• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.473-478
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• 1992

This paper aims to investigate the navigation control of a mobile robot in a confined environment. Steering angle becomes control variable which is computed from the fuzzy control rules. The identification method proposed in this paper presents the fuzzy control rules obtained through modelling of. the driving actions of human operator. The feasibility of the proposed method is evaluated through the application of the identified fuzzy controls rules to the navigation control of a mobile robot which follows the center of a corridor.

• Journal of Biomedical Engineering Research
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• v.10 no.2
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• pp.114-116
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• 1989

A method has been proposed for the fully automatic detection of left ventricular endocardial boundary in 2D short axis echocardiogram using geometric model. The procedure has the following three distinct stages. First, the initial center is estimated by the initial center estimation algorithm which is applied to decimated image. Second, the center estimation algorithm is applied to original image and then best-fit elliptic model estimation is processed. Third, best-fit boundary is detected by the cost function which is based on the best-fit elliptic model. The proposed method shows effective result without manual intervention by a human operator.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.6 no.8
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• pp.55-61
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• 1983

In order to increase productivity, modern business which use the techniques of mass production should progress gradually from to use of human labor to total mechanization in the various steps of the production process. This will not only avoid the prospect of future labor shortages, but will also solve nancy of the problems involved in increasing productivity In this paper, we have approached the problem of determining the number of machine units that can be economically assigned to one operator by using Palm's model.

• Proceedings of the KIEE Conference
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• 1999.07g
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• pp.2953-2955
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• 1999

In this paper, the concept of evolvable hardware and evolutionary robotics are introduced and constructing the mobile robot controller without human operator is suggested. The robot controller is evolved to avoid obstacles by genetic learning which determines the weights between sensor inputs and motor outputs. Genetic algorithms which is executed in a computer(PC) searches the best weights by interacting with robot performance under it's environment. The experiment is done by real mobile robot Khepera and a simple GA.

• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 1999.11a
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• pp.97-100
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• 1999

Human feels kinesthetic sense in response to the force acted on him. In order to represent kinesthetic sense, a force is analyzed as mechanical impedance (i.e., stiffness or damping) and implemented by active impedance control. In this research, a 3-dimensional arm motion generator is developed to present various mechanical impedance characteristics to an operator. An introduction of virtual reality provides not only a visual effect in virtual environment but also the change in force synchronized with the visual effect in real time.

• Proceedings of the KSRS Conference
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• 2003.11a
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• pp.464-466
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• 2003

In this paper an advanced algorithm for selecting a seam line automatically, which used to be selected by human operator for mosaicked images is presented. In addition to four factors proposed by automation theory, the FOM(Figure Of Merit) of tie point were taken into account to suggest the method to select a seam line applicatively and the algorithm was applied to mosaic test images.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.124-129
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• 1992

The goal of the proposed Intelligent Assisting System - IAS is to assist human operators in an intelligent way, while leaving decision and goal planning instances for the human. To realize the IAS the very important issue of manipulation skill identification and analysis has to be solved, which then is stored in a Skill Data Base. Using this data base the IAS is able to perform complex manipulations on the motion control level and to assist the human operator flexibly. We propose a model for manipulation skill based on the dynamics of the grip transformation matrix, which describes the dynamic transformation between object space and finger joint space. Interaction with a virtual world simulator allows the calculation and feedback of appropriate forces through controlled actuators of the sensor glove with 10 degrees-of-freedom. To solve the sensor glove calibration problem, we learn the nonlinear calibration mapping by an artificial neural network(ANN). In this paper we also describe the experimental system setup of the skill acquisition and transfer system as a first approach to the IAS. Some simple manipulation examples and simulation results show the feasibility of the proposed manipulation skill model.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.17 no.32
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• pp.243-253
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• 1994

Work environments have been changed with the advent of new technologies, such as computer technology. The newer technologies, the more changes in our work conditions. However, human cognitive limits can't keep up with the change of work environments. Mental workload has been an important factors in designing modem work environments such as human-computer interaction. Designing man-machine systems requires knowledge and evaluation of the human cognitive processes which control information flow workload. Futhermore, under an urgent situation, human operator may suffer the work stress, work error, and resultant deleterious work performance. To describe the work performance in the urgent work situations, with time stress and dynamic event occurence, a new concept of information density was introduced. For a series of experiments performed for this study, three independent variables(information amount system processing time, information density) were evaluated using such dependent variables as reaction time, number of error, and number of failure. The results of statistical anlysiss indicate that the amount of information effected on all of five dependent measure. Number of failure and number of secondary task score were effected by both amount of information and operational speed of system, but reaction time of secondary task were effected by both amount of information and information density.

• The Journal of Korea Robotics Society
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• v.17 no.3
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• pp.322-333
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• 2022

The Avatar robot, which is one of the teleoperation robots, aims to enable users to feel the robot as a part of the body to intuitively and naturally perform various tasks. Considering the purpose of the avatar robot, an end-effector identical to a human hand is advantageous, but a robotic hand with human hand level performance has not yet been developed. In this paper we propose a new 3-finger robotic hand with human-avatar hand posture mapping algorithm which were integrated with TOCABI-AVATAR, one of the teleoperation system. Due to the flexible rolling contact joints and tendon driven mechanism applied to the finger, the finger could implement adaptive grasping and absorb the impact force caused by unexpected contacts. In addition, human-avatar hand mapping algorithm using five calibration hand postures propose to compensate physical differences between operators. Using the TOCABI-AVATAR system with the robotic hands and mapping algorithm, the operator can perform 13 out of 16 hand postures of grasping taxonomy and 4 gestures. In addition, using the system, we participated in the ANA AVATAR XPRIZE Semi-final and successfully performed three scenarios which including various social interactions as well as object manipulation.

• Journal of the Ergonomics Society of Korea
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• v.27 no.1
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• pp.37-43
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• 2008

A lot of models have been developed for prevention of human errors. Nevertheless most of them failed to attract attention of industry which has been looking for an integrative model that can show practical countermeasures as well as causal factors of human errors. This research aimed to develop a comprehensive model that can mainly be applied to industrial fields. Therefore, in the model, it was tried to explain sequences of an operator's information process that might cause human errors on one hand, and life cycle stages of facilities involved when human errors occur on the other hand. This model was validated by using a typical accident case. With the comprehensive model presented in this research, one could follow up the sequence of human errors caused by operators, and errors made at the design stage which might cause accidents could be tracked. As a consequence, it is expected that much attention would be paid to preventing human errors in industrial fields since safety personnel can easily find out cause of human errors throughout life cycle stages of man-machine facilities if utilizing the suggested model.