• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.20 no.4
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• pp.386-394
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• 2011

This paper is concerned with the application of the vision control scheme for robot's point placement task in discontinuous trajectory caused by obstacle. The proposed vision control scheme consists of four models, which are the robot's kinematic model, vision system model, 6-parameters estimation model, and robot's joint angles estimation model. For this study, the discontinuous trajectory by obstacle is divided into two obstacle regions. Each obstacle region consists of 3 cases, according to the variation of number of cameras that can not acquire the vision data. Then, the effects of number of cameras on the proposed robot's vision control scheme are investigated in each obstacle region. Finally, the practicality of the proposed robot's vision control scheme is demonstrated experimentally by performing the robot's point placement task in discontinuous trajectory by obstacle.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2011.06a
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• pp.107-108
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• 2011

• Journal of the Korean Society for Precision Engineering
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• v.29 no.9
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• pp.986-994
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• 2012

This paper is concerned with the application of the vision control algorithm with weighting matrix in robot point placement task. The proposed vision control algorithm involves four models, which are the robot kinematic model, vision system model, the parameter estimation scheme and robot joint angle estimation scheme. This proposed algorithm is to make the robot move actively, even if relative position between camera and robot, and camera's focal length are unknown. The parameter estimation scheme and joint angle estimation scheme in this proposed algorithm have form of nonlinear equation. In particular, the joint angle estimation model includes several restrictive conditions. For this study, the weighting matrix which gave various weighting near the target was applied to the parameter estimation scheme. Then, this study is to investigate how this change of the weighting matrix will affect the presented vision control algorithm. Finally, the effect of the weighting matrix of robot vision control algorithm is demonstrated experimentally by performing the robot point placement.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.8
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• pp.175-183
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• 1996

This paper presents three-dimensional robot task using the vision control method. A minimum of two cameras is required to place points on end dffectors of n degree-of-freedom manipulators relative to other bodies. This is accomplished using a sequential estimation scheme that permits placement of these points in each of the two-dimensional image planes of monitoring cameras. Estimation model is developed based on a model that generalizes known three-axis manipulator kinematics to accommodate unknown relative camera position and orientation, etc. This model uses six uncertainty-of-view parameters estimated by the iteration method.

• KNOM Review
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• v.23 no.1
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• pp.34-42
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• 2020

Network Function Virtualization (NFV) environment can deal with dynamic changes in traffic status with appropriate deployment and scaling of Virtualized Network Function (VNF). However, determining and applying the optimal VNF deployment is a complicated and difficult task. In particular, it is necessary to predict the situation at a future point because it takes for the process to be applied and the deployment decision to the actual NFV environment. In this paper, we randomly generate service requests in Multiaccess Edge Computing (MEC) topology, then obtain training data for machine learning model from an Integer Linear Programming (ILP) solution. We use the simulation data to train the machine learning model which predicts the optimal VNF deployment in a predefined future point. The prediction model shows the accuracy over 90% compared to the ILP solution in a 5-minute future time point.

• Research in Community and Public Health Nursing
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• v.12 no.3
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• pp.661-669
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• 2001

Purpose: This study was carried out to investigate the difference in job satisfaction and marital satisfaction by gender and to explore the influences of demographic status. employment characteristics. and job satisfaction/marital satisfaction on each type of satisfaction. Method: Social statistics survey data collected by National Statistical Office in 1998 were used for the secondary analysis in the study. Job satisfaction was measured by questionnaires, which consisted of 12 items such as task, promotion, placement, wage, benefits, future in the work, working environment, human relationship. and working hours. And marital satisfaction was collected by questionnaires which consisted of 7 items, including satisfaction with general family life, relationship with their own parent and parent-in-law, relationship with brothers and sisters, relationship with their children, and economic living status. These are measured by 5-point Likert scale. Result: The results show that more than 60% of women were working as part-time employees. Their education levels were lower than men. Men were satisfied significantly more in their jobs than women. Men also had higher marital satisfaction. The employment status had the most important factor on the job satisfaction. and the marital satisfaction was the second important factor among women and men. As for the age, while older men showed higher job satisfaction, younger women showed higher job satisfaction, 28.04% of the variance in the job satisfaction for men and 33.86% for women were accounted for by the following variables: the younger age. the higher education. job satisfaction, and the higher marital satisfaction, 22.15% of the variance in the marital satisfaction for men and 21.19% for women were accounted for by these variables. Conclusion: The results of this study showed that there were differences in job satisfaction and marital satisfaction between genders, and that job satisfaction and marital satisfaction influenced each other. Employment status was the most predictive factor on the job satisfaction. Married women had an unstable employment status such as part-time position. The stability of employment could be considered as a strategy for enhancing job satisfaction for both sexes. The reason that women had lower marital satisfaction than men will have to be further investigated.