, their usage in urban environments, which are full of obstacles such as buildings, is expected to increase. When numerous unmanned vehicles are operated in such environments, an algorithm that takes into account mutual collision avoidance, as well as static and dynamic obstacle avoidance, is necessary. In this paper, we propose an algorithm that handles task assignment and path planning. To efficiently plan paths, we construct a grid-based map and derive the paths from it. To enable quick re-planning in dynamic environments, we focus on reducing computational time. Through simulation, we explain obstacle avoidance and mutual collision avoidance in small-scale problems and confirm their performance by observing the entire mission completion time (Makespan) in large-scale problems.

Effects of Preference for Science and Self-Directed Learning Ability of the Science Puppet Show Program Developed as a STEAM Education Model (융합인재교육 모델로서 과학인형극 프로그램의 과학선호도와 자기주도적 학습능력에 대한 효과)

  • Ha, Ju Il;Kim, Kyoung Soo
    • Korea Science and Art Forum
    • /
    • v.21
    • /
    • pp.437-449
    • /
    • 2015
  • The research aims to verify the effects of preference for science and self-directed learning ability of the science puppet show program that the researcher has developed as a STEAM education model. The results for conducting the survey with the same questionnaire before and after the program targeting the students showed that the science puppet show had effects on increasing the science related assignment performance will of the behavioral will among the three sub-dimensions including emotional respond, value cognition and behavioral will, but there was no effect on overall aspects of science preference. It can be interpreted as reflecting the characteristics of the scientific talents who already have a high level of preference for science. In addition, the three sub-dimensions including the cognitive regulation, motivational regulation and behavioral regulation had effects on the self-directed learning ability. Especially it had great effects on the directed learning ability of cognitive regulation, learning motivation of motivational regulation, tool application of behavioral regulation, and cooperation capacity which were greater for female students than male students. It is judged that the three-staged science puppet show program including the 'content integrating stage' that the students integrate the curriculum contents, 'integrated mission stage' of solving the visualization, auralization and performance missions by themselves, and 'process integration stage' of making the stage piece all together.

A Study on the Effective Independent Study of Nursing Student (간호학생의 효과적인 자율학습을 위한 조사연구)

  • 김광주;이향련
    • Journal of Korean Academy of Nursing
    • /
    • v.8 no.1
    • /
    • pp.16-42
    • /
    • 1978
  • This survey was made for a month starting from November 15 to December 15, 1977 covering 711 students taking the junior. (3rd-yea.) and the senior. (4th-year) at nine college of nursing in Seoul concerning their perception and Attitude toward the profession of nursing, motive for the necessity of learning, environment of study, attitude of study and particulars relevant with study performance, particulars of library, references and reading, assignments and particulars of the degree of confidence for the learning achievement. Through the survey of the above Particulars, the following results were obtained by classifying all subject matters and by analysing motive of the selection of their course, awarding or not awarding of scholarships. 1. General characteristics: it was revealed that 406 students (57.1%) were attending at the junior. while 305 students (42.9%) were taking the senior. Thus, the total number was 711 and their average age was 21.4 years. Their dwelling category was; 73.9 percent of them resided at their parent's home, 214 students (30.1%) were awarded with scholarships. The reason to be attracted by nursing science was the possibility of continuing social life after graduation (43.5%). 2. Their perception and attitude toward the profession of nursing: According to the perception of profession by the students of each grade, students of the 4th grade showed comparatively strong conception. Also, students of the 4th grade showed more positive attitude in the purchase and reading of magazines relative with the science of nursing, in the reading of Code for Nurses and in their interest in the activity of nursing field. For the necessity of mission of nurse, 97.7 percent of the entire number of students covered responded to necessity. For the necessity of the particular humanity and particularity in the character of nurses, 95.8 percent of those students responded to necessity. By the each grade, students of the 4th grade showed more response. 3. As to professional field desired after completing the professional course: 57 percent of those students desired for clinician nurse while 55 percents desired for community health-nurse. 4. As to the environment of study: they were mostly satisfied with their present residential environment. However, they complained of inconvenience at their lecture-halls. Students of the 3rd grade showed more complain. As to their attitude toward the adjustment of environment of study, they showed a affirmative response. As to the opinion of factors which interfere with their study, comparatively strong response was showed in their scepticism in the science of nursing, insufficient comprehension in general learning, relation with professors n4 discrepancy in the method of study. According to opinions of students at each grade, students of the 4th grade showed more scepticism. 5. Particulars relative with their attitude and performance of study : As to their knowledge of the objectives of their study of subject, the majority was to study with a partial knowledge of the objectives of their study. As to the plan of study, a low percentage indicated management of routine life under regular scheduling. Students of the 4th grade responded to rather planned life. As to time spent in independent study, response to concentrated study when necessary was stronger than that to regular daily study. Students of the 4th grade showed stronger response to regular study than that of the 3rd grade. As to the contents of their note-taking, 67.4 percents of those students responded to such regulatory procedure performing in the lecture-hall as they listen to lectures. 17.3 percents of those students showed response to adding supplementary informations from references to what was entered in choir note-taking at their lecture-halls. 6. Particulars of library, references and reading books: As to receiving of instruction for the utilization of library and time of receiving such instruction 64.7 percents of those students had received such instruction. 66.7 percents of the those responded received such instruction at orientation conducted for freshmen. As to the convenience of the utilization of library, 49.9 percents of those students responded to convenience. However, students of the 3rd grade showed a much stronger response to inconvenience. As to the time of the utilization of library,92.5 percents of those students showed a response to occasional utilization for particular purpose than regular utilization. 53.2 percents of those students responded to ordinary in quantity that library have references. 34.2 percents of those students responded to insufficient. As to the particular relative with the method and field of reading: 53.5 percents of those students responded to intensive reading and was the majority. As to the reading field, fiction u as the majority. When read any books for their major, they usually rend Korean text-b, oks. 7. Particular relative with giving assignment: All respondents were well aware of the objectives of giving home tasks. As to the attitude toward assignments and performing home tasks, 54.8 percents of those students to making ostentatious study because of an excessive quantity of assignments imposed. For performing assignment, they showed comparatively positive response. Also, 52.2 percents of those students responded that they usually submitted complected assignment with references. 8. As to motive to realize the necessity of study : 55.6 percents of those students responded that they realized such necessity in communication with patients when they were engaged in clinical practice. Also, 8.6, the lowest percents of those students responded that they realized such necessity in the course of conversation with nurses when they were engaged in clinical practice. 9. As to the determination of their confidence in the performance of study relative with clinical experience: They showed a general inclination of having in nursing. The major response was that they came to well comprehend the patients families. the lowest response was that they could apply what was learned at lecture-hall to practice. This response incidentally showed the distance the lecture-hall and practical study. In general items, students of the 4th grade showed more favorable response than students of the 3rd grade and there was a significant difference. 10. As to the perception and attitude toward profession according to the motive of selecting the nursing science : Those who selected the nursing voluntarily showed stronger conception than those who selected the nursing through indirect influence. However, there was no significant difference on this point. Only there was a remarkable difference in the reading of Code for Nurses. 11. Those who showed a stronger conception in the profession of nursing according to the motives of attractive nursing science indicated a strong will and ability to manage stable life and comparatively strong response was shown in the management of good home life because of the good adaptability of the science to their character. This group showed a strong conception of the profession than those who responded that they prefer this profession out of a longing for the work of a hospital and for the easy obtaining of opportunity to immigrate to over seas and for economic cause and for high school grade. There was significant difference between these two groups, 12. As to the conception and attitude toward the profession of nursing according to benefits by scholarships, those who were benefitted by scholarship showed stronger conception of profession than those who did not receive scholarship and there was a remarkable difference between these two categories. However, there was no remarkable difference between these two categories in the extent of interest of the activities of nursing fields and in the reading of Code for Nurses. 13. As activation for study according to the benefits of scholarships, those who were benefitted by scholarships showed stronger response to the motive for study comparing with those who receive. 14. As to tile field of reading according to the benefits by scholarships, those who received scholarships tended to read autobiographies and essayers to a considerable extent. Those who did not receive scholarships tended to read novels. Those who received scholarships more read nursing boots than those who did not receive scholarships. 15. As to the attitude of study and doing of assignment according to benefits of scholarships, those who received scholarships managed a favorable life with schedules for study, More students of receiving scholarship showed a regular study for more than one hour per day. Also, in the method of doing home tasks, more students of receiving scholarship showed reference to relative books frequently for the submission of completed assignments.

  • PDF