• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1286-1290
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• 2004

This paper proposes a Distributed Autonomous Robotic System (DARS) based on an Artificial Immune Network (AIN) and a Classifier System (CS). The behaviors of robots in the system are divided into global behaviors and local behaviors. The global behaviors are actions to search tasks in environment. These actions are composed of two types: aggregation and dispersion. AIN decides one between these two actions, which robot should select and act on in the global. The local behaviors are actions to execute searched tasks. The robots learn the cooperative actions in these behaviors by the CS in the local. The relation between global and local increases the performance of system. Also, the proposed system is more adaptive than the existing system at the viewpoint that the robots learn and adapt the changing of tasks.

• IEMEK Journal of Embedded Systems and Applications
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• v.17 no.6
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• pp.375-382
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• 2022

This paper proposes a multi-core cooperative computing structure considering the heterogeneous features of automotive embedded on-chip software. The automotive embedded software has the heterogeneous execution flow properties for various hardware drives. Software developed with a homogeneous execution flow without considering these properties will incur inefficient overhead due to core latency and load. The proposed method was evaluated on an target board on which a automotive MCU (micro-controller unit) with built-in multi-cores was mounted. We demonstrate an overhead reduction when software including common embedded system tasks, such as ADC sampling, DSP operations, and communication interfaces, are implemented in a heterogeneous execution flow. When we used the proposed method, embedded software was able to take advantage of idle states that occur between heterogeneous tasks to make efficient use of the resources on the board. As a result of the experiments, the power consumption of the board decreased by 42.11% compared to the baseline. Furthermore, the time required to process the same amount of sampling data was reduced by 27.09%. Experimental results validate the efficiency of the proposed multi-core cooperative heterogeneous embedded software execution technique.

• Journal of The Korean Association For Science Education
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• v.19 no.1
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• pp.137-145
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• 1999

This study investigated the influences of the cooperative and the individualistic learning strategies on the academic achievement and the attitudes toward science instruction and science by the level of achievement. These two learning strategies endowed students with the responsibility of learning and emphasized student-centered learning which included higher order thinking activities. Cooperative learning group students studied the tasks through small group discussion, and individualistic learning group students solved the same ones individually. In the traditional group. teacher-centered expository lesson was used. The subjects of this study were 7th graders of coed middle school, and were taught about separation of mixture for 10 class periods. Two-way ANCOVA results revealed that the test scores of academic achievement for cooperative learning group were significantly higher than those of individualistic and traditional learning groups. The attitudes toward science instruction and science were also more positive in cooperative learning group than the others. No interactions between the treatment and the level of previous achievement indicated that the cooperative learning strategy was effective regardless of the level of achievement.

• Journal of Korean Academy of Nursing Administration
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• v.21 no.4
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• pp.341-353
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• 2015

Purpose: The purpose of this study was to identify nurse's role through job analysis of nursing duties for nurses working on East Asia traditional medicine wards. Methods: Major steps in the study included a literature review, description of job activities of nurses on oriental medicine wards, comparative description of the literature, expert tests of validity of derived duties and tasks, and investigation of importance, difficulty and frequency of duties on job list. Results: The job of nurses on oriental medicine wards was classified into 12 duties, 59 tasks, and 295 task elements. The 12 duties were nursing assessment, nursing diagnosis, nursing planning, nursing implementation, nursing evaluation, supplies management, management of human resources, management of environment, management of documents, formation of cooperative relationships, self-development, and nursing activity in oriental medicine. 'Formation of cooperative relationships' was the duty ranked highest for importance (4.34), 'self-development' was ranked highest for difficulty (3.47), and 'Formation of cooperative relationships' was ranked highest for frequency (4.21). Conclusion: Basic education for nurses on an oriental medicine unit is necessary for the performance of oriental nursing to be considered as a specialized field. This study contributes to human resource management in the oriental medical hospital.

• The Mathematical Education
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• v.48 no.3
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• pp.329-352
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• 2009

The purpose of this study was to investigate the effects of small group cooperative communicative activities on the strategies for estimating measurement. To do this, two research questions were set as follow: First, are there any differences between strategies employed by students in the experimental group and the control group before and after the estimating measurement activities? Second, are there any differences between strategies employed by students in different ability levels(upper, middle, lower) of pre-estimating measurement test in the experimental group? The research results were drawn from the investigation as below: First, the strategical change of before and after the estimating measurement tasks in the experimental group was quite noticeable. Unlike the small strategical change in the control group, small group cooperative communicative learning resulted in a decrease of simple memorization and guessing strategies and an increase of refined strategies such as the standard strategy, clustering, unit load and so on. Second, mathematical communicative activities in a small group cooperative learning showed that the students in the upper level of pre-estimating measurement test used more refined strategies and the students in the lower level used simple memorization and guessing strategy more frequently. And through interaction in small group, students could have chances to recognize error of strategies and to modify and learn strategies. In conclusion, small group cooperative activities allowed students to have chances to communicate mathematically and it is a efficient way of helping students learn estimating measurement strategies.

• The Journal of Korea Robotics Society
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• v.16 no.3
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• pp.270-275
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• 2021

Most of the initial forms of cooperative robots were intended to repeat simple tasks in a given space. So, they showed no significant difference from industrial robots. However, research for improving worker's productivity and supplementing human's limited working hours is expanding. Also, there have been active attempts to use it as a service robot by applying AI technology. In line with these social changes, we produced a mobile manipulator that can improve the worker's efficiency and completely replace one person. First, we combined cooperative robot with mobile robot. Second, we applied speech recognition technology and deep learning based object detection. Finally, we integrated all the systems by ROS (robot operating system). This system can communicate with workers by voice and drive autonomously and perform the Pick & Place task.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1927-1932
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• 2003

In a previous study, the authors have proposed the Cooperative Collision Avoidance (CCA) method which enables mobile robots to cooperatively avoid collisions, by extending the concept of the Velocity Obstacle to multiple robot systems. The method introduced an evaluation function considering an operation objective so that each robot can choose the velocity which optimizes the function. As the evaluation function could be of an arbitrary type, this method is applicable to a wide variety of tasks. However, it complicates the optimization of the function especially in real-time. In addition, construction of the evaluation function requires an operation objective of the other robot which is very hard to obtain without communication. In this paper, the CCA method is improved considering such problems for implementation. To decrease computational costs, the previous method is simplified by introducing two essential assumptions. Then, by treating the desired direction of locomotion for each robot as the operation objective, an operation objective estimator which estimates the desired direction of the other robot is introduced. The only measurement required is the other robot's relative position, since the other information can be obtained through the estimation. Hence, communicational devices that are necessary for most other cooperative methods are not required. Moreover, mobile robots employing the method can avoid collisions with uncooperative robots or moving obstacles as well as with cooperative robots. Consequently, this improved method can be applied to general dynamic environments consisting of various mobile robots.

• Korean Journal of Child Studies
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• v.22 no.2
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• pp.77-90
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• 2001

This study used 2 coordination tasks to examine the strategy and quality of interactions between mothers and their children. Results were: (1) Most frequently employed strategies of mothers were feedback, orders, explanations followed by questions and opinions. Most frequently employed strategies of children were offering opinions followed by recognition and explanation. (2) In mother-initiated interactions, the mother's-question/child's-opinion sequence was most frequent, and child's acceptance of mother's order, explanation, suggestion, or opinion; child's question to mother's order, and child's explanation were also frequent. In child-initiated interactions, child's-opinion/mother's-feedback occurred most frequently. Mothers' feedback to child's explanation, acceptance, and question was also observed. (3) When mothers and children used strategies of low quality, such as rejection or reprimand, the interactions tended to be negative.

• Journal of the Korea Institute of Military Science and Technology
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• v.27 no.4
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• pp.474-484
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• 2024

Reinforcement learning, which are also studied in the field of defense, face the problem of sample efficiency, which requires a large amount of data to train. Transfer learning has been introduced to address this problem, but its effectiveness is sometimes marginal because the model does not effectively leverage prior knowledge. In this study, we propose a stochastic initial state randomization(SISR) method to enable robust knowledge transfer that promote generalized and sufficient knowledge transfer. We developed a simulation environment involving a cooperative robot transportation task. Experimental results show that successful tasks are achieved when SISR is applied, while tasks fail when SISR is not applied. We also analyzed how the amount of state information collected by the agents changes with the application of SISR.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.2
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• pp.164-170
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• 2004

This paper proposes a Distributed Autonomous Robotic System(AIS) based on Artificial Immune System(AIS) and Distributed Genetic Algorithm(DGA). The behaviors of robots in the system are divided into global behaviors and local behaviors. The global behaviors are actions to search tasks in environment. These actions are composed of two types: dispersion and aggregation. AIS decides one among above two actions, which robot should select and act on in the global. The local behaviors are actions to execute searched tasks. The robots learn the cooperative actions in these behaviors by the DGA in the local. The proposed system is more adaptive than the existing system at the viewpoint that the robots learn and adapt the changing of tasks.