• 전자공학회논문지B
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• 제30B권10호
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• pp.50-58
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• 1993

The problem of trajectory planning in two redundant robot systems is considered. The trajectory of each robot for the cooperative task is generated so that the robots assume their optimal configurations while following a given desired task. The cooperative task compatibility in and the weighted sum of manipulabilities are proposed and investigated as quality measures. The cooperative task compatibility includes the velocity and force transmission charateristics to the task requirements and so it measures the compatibilities of robot postures with respect to a given task. The weighted sum of manipuabilities of robot postures with respect to a given task. The weighted sum of manipulabilities is also considered as a quality measure since it is helpful to avoid singularities. The usefulness of the cooperative task compatibility and the weighted sum of manipulabilities are shown by computer simulation studies.

• 로봇학회논문지
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• 제10권3호
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• pp.133-138
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• 2015

This paper presents a modified task structure of coupled-constraints consensus based bundle algorithm especially to resolve the cooperative transportation problem. The cooperative transportation mission has various types of constraints. A modified framework to generate activities and subtasks to solve time and task constraints of the transportation mission by using coupled-constraints consensus based bundle algorithm is suggested. In this paper modifications on task structure, reward function and arrival time calculation are suggested to handle the constraints of cooperative transportation mission.

• 대한지구과학교육학회지
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• 제8권1호
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• pp.87-97
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• 2015

This study is to find out that the effect of class applied Jigsaw cooperative learning to self-directed learning skills and task commitment. This study has been aimed at 2 class 66 students pre-service teachers who take "Science and study of teaching materials I" enrolled in B University of Education located in B city. This study targets to 2009 revision of elementary school science curriculum of changes in earth's surface(3-1), the volcano and earthquakes (4-1), the solar system and the stars (5-1), the motion of the Earth and the Moon (6-1) sections. Clarify the subject of study for implementing a research topics are as follows. First, What is the effect of class applied Jigsaw cooperative learning to self-directed learning skills? Second, what is the effect of class applied Jigsaw cooperative learning to task commitment? Third, what is awareness of class applied Jigsaw cooperative learning? Results of the study were as follows: First, class applied Jigsaw cooperative learning was effective in improving self-directed learning skills. Second, class applied Jigsaw cooperative learning was effective in improving task commitment. Third, in the course of discussion, students got consideration for others with leadership in their discussion was good in the class applied Jigsaw cooperative learning discussion. There was a response that they would like to do the class continually.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.720-723
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• 1997

This paper presents a cooperative control method for multiple robots. This method is based on local sensors. The proposed method integrates all information obtained by local perception through a set of sensors and generates commands without logical conflicts in designing control logic. To control multiple robots effectively, a global control strategy is proposed. These methods are constructed by using AND/OR logic and transition firing sequences in Petri nets. To evaluate these methods, the object-searching task is introduced. This task is to search an object like a box by two robots and consists of two sub-tasks, i.e., a wall tracking task and a robot tracking task. Simulation results for the object-searching task and the wall tracking task are presented to show the effectiveness of the method.

• International Journal of Control, Automation, and Systems
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• 제6권3호
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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.

• 대한지구과학교육학회지
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• 제12권3호
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• pp.198-207
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• 2019

본 연구의 목적은 초등예비교사의 Jigsaw 협동학습 수업이 과제집착력 및 창의적 인성에 미치는 효과를 알아보는 데 있다. 연구 대상은? 교육대학교의 학생 4개 심화반 121명을 대상으로 연구집단을 구성하였다. 초등예비교사의 Jigsaw 협동학습 수업으로는 교수력 함양에 필요하다고 여겨지는 Maker 수업, 계절별 별자리 지도방법, 손가락 화석만들기, 달의 위상변화, 계절의 변화 원인, 망원경 다루기, 드론교육을 12주간 실험처치 하였다. 그리고 연구집단에 사전-사후검사로 과제 집착력 검사, 창의적 인성 검사를 하였다. Jigsaw 협동학습 수업을 통해 자연스럽게 과제집착력 향상과 창의적 인성 함양이 될 수 있도록 연구절차를 설정하여 연구를 진행하였다. 이에 대한 연구 결과는 다음과 같다. 첫째, 초등예비교사의 Jigsaw 협동학습 수업이 과제집착력 향상에 효과가 있었다. 둘째, 초등예비교사의 Jigsaw 협동학습 수업이 창의적인 인성 함양에 효과가 있었다. 셋째, 초등예비교사의 Jigsaw 협동학습 수업에 대한 인식은 긍정적으로 나타났다. 이러한 연구 결과를 통하여 Jigsaw 협동학습 수업이 과제집착력과 창의적 인성에 긍정적인 영향을 미친다는 것을 확인할 수 있다.

• 대한지구과학교육학회지
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• 제13권2호
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• pp.186-195
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• 2020

본 연구의 목적은 초등학생들의 '계절의 변화'에 대한 Jigsaw 협동학습이 과제집착력 및 창의적 인성에 미치는 효과를 알아보는 데 있다. 연구 대상은 B시의 G초등학교 6학년 2개 반 48명을 대상으로 연구집단 24명, 비교집단 24명으로 구성하였다. 초등과학 6학년 '계절의 변화' 단원을 중심으로 12주간 실험처치를 하였다. 그리고 연구집단과 비교집단에서 사전-사후검사로 과제집착력 검사, 창의적 인성 검사를 하였다. Jigsaw 협동학습을 통해 자연스럽게 과제집착력 향상과 창의적 인성 함양이 될 수 있도록 연구절차를 설정하여 연구를 진행하였다. 이에 대한 연구 결과는 다음과 같다. 첫째, 초등학생들의 Jigsaw 협동학습은 과제집착력 향상에 효과가 있었다. 둘째, 초등학생들의 Jigsaw 협동학습은 창의적 인성 함양에 효과가 있었다. 셋째, 초등학생들의 Jigsaw 협동학습에 대한 인식은 긍정적으로 나타났다. 이러한 연구 결과를 통하여 Jigsaw 협동 학습이 과제집착력과 창의적 인성에 효과가 있으며 긍정적인 영향을 미친다는 것을 확인할 수 있다.

• 한국과학교육학회지
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• 제24권5호
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• pp.843-850
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• 2004

이 연구에서는 과제 지향 보상 협동학습에서 소집단 활동 점검 과정이 학업 성취도, 학습 동기, 과학 수업에 대한 태도에 미치는 영향에 대하여 조사하였다. 서울에 있는 중학교 2학년 58명을 처치 집단과 비교 집단으로 무선 할당한 후, "혼합물의 분리" 단원에 대하여 8차시 동안 수업하였다. 처치 집단에는 소집단 활동 점검 과정이 있는 과제 지향 보상 협동학습(GCL)을 실시하였고, 비교 집단에는 소집단 활동 점검 과정이 없는 과제 지향 보상 협동 학습(CL)을 실시하였다. 연구 결과 학업 성취도와 과학 수업에 대한 태도에서 수업 처치와 사전 성취 수준 사이에 상호작용 효과가 있었다. 상위 수준 학생들은 GCL 집단에서 학업 성취도와 태도에서 더 높은 점수를 받았으며, 하위 수준 학생들은 CL 집단에서 성취도와 태도에서 더 높은 점수를 나타냈다.

• 대한가정학회지
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• 제40권4호
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• pp.153-165
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• 2002

The purpose of this study was to examine the effect of socioeconomic status and the children's sex on mothers'teaching strategies and their children's responses during a cooperative problem-solving task. The subjects were 15 higher SES mothers and their 5-years-old children dyads. The mothers' teaching strategies and their children's responses were videotaped during a cooperative problem solving task and analyze using a scheme developed by Kermani and Brenner. The results of this study were as follows. First, the mothers with higher SES were more likely to promote 'independence' and less likely to 'verbal prompt'direct performance' than the mothers with lower SES. Second, the children from higher SES families were more likely to refuse their mothers' assistance. Third, the mothers of boys were more likely to use the 'direct teaching'and 'modify'strategies and less likely to use 'independence promoting'strategy than the mothers of girls. Finally, girls were more likely than boys to ask questions for assistance or assurance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1387-1391
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• 2003

The fundamental aim of this paper is to present a solution algorithm to achieve cooperative contour controlling, under joint acceleration constraint with maximum cooperative speed. Usually, the specifications like maximum velocity of cooperative trajectory are determined by the application itself. In resolving the cooperative trajectory into two complementary trajectories, an optimum task resolving strategy is employed so that the task assignment for each robot is fair under the joint acceleration constraint. The proposed algorithm of being an off-line technique, this could be effectively and conveniently extended to the existing servo control systems irrespective of the computational power of the controller implemented. Further, neither a change in hardware setup nor considerable reconfiguration of the existing system is required in adopting this technique. A simulation study has been carried out to verify that the proposed method can be realized in the generation of complementary trajectories so that they could meet the stipulated constraints in simultaneous maneuvering.