• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.3
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• pp.349-356
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• 2006

A cartpole system is controlled by a control system consisting of two fuzzy controllers cooperating by a CMAC. Each controller uses 2 different input variables and yields the control force provided to the CMAC. The cooperation is due to training of the CMAC supervised by a judge which selects training information for the CMAC between two fuzzy controllers. The control scheme could be appreciated in terms of the tight structure of the controller, simple cooperating scheme due to the CMAC training, and accomplishing control goal that could not be attained by individual controllers.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.8
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• pp.1209-1217
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• 1997

This paper proposes the modeling of the dynamics of two cooperating robot manipulators performing the assembly job such as peg-in-hole while coordinating the payload along the desired path. The mass and moment of inertia of the manipulators and the payload are assumed to be unknown. To control the uncertain system, a robust control algorithm based on the computed torque control is proposed. Usually, the robust controller requires high input torques such that it may face input saturation in actual application. In this reason, the robust control algorithm includes fuzzy logic such that the magnitude of the input torque of the manipulators is controlled not to go over the hardware saturation while keeping path tracking errors bounded. A numerical example using dual three degree-of-freedom manipulators is shown.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.59.5-59
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• 2001

Multi-agent robot system is the system which executes by cooperating with each robots and controlling several robots. Capability and function of each robot must be considered for cooperation behavior. Furthermore, it is necessary to analyze the given environment and to replace complex task with some simple tasks. Analysis of the given environment and role assignment for the given tasks are composed of discret event. In this paper, the hierarchical controller for multi-agent robot system using the petri-net state diagram is proposed. The proposed modeling method is implemented for soccer robot system. The effectiveness of proposed modeling method is shown through experiment.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1993.06a
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• pp.1289-1292
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• 1993

Though fuzzy control is very popular at present, the application field of fuzzy system will be wider if we design it as a man-machine system. We suggest, in this paper, a man-machine cooperating system which makes easy the manual control of a triple inverted pendulum by simple fuzzy controller, and verify its effectiveness by experiments.

• Proceedings of the Korean Society Of Semiconductor Equipment Technology
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• 2005.09a
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• pp.110-123
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• 2005

This paper proposes an intelligent method for the optimal load distribution of two cooperating robots(TCRs) using fuzzy logic. The proposed scheme requires the knowledge of the robots' dynamics, which in turn depend upon the characteristics of large flat panel displays(LFPDs) carried by the TCRs. However, the dynamic properties of the LFPD are not known exactly, so that the dynamics of the robots, and hence the required joint torque, must be calculated for nominal set of the LFPD characteristics. The force of the TCRs is an important factor in carrying the LFPD. It is divided into external force and internal force. In general , the effects of the internal force of the TCRs are not considered in performing the load distribution in terms of optimal time, but they are essential in optimal trajectory planning: if they are not taken into consideration, the optimal scheme is no longer fitting. To alleviate this deficiency, we present an algorithm for finding the internal-force factors for the TCRs in terms of optimal time. The effectiveness of the proposed system is demonstrated by computer simulations using two three-joint planner robot manipulators.

• Proceedings of the IEEK Conference
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• 2002.07b
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• pp.1173-1176
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• 2002

Interaction builds up among agents in order to accomplish their goals. Argumentation is important for agent negotiation and interaction. In this paper, we discuss about the framework for multi-agent argumentation and the way multi-agents co-operates between each other. We identify aspects of classical argumentation theory that are suitable and useful for artificial agents.

• Journal of the Korean association of regional geographers
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• v.4 no.2
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• pp.119-138
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• 1998

This paper aims to evaluate the regional development model related regional cooperative system, especially, with the governmental-educational-industrial mutual cooperative establishment plan for regional development to propose the basic direction pursued by engineering colleges, regional development policy and policy of science and technology. It proceeds through the analysis of the distinctive qualities of modern scientific technique and the system to pursue it's policy, and the study of the necessity and concepts of regional cooperative system. For this, the present condition and main issues regarding the cooperative research system among the government, education and industry complex such as the regional consortium projects and the regional cooperative research center etc, are analyzed and examined. Besides these, questionnaire survey method for experts on regional development is used concerning the regional cooperating system, their ongoing cooperative research, main issues and the roles of the mutual cooperative system. In conclusion, it proposed evaluating methods for solidifying cooperation and development of mutual relations between regional development and regional cooperative system.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.162-167
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• 1991

The manipulability ellipsoid and the force ellipsoid for a single robot are extended to the case of a multi-robot system. The force ellipsoid is applied to solve the optimal load distribution for the multi-robot system. Two cases are considered in solving the optimal load distribution. In one case, there are no constraints on the joint torques, and the analytic solution ;a given. In the other case, the torque constraints are given in terms of the maximum power consumption, and the algorithm for the solution is proposed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.04a
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• pp.427-431
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• 1996

A modeling of the dynamics of two cooperating robot manipulators doing assembly job such as peg-in-hole while coordinating the payload along the desired path is proposed. The system is uncertain due to the unknown mass and moment of inertia of the manipulators and the payload. To control the system, a robust control algorithm is proposed. The control algorithm includes fuzzylogic. By the fuzzy logic, the magnitude of the input torque of the manipulators is controlled not to go over the hardware saturation with keeping path tracking errors bounded.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.11 no.11
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• pp.2047-2058
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• 2007

The business environment of enterprises could be difficult to obviate redundancy to filtrate data source occurred on data integrated to standard rules and meta-data and to produce integration of data and single viewer in geographical and spatial distributed environment. Specially, To can interchange various data from a heterogeneous system or various applications without types and forms and synchronize continually exactly integrated information#s is of paramount concern. Therefore data hub system based on SQL/XMDR message to overcome a problem of meaning interoperability occurred on exchanging or jointing between each legacy systems are proposed in this paper. This system use message mapping technique of query transform system to maintain data modified in real-time on cooperating data. It can consistently maintain data modified in realtime on exchanging or jointing data for cooperating legacy systems, it improve clarity and availability of data by providing a single interface on data retrieval.