• Asia pacific journal of information systems
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• 제33권4호
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• pp.957-976
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• 2023

ChatGPT has had a significant impact on society, business, and academia by influencing individuals and organizations through knowledge generation and supporting users in locating conversational inquiries and answers. It can transform how people seek answers by combining human-like conversational skills with AI. By eradicating the cumbersome process of selecting from multiple options, users can conduct preliminary research or create optimized solutions. The purpose of this research is to investigate how consumers use ChatGPT and digital transformation, specifically in terms of knowledge development, searching and recommending, and optimizing accessible possibilities. Using many linked theories, we address the potential implications and insights that can be gained from ChatGPT's early stages and its integration with other applications such as robotics, service automation, and the metaverse. Finally, the application of ChatGPT has practical, theoretical, and phenomenological impacts, in addition to improving users' experiences.

• 제어로봇시스템학회논문지
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• 제17권11호
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• pp.1117-1124
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• 2011

An integrated fault detection and isolation method is proposed in this paper. The main objective of this paper is development fault detection, isolation and diagnosis algorithm based on the DKF (Decentralized Kalman Filter) and the bank of IMM (Interacting Multiple Model) filters using penalty scalar for both partial and total faults and the outlier detection algorithm for preventing false alarm also included. The proposed FDI (Fault Detection and Isolation) scheme is developed in four phases. In the first phase, the outlier detection filter is designed to prevent false alarm as a pre-filter. In the second phases, two local filters and master filter are designed to detect sensor faults. In the third phases, the proposed FDI scheme checks sensor residual to isolate sensor faults and 11 EKFs actuator fault models are designed to detect wherever actuator faults occur. In the last phases, four filters are designed to identify the fault type which is either the total fault or partial fault. The developed scheme can deal with not only sensor and actuator faults, but also preventing false alarm. An important feature of the proposed FDI scheme can decreases fault isolation time and figure out not only fault detection and isolation but also fault type identification. To verify the proposed FDI algorithm performance, the Simulator is also developed under the Matlab/Simulink environment.

• 제어로봇시스템학회논문지
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• 제22권2호
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• pp.126-132
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• 2016

The root-locus method is often employed when a controller is designed to find controller gain. It is usually used to determine one parameter gain while most controllers for industrial applications have more than one controller gain. For example PID controller has three controller gains, i.e. P, I, and D gains. Thus the conventional root-locus technique cannot complete the design of a controller with more than one controller gain. One way to overcome this drawback has been to apply the root-locus technique for one parameter while other parameters are assumed to be proportional to the parameter or to be constant. However this approach could lead to limited performance of the controller and if we try to adjust the proportional ratio or constants then it could be a long and tedious process of trial and error. Thus it is required to find an effective method for the root-locus technique to design controllers with more than one parameter. To this end this paper proposes an extended root-locus method for controllers with two parameters. In this paper Matlab is used as a computation tool to show the effectiveness of our method by solving examples numerically. As a result we obtained an extended root-locus illustrated in two-dimensional space for a control system with two parameters. The paper then presents how to find two controller gains based on this result of the extended root-locus. The main idea is that we can find the parameters by approaching the desired poles. It is expected that the proposed idea will help control engineers to easily design control systems using the root-locus technique, resulting in more accurate and faster control systems. Note that the extended root-locus idea can be applied to controller design problems with multiple parameters.

• 제어로봇시스템학회논문지
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• 제13권10호
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• pp.1025-1031
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• 2007

GPS is widely used for positioning applications and attitude of a vehicle can be found also with multiple antennas. However, extremely weak signal level prevents GPS from indoor operation. DR with accelerometers and gyros and landmark based localization method used for indoor applications increase complexity and cost. In this paper, a simple but very efficient ultrasound based attitude determination system which determines both position and attitude in WSN is given. The range between transmitter and receivers are measured using the arrival time difference between ultrasound and RF signal. The 3 dimensional positions can be found using more than 3 range measurements. Furthermore, if more than 2 transmitters are used, the attitude can be determined using the baseline vectors obtained by differencing transmitter and receiver positions. The prototype system is implemented to evaluate the performance of the proposed method. In addition, an error analysis shows the relation between the attitude error and basel me length, quality of measurement and orientation of a vehicle. The static and dynamic experiments performed by micro mobile robot shows accurate position with less than 1.5cm error and attitude with less than 1 degree error can be obtained continuously with 20cm baseline. It is expected that these results can be adapted without modification to indoor applications such as home cleaning robot and autonomous wheelchair maneuvering.

• 로봇학회논문지
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• 제12권3호
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• pp.376-384
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• 2017

In this paper, we describe a case of using robot technology in child studies to examine children's judgement and reasoning of the life phenomenon on boundary objects. In order to control the effects of the appearance of the robot, which children observe or interact directly with, on the children's judgement and reasoning of the life phenomenon, we developed a robot similar to human. Unit experimental scenarios representing biological and psychological properties were implemented based on control of robot's motion, speech, and facial expressions. Experimenters could combine these multiple unit scenarios in a cascade to implement various scenarios of the human-robot interaction. Considering that the experimenters are researchers of child studies, there was a need to develop a remote operation console that can be easily used by non-experts in the robot field. Using the developed robot platform, researchers of child studies could implement various scenarios by manipulating the biological and psychological properties of the robot based on their research hypothesis. As a result, we could clearly see the effects of robot's properties on children's understanding about boundary object like robots.

• Smart Structures and Systems
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• 제20권4호
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• pp.397-413
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• 2017

Precast concrete (PC) members are currently being employed for general construction or partial replacement to reduce construction period. As assembly work in PC construction requires connecting PC members accurately, measuring the 6-DOF (degree of freedom) relative displacement is essential. Multiple planar markers and camera-based displacement measurement systems can monitor the 6-DOF relative displacement of PC members. Conventional methods, such as direct linear transformation (DLT) for homography estimation, which are applied to calculate the 6-DOF relative displacement between the camera and marker, have several major problems. One of the problems is that when the marker is partially hidden, the DLT method cannot be applied to calculate the 6-DOF relative displacement. In addition, when the images of markers are blurred, error increases with the DLT method which is employed for its estimation. To solve these problems, a hybrid method, which combines the advantages of the DLT and MCL (Monte Carlo localization) methods, is proposed. The method evaluates the 6-DOF relative displacement more accurately compared to when either the DLT or MCL is used alone. Each subsystem captures an image of a marker and extracts its subpixel coordinates, and then the data are transferred to a main system via a wireless communication network. In the main system, the data from each subsystem are used for 3D visualization. Thereafter, the real-time movements of the PC members are displayed on a tablet PC. To prove the feasibility, the hybrid method is compared with the DLT method and MCL in real experiments.

• 한국정보통신학회논문지
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• 제20권5호
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• pp.937-941
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• 2016

본 논문에서는 전 세계 스마트폰 기기 시장을 양분하고 있는 안드로이드 스마트폰을 이용하여 원격지에 있는 영상을 실시간으로 확인할 수 있는 시스템을 설계하고 제안하였다. 이 무선 영상 전송 시스템은 개인이 실시간 현지 상황을 서버에 접속한 단말들에 전달하거나 이동 가능한 드론, 로봇 차량 등의 장치에 설치하여 현장 확인, 영상을 통한 보안 감시로 이용할 수 있을 것이다. 보안 감시 및 재난안전 예방을 위해 데이터를 긴급히 보내야하는 경우도 있다. 이러한 이용 분야들에 적용하면 응급상태나 재난예방, 보안감시에 있어 중요한 역할을 한다. 따라서 효율적인 실시간 스트리밍 전송을 위해서 본 논문에서는 병렬 TCP 통신 (parallel stream)을 이용하여 구현하였다. 결론적으로, 병렬 TCP 통신을 이용한 시스템의 효과를 다양한 환경에서 평가하고 성능 분석도 하였다.

• 로봇학회논문지
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• 제4권1호
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• pp.62-67
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• 2009

For diagnoses of digestive organs, capsule endoscopes are widely used and offer valuable information without patient's discomfort. A general capsule endoscope which consists of image sensing module, telemetry module and battery is able to move along gastro-intestinal tracts passively only through peristaltic waves. Thus, it is likely to have some limitations for doctor to acquire images from the desired organs and to diagnose them effectively. As solutions to these problems, a locomotive function of capsule endoscopes has being developed. We have proposed a capsule-type microrobot with synchronized multiple legs. However, the proposed capsular microrobot also has some limitations, such as low speed in advancement, inconvenience to controlling the microrobot, lack of an image module, and deficiency in a steering module. In this paper, we will describe the limitations of the locomotive microrobot and propose solutions to the drawbacks. The solutions are applied to the capsular microrobot and evaluated by in-vitro tests. Based on the experimental results, we conclude that the proposed solutions are effective and appropriate for the locomotive microrobot to explore inside intestinal tracts.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.89-92
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• 2005

Using natural speech commands for controlling a human-robot is an interesting topic in the field of robotics. In this paper, our main focus is on the verification of a speaker who gives a command to decide whether he/she is an authorized person for commanding. Among possible dynamic features of natural speech, pitch period is one of the most important ones for characterizing speech signals and it differs usually from person to person. However, current techniques of pitch detection are still not to a desired level of accuracy and robustness. When the signal is noisy or there are multiple pitch streams, the performance of most techniques degrades. In this paper, we propose a two-level approach for pitch detection which in compare with standard pitch detection algorithms, not only increases accuracy, but also makes the performance more robust to noise. In the first level of the proposed approach we discriminate voiced from unvoiced signals based on a neural classifier that utilizes cepstrum sequences of speech as an input feature set. Voiced signals are then further processed in the second level using a modified standard AMDF-based pitch detection algorithm to determine their pitch periods precisely. The experimental results show that the accuracy of the proposed system is better than those of conventional pitch detection algorithms for speech signals in clean and noisy environments.

• 제어로봇시스템학회논문지
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• 제17권9호
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• pp.932-940
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• 2011

This paper presents an integrated analysis of supply chain and financing decisions of multi-national corporation. We construct a model in which multiple currency storage units are installed to manage the currency flows associated with multi-national supply chain activities such as raw material procurement, process operation, inventory control, transportation and finished product sales. Core contribution of this study is to quantitatively investigate the influence of macroscopic economic factors such as exchange rates and taxes on operational decisions. The supply chain is modeled by the Process-Storage Network with recycle streams. The objective function of the optimization is minimizing the opportunity costs of annualized capital investments and currency/material inventories minus the benefit to stockholders interpreted by home currency. The major constraints of the optimization are that the material and currency storage units must not be depleted. A production and inventory analysis formulation, the periodic square wave (PSW) model, provides useful expressions for the upper/lower bounds and average levels of the currency and material inventory holdups. The expressions for the Kuhn-Tucker conditions of the optimization problem are reduced to a subproblem and analytical lot sizing equations. The procurement, production, transportation and financial transaction lot sizes can be determined by analytical expressions after the average flow rates are already known. We show that, when corporate income tax is taken into consideration, the optimal production lot and storage sizes are smaller than is the case when such factors are not considered typically by 20 %.