• Journal of the Korean Institute of Telematics and Electronics B
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• v.31B no.9
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• pp.47-56
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• 1994

In this paper, we demonstrate how to design a redundant robot which is suitable for the multiple task execution without any constraints on the work space. The implementation is possible by the rigid connection of a cacro-robot and a micro-robot. A 5 d.o.f. articulated robor designed for commercial purpose is utilized as a micro-robot which can perform a general task with the appropriate adjustment of its base location. The base of a micro-robot is located at a suitable position by the macro-robot designed and implemented through this research. A task assigned to this redundant robot is performed mainly by the micro-robot. However, when the micro-robot cannot perform the task by itself or when the micro-robot has difficulties in performing the task, the coordination of the macro-robot is requited. To monitor the task execution efficiency of the micro-robot, we used the 'Manipulability Measure' as a cost function. The coordination between the two robots are verified both by the simulation and the experiment.

• International Journal of Control, Automation, and Systems
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• v.3 no.3
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• pp.461-468
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• 2005

This paper proposes a wheel-assembly automation system, which assembles a wheel into a hub of a vehicle hung to a moving hanger in a car manufacturing line. A macro-micro manipulator control strategy is introduced to increase the system bandwidth and tracking accuracy to ensure insertion tolerance. A camera is equipped at the newly designed wheel gripper, which is attached at the center of the end-effector of the macro-micro manipulator and is used to measure position error of the hub of the vehicle in real time. The redundancy problem in the macro-micro manipulator is solved without complicated calculation by assigning proper functions to each part so that the macro part tracks the velocity error while the micro part regulates the fine position error. Experimental results indicate that tracking error satisfies the insertion tolerance of assembly $({\pm}1mm)$, and thus it is verified that the proposed system can be applied to the wheel assembly task on a moving hanger in the manufacturing line.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.17 no.4
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• pp.1258-1275
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• 2023

Cloud computing is a new technology that has adapted to the traditional way of service providing. Service providers are responsible for managing the allocation of resources. Selecting suitable containers and bandwidth for job scheduling has been a challenging task for the service providers. There are several existing systems that have introduced many algorithms for resource allocation. To overcome these challenges, the proposed system introduces an Optimized Task Scheduling Algorithm with Deep Learning (OTS-DL). When a job is assigned to a Cloud Service Provider (CSP), the containers are allocated automatically. The article segregates the containers as' Long-Term Container (LTC)' and 'Short-Term Container (STC)' for resource allocation. The system leverages an 'Optimized Task Scheduling Algorithm' to maximize the resource utilisation that initially inquires for micro-task and macro-task dependencies. The bottleneck task is chosen and acted upon accordingly. Further, the system initializes a 'Deep Learning' (DL) for implementing all the progressive steps of job scheduling in the cloud. Further, to overcome container attacks and errors, the system formulates a Container Convergence (Fault Tolerance) theory with high-level security. The results demonstrate that the used optimization algorithm is more effective for implementing a complete resource allocation and solving the large-scale optimization problem of resource allocation and security issues.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.41.5-41
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• 2002

This paper presents a feature extraction algorithm for vision-based micromanipulation. In order to guarantee of the accurate micromanipulation, most of micromanipulation systems use vision sensor. Vision data from an optical microscope or high magnification lens have vast information, however, characteristics of micro image such as emphasized contour, texture, and noise are make it difficult to apply macro image processing algorithms to micro image. Grasping points extraction is very important task in micromanipulation because inaccurate grasping points can cause breakdown of micro gripper or miss of micro objects. To solve those problems and extract grasping points for micromanipulation...

• Journal of the Ergonomics Society of Korea
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• v.8 no.2
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• pp.19-26
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• 1989

This study, as a part of integrated human-robot ergonomics, improves the robot motion control on the robot task in the TOES/WCS whose purpose is improving the teaching task constructed in the previous study. First, the updated combined fuzzy process using a new membership function with Weber's law is constructed for the purpose of coordinate reading of the end points in the macro motion control. Second, an algorithm using the geometric analysis is desinged in order to calculate position values and posture values of the robot joints. Third, the MGSLM method is designed to remove unnecessary the robot motion control caused by the GSLM method in the micro motion control. Consequently, proposed methods in this study lessen burdcn of a human of an improvement of the robot motion control and reduce the teaching time of a human operator and inaccuracy of the teaching task, which contribute to the integrated human-robot ergonomics.

• Journal of the Ergonomics Society of Korea
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• v.9 no.1
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• pp.21-27
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• 1990

Teaching Expert System/World Coordinate System(TES/WDS) was proposed to improve robot motion control. First, precise coordinate reading for getting the inherent data about position and posture of task objects was performed throgh the integrated image and fuzzy processing. Second, singularity and parameter limitation problems in getting the motion data about position and posture of robot in macro motion were solved by proposed geometric algorithm. Third, the unnecessary robot motion was also removed by the Robot Time and Motion (RTM) method and the Multi-Geometric Straight-Line Motion (MGSLM) method in micro motion. This results demonstrated reduction of the average teaching task time according to task order.

• Proceedings of the Korean Nuclear Society Conference
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• 1995.10a
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• pp.278-285
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• 1995

본 논문에서는 비상운전 상황하에서 표출되는 운전원들의 직무전략 및 인지적인 특성을 도출하기 위해 운전원 교육 프로그램을 대상으로 운전원들의 직무특성을 분석하였다. 운전원들의 직무특성을 인지과정의 개입 정도에 따라 크게 Macro와 Micro로 구분하여 이들 직무특성을 잘 대변해 줄 수 있는 비상운전 시나리오를 개발하였다. 시뮬레이터를 통해 개발 시나리오에 따른 운전원들의 비상운전절차 수행과정을 비디오로 기록, 운전원들의 행동과 대화내용을 전산 분석하여 직무특성을 도출하였다.

• Proceedings of the Korean Society For Composite Materials Conference
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• 2005.04a
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• pp.134-136
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• 2005

Homogenization method is adopted to predict the permeability tenor for glass fiber plain woven fabrics. Calculating the permeability tensor numerically is an encouraging task because the permeability tensor is a key parameter in resin transfer molding (RTM). Based on multi-scale approach of the homogenization method, the permeability for the micro-unit cell within fiber tow is computed and compared with that obtained from flow analysis for the same micro-unit cell. It is found that they are in good agreement. In order to calculate the permeability tensor of macro-unit cell for the plain woven fabrics, the Stokes and Brinkman equations which describe inter-tow and intra-tow flow respectively are employed as governing equations. The effective permeabilities homogenized by considering intra-tow flow are compared with those obtained experimentally. Control volume finite element method (CVFEM) is used as a numerical method. It is shown that the asymptotic expansion homogenization method is an attractive method to predict the effective permeability for heterogeneous media.

• Proceedings of the Korea Multimedia Society Conference
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• 2000.11a
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• pp.315-318
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• 2000

최근 휴대용 컴퓨터가 점점 소형화, 고성능화 되고 무선 액세스 기술이 향상됨에 따라 이동성에 대한 사용자의 요구가 증가하고 있다. 인터넷 상에서 이동성 제공을 위하여 네트워크 계층에서 호스트의 이동성을 제공하기 위한 연구로 IETF (Internet Engineering Task Force)에서 Mobile IP라는 프로토콜을 제안하였다. 본 논문에서는 기존 Mobile IP의 문제점을 분석하여 구성 요소의 기능을 재설계 함으로써 이동 노드가 접속점을 변경하는 핸드오버가 발생한 경우, 성능 향상을 위한 바인딩 캐쉬 서버의 도입과 지역 등록(Local Registration) 방안을 제안하였다. 바인딩 캐쉬 서버를 통해 이동 노드에 바인딩 경보를 관리하여 Macro Mobility를 지원하도록 하고, 인접 접속점으로의 핸드오버 시는 지역 등록으로 Micro Mobility를 가능하게 하였다 또한 바인딩 캐쉬 서버와 지역 등록 서버에 버퍼링 기능을 가지도록 하여 핸드오버 시 이를 포워딩함으로써 데이터 패킷의 손실을 방지하였다 제안한 방안은 전송 지연과 패킷 손실 측면에서 기존의 방안보다 우수한 성능을 나타내고, 효율적인 경로 설정이 가능하다.

• Korean Journal of Social Welfare
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• v.49
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• pp.162-189
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• 2002

In general, every welfare state is to be productive. If not, the welfare state itself cannot be sustainable because resource for the development of welfare only comes from a sound level of economic development However, how to mix welfare and production differs from country to country. This article tackles this phenomenon as a starting point. Granted, contemporary studies of comparative welfare state often starts from the theory of welfare regime which has been suggested by Esping-Andersen. This article also regards the framework as an analytic tool to elaborate upon the concept of productive welfare and to categorize different types of conception of productive welfare. In liberal regime, the concept is so narrowly interpreted that they emphasize micro-efficiency of specific welfare programs. On the contrary, the other two regime types recognize the concept of productive welfare as relatively wide. Therefore, conservative and social democratic regimes underscore macro-efficiency of the welfare state as a whole. Empirical analyses of this article explores each regime's success and failure in terms of achieving fundamental goals of the welfare state, i.e. economic development and enhancement of equality. A series of evidence show that liberal regime fails in achieving both goals, while the other two regimes seem to be relatively successful. In conclusion, it may be pointed out that current tendency of neo-liberalism and anti-welfarism in Korea should be overcome, which must be the prime task of social welfare academia of this country.