• 로봇학회논문지
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• 제17권3호
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• pp.264-272
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• 2022

Human-robot cooperative tasks are increasingly required in our daily life with the development of robotics and artificial intelligence technology. Interactive reinforcement learning strategies suggest that robots learn task by receiving feedback from an experienced human trainer during a training process. However, most of the previous studies on Interactive reinforcement learning have required an extra feedback input device such as a mouse or keyboard in addition to robot itself, and the scenario where a robot can interactively learn a task with human have been also limited to virtual environment. To solve these limitations, this paper studies training strategies of robot that learn table balancing tasks interactively using deep reinforcement learning with human's facial expression feedback. In the proposed system, the robot learns a cooperative table balancing task using Deep Q-Network (DQN), which is a deep reinforcement learning technique, with human facial emotion expression feedback. As a result of the experiment, the proposed system achieved a high optimal policy convergence rate of up to 83.3% in training and successful assumption rate of up to 91.6% in testing, showing improved performance compared to the model without human facial expression feedback.

• 한국수학교육학회지시리즈D:수학교육연구
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• 제14권1호
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• pp.11-18
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• 2010

The basic idea of cooperative learning focuses on team reward, equal opportunities for success, cooperation within team and competition among teams, and emphasizes share of sense of achievement through joint efforts so as to realize specific learning objectives. The main strategies of engineering mathematics teaching based on cooperative learning are to establish favorable team and design reasonable team activity plan. During the period of team establishment, attention shall be given to team structure including such elements as team status, role, norm and authority. Team activity plan includes team activity series and team activity task. Team activity task shall be designed to be a chain of questions following a certain principle.

• 대한전기학회논문지:전력기술부문A
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• 제48권9호
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• pp.1154-1160
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• 1999

A rule based controller is constructed for multiple robots accomplishing a given task in unknown environments by using genetic programming. The example task is playing a simplified soccer game, and the controller for robots that governs emergent cooperative behavior is successfully found using the proposed procedure A neural network controller constructed using the rule based controller is shown to be applicable in a more complex environment.

• 한국지능시스템학회논문지
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• 제8권4호
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• pp.8-17
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• 1998

자율 이동 로봇군은 분산된 자기 조직의 동일 규칙하에 주어진 과제를 수행하는로봇의 집단을 말한다. 본 논문에서는 협조 행동을 위한 수행 과제로서 등간격 원을 형성하게 하였다. 여기서, 이를 수행하기 위한 알고리듬을 고안하였고 여기에 퍼지 시스템을 사용하여 알고리듬을 보완하였다. 이 알고리듬을 가지고 사뮬레이션을 통해 다양한 협조 행동 양식이 나타남을 알수 있으며 특히 이동 속도롤 증가 시켰을 때 카오틱 현상이 일어남을 알 수 있다. 그리고 리아프노프 지수를 계산하여 이 카오스 현상의 특성을 증명하였다.

• 음성과학
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• 제11권2호
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• pp.27-38
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• 2004

This study attempted to determine the effects of a cooperative and cognitive group therapy compared to individual therapy in 24 aphasic subjects. Two dependent variables were measured overall language performance, functional communication skills. 18 subjects with different types and severity of aphasia participated in the group therapy. 6 aphasic subjects participated in the individual therapy and they functioned as a control group. The subjects were ranged from 27 to 59 years in age. The group therapy using the cooperative learning utilized the following procedures. First, 6 aphasics constituted 1 group where each subject peformed a task and they monitored one another. Second, 2 aphasics consisted 1 group and they cooperated to perform a task. Third, 3 groups with 2 aphasics in a group competed one another in a task where the 2 aphasics had to cooperated. Finally, the investigator gave the feedback to the group and she and the subjects discussed the overall procedures of the therapy. The above mentioned 2 tests were administered pre- and post-treatment. A repeated two-way ANOVA was performed for analysis. The results showed that the group therapy was more effective in improving overall language performance as compared to the individual therapy. And, the group therapy was more effective in increasing functional communication skills as compared to the individual therapy.

• 공학교육연구
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• 제11권4호
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• pp.109-114
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• 2008

본 연구는 팀 중심의 과제 수행이 요구되는 종합설계과목의 협동학습에서 스스로에게 영향력을 행사함으로써 자율성과 책임감을 강조하는 셀프 리더십이 팀웍과 어떤 관계를 갖고 있는지를 조사하기 위해 수행되었다. 그 결과, 셀프 리더십은 팀웍과 유의미한 상관관계를 나타냈고, 셀프 리더십이 높은 학생들의 팀웍이 셀프 리더십이 낮은 학생들의 팀웍보다 더 높았다. 또한 셀프 리더십의 여러 전략들 중에서 특히 인지적 전략(자연보상을 주는 활동을 일에 도입하기, 일의 좋은 면에 초점 맞추기, 자연보상의 분별)이 팀웍에 가장 큰 영향을 미치는 요인으로 확인되었다. 이러한 결과를 종합해볼 때, 공학교육과정에 셀프 리더십의 인지적 전략들을 학습할 수 있는 프로그램을 도입하는 것이 도움이 될 것으로 판단된다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2000년도 ITC-CSCC -2
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• pp.965-968
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• 2000

We develop the Multi-Mobile-agents system for realizing effective cooperative task processing in the network environment. In this system, agents are separated / fused by the Place and migrated to another computer. A Place can assign agents to other places by agents migration to be flat the time to execute agents’ action. In this paper, the effectiveness of this system is shown by experimental results applying an agent given simple task.

• 정보관리학회지
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• 제25권4호
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• pp.347-361
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• 2008

본고는 '정보와 도서관' 교육과정의 목표와 교수설계 절차에 입각하여 사서교사의 도서관 활용 수업을 위한 협동수업 개념틀을 제시하기 위한 것이다. 현장 사서교사들의 상세화된 협동수업 지도안은 점차 활성화되고 있으나 교수설계 절차 등 수업이론을 적용한 연구는 아직 미비한 실정이다. 이러한 측면에서 사서교사의 협동수업을 위한 수업이론 및 방법 등은 중요한 의미를 갖는다. 사서교사의 협동수업 지도안은 '정보와 도서관' 교육과정의 목표와 교수설계 절차에 입각하여 개발되어야 한다. 교육과정의 목표는 정보과제를 중심으로 정보이용과정을 반영한 것이다. 본고는 교육과정의 목표와 교수설계 절차에 입각하여 그 원리를 적용한 협동수업 개념틀을 제시하고, 이를 기반으로 현장 사서교사들이 상세화된 협동수업 지도안을 개발할 수 있도록 한다.

• 로봇학회논문지
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• 제14권3호
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• pp.179-185
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• 2019

This paper presents cable-hydraulic driven 3DoF (Degree-of-Freedom) manipulator for cooperative robot with high output/low inertia and enhancing lager workspace of hydraulic manipulator. Hydraulic actuation could be solution to design more higher output manipulator than the one of electric motor actuation due to install actuation source and robot joint separated. In spite of this advantage, the conventional hydraulic driven manipulator using cylinder or vane actuator is not suitable for the candidate of cooperative robot because smaller workspace owing to small RoM (Range of Motion) hydraulic actuator. In this paper, we propose 3DoF manipulator with cable-hydraulic actuation which is more larger ratio of payload-to-weight than the one of conventional cooperative manipulator and larger workspace than the one of existing hydraulic driven manipulator. The performance of proposed manipulator was demonstrated by the experiments for confirming overall workspace task, high payload operation task under worst situation and comparing repeatability between developed manipulator and existed cooperative robots. The results of experiments showed that the appropriate performance of proposed manipulator for cooperative robot.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.556-559
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• 1997

In this paper, we propose a cooperative multi-robot control algorithm. Specifically, the cooperative task is that two mobile robots should transfer a long rigid object along a predefined path. To resolve the problem, we introduce the master-slave concept for two mobile robots, which have the same structure. According to the velocity of the master robot and the positions of two robots on the path, the velocity of the slave robot is determined. In case that the robots can't move further, the role of the robot is interchanged. The effectiveness of this decentralized algorithm is proved by computer simulations.