• 한국생산제조학회지
• /
• 제20권4호
• /
• pp.386-394
• /
• 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.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2011년도 춘계학술대회 논문집
• /
• pp.107-108
• /
• 2011

• 한국정밀공학회지
• /
• 제29권9호
• /
• pp.986-994
• /
• 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.

• 한국정밀공학회지
• /
• 제13권8호
• /
• pp.175-183
• /
• 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
• /
• 제23권1호
• /
• pp.34-42
• /
• 2020

NFV (Network Function Virtualization) 환경에서는 소프트웨어로 구현된 가상 네트워크 기능 (VNF: Virtualized Network Function)을 범용 서버에 설치하는 것으로 네트워크 기능을 제공한다. 네트워크 관리자는 VNF를 네트워크 토폴로지 상 적절한 위치의 서버에 배치하고 상황에 따라 동적으로 관리함으로써, 다양한 네트워크 상황에 대해 신속하고 유연하게 대응할 수 있다. 하지만 여러 네트워크 조건 (서비스 비용 및 품질) 등을 고려하는 것은 매우 복잡하고 어려운 문제이며, 특히 결정된 배치를 실제 NFV 환경에 적용하는 데는 처리 시간이 소요되기 때문에, 최적의 VNF 배치를 위해서는 필요한 자원량을 예측하여 VNF 배치를 결정하는 것이 필요하다. 본 논문에서는 MEC (Multi-access Edge Computing) 토폴로지에서 서비스 요청을 무작위로 생성하여 ILP (Integer Linear Programming) 모델을 통해 시뮬레이션한 결과를 학습데이터로 사용하는 기계학습 모델을 도출한다. 도출된 예측 모델은 5분 이후의 미래 시점에 대해 ILP 솔루션 결과 대비 90% 이상의 정확도를 보였다.

• 지역사회간호학회지
• /
• 제12권3호
• /
• pp.661-669
• /
• 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.