• The Journal of Korea Robotics Society
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• v.3 no.3
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• pp.226-236
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• 2008

In this paper, control software architecture is designed to enable a heterogeneous multiple humanoid robot demonstration executing tasks cooperating with each other. In the heterogeneous humanoid robot team, one large humanoid robot and two small humanoid robots are included. For the efficient and reliable information sharing between many software components for humanoid control, sensing and planning, CORBA based software framework is applied. The humanoid tasks are given in terms of finite state diagram based human-robot interface, which is interpreted into the XML based languages defining the details of the humanoid mission. A state transition is triggered based on the event which is described in terms of conditions on the sensor measurements such as robot locations and the external vision system. In the demonstration of the heterogeneous humanoid team, the task of multiple humanoid cleaning the table is given to the humanoid robots and successfully executed based on the given state diagram.

• Journal of Agricultural Extension & Community Development
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• v.5 no.1
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• pp.123-132
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• 1998

After late 1980s, new approach is needed for satisfying with people's various information needs and better quality of life on Korean extension service. The United States began modern extension service at first and has influenced many countries. Cooperative extension service has helped people practically by searching into people's problem and developing various channel to diffuse. Cooperative extension adopts changes in extension service environment and puts them to use. Based on the extension service in the United States, following recommendations were suggested; 1) carrying out extension service to meet the changing needs of people, 2) strengthening the extension function of agricultural Colleges, 3) review of cooperative agricultural research and extension, 4) developing programs and management, 5) accumulation agricultural information and utilizing them.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.26 no.1
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• pp.121-129
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• 2017

In this study, we investigated a cooperative control system of assembly robots using wireless LAN. We developed two different types of robots to assemble three blocks on a workbench. Robot1 can assemble blocks on a workbench and Robot2 can carry blocks to Robot1. We constructed an ROS-based communication system and shared data. Three blocks and one workbench were recognized by camera-image processing By developing the UI using Windows programming language Visual C#, we evaluated the status of the robots and blocks and controlled the robots. The control system was developed by constructing all elements necessary for cooperative control, such as robot design and fabrication, motor control, ROS-based communication, and image processing. Thus, we completed fundamental tasks required for assembly.

• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2411-2413
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• 2004

In this paer, we propose a method to apply a decentralized control algorithm for passive velocity field control using virtual flywheel system to cooperative mobile robots. The considered system convey a common rigid object in a horizontal plain. The effectiveness of proposed control algorithm is examined by numerical simulation for cooperative tasks.

• Proceedings of the KIEE Conference
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• 1998.07g
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• pp.2197-2199
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• 1998

Many multiagents cooperative problems, such as table transport problem, require several emergent behaviors and a proper coordination of these is essential for successful accompishment of the task. We study in this paper the genetic programming method, called fitness switching, to evolve cooperation strategies of robots in these kind of tasks and show simulation results to demonstrate its effectiveness.

• Korean Journal of Child Studies
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• v.32 no.2
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• pp.71-85
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• 2011

This study was carried out in order to better understand how cooperative learning effects the geometric understanding of young children. The geometry tasks used in the study included the geometric relationship between two dimensional shapes and three dimensional shapes, coordination, symmetry and transformation visualization and spacial reasoning. The subjects were composed of children aged five years and were taken from two kindergartens in a relatively new city close to Seoul. The experimental group of children the comparative learning in geometry. The comparative group of children were enrolled in a kindergarten that uses an the intergrated curriculum. The results indicated that cooperative learning impacted positively on the children's understanding of geometry. The specific results are as follows : The scores that the experimental acquired were higher in terms of p < .001 level. than the scores of the comparative group studying the geometric relationships between two dimensional shapes and three dimensional shapes, coordination, symmetry and transformation visualization & spacial reasoning.

• Journal of Elementary Mathematics Education in Korea
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• v.12 no.2
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• pp.101-124
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• 2008

The purpose of this study is to test if problem posing based on structural approach cooperative learning has a positive effect on mathematical achievement and mathematical disposition. For this purpose, this study carried out tasks as follows: First, we design a problem posing teaching learning program based on structural approach cooperative learning. Second, we analyze how problem posing based on structural approach cooperative learning affects students' mathematical achievement. Third, we analyze how problem posing based on structural approach cooperative learning affects students' mathematical disposition. The results of this study are as follows: First, in the aspect of mathematical achievement, the experimental group who participated in the problem posing program based on structural approach cooperative teaming showed significantly higher improvement in mathematical achievement than the control group. Second, in the aspect of mathematical disposition, the experimental group who participated in the problem posing program based on structural approach cooperative teaming showed positive changes in their mathematical disposition. Summing up the results, through problem posing based on structural approach cooperative learning, students made active efforts to solve problems rather than fearing mathematics and, as a result, their mathematical achievement was improved. Furthermore, through mathematics classes enjoyable with classmates, their mathematical disposition was also changed in a positive way.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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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.

• Journal of the Korean Home Economics Association
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• v.39 no.10
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• pp.1-17
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• 2001

This study is to develop cooperative learning aids for Clothing and Textiles classes, and to develop methods and tools for performance assessment. We have surveyed 127 students with‘class evaluation’questionnaire after teaching 9 classes through developed materials. As a result, we found that students preferred to cooperative learning and they tended to do their best in their assigned role in the cooperative learning. Meanwhile, we also found that they understood the assignment of performance assessment well and they felt lack of time to handle given tasks. It shows that we need to be flexible when applying a teaching method in a way that teachers give student more options to choose their duty and time span. Although a few students create a problem and delay their duty as disturbing cooperation in a group we anticipate that the developed teaching aids and performance assessment will be a great help to improve Home Economics classes. In closing, we believe that we can be open-minded Home Economics educators that continue to work on improving classes through developing diverse teaching aids and performance assessment.

• Transactions of the Korean Society of Automotive Engineers
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• v.12 no.4
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• pp.129-138
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• 2004

In this paper, we propose a method to apply a decentralized control algorithm for passive velocity field control using virtual flywheel system to cooperative 3-wheeled mobile robots, and these subsystem are under nonholonomic constraints. The considered robotic systems convey a common rigid object in a horizontal plain. Moreover we will proof the passivity and robustness for cooperative mobile robotic systems with decentralized passive velocity field control. Finally, The effectiveness of proposed control algorithm is examined by numerical simulation for cooperation tasks with 3-wheeled mobile robot systems.