• Journal of Institute of Control, Robotics and Systems
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• v.6 no.1
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• pp.66-72
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• 2000

As the demand for the design of modular manipulators or special purpose manipulators has increased, task based design to design an optimal manipulator for a given task become more and more important. However, the complexity with a large number of design parameters, and highly nonlinear and implicit functions are characteristics of a general manipulator design. To achieve the goal of task based design, it is necessary to develop a methodology to solve the complexity. This paper addresses how to determine the kinematic parameters of a two-degrees of freedom manipulator with parallelogram five-bar link mechanism from a given task, namely, how to map a given task into the kinematic parameters. With simplified example of designing a manipulator with five-bar link mechanism, the methodology for task based design is presented. And it introduces formulations of a given task and manipulator specifications, and presents a new dexterity measure for manipulator design. Also the optimization problem with constraints is solved by using a genetic algorithm that provides robust search in complex spaces.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.497-502
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• 1992

In this paper, a new design technique called Task Based Design (TBD) is proposed to design an optimal robot manipulator for a given task. Optimal design of a manipulator is difficult because it involves implicit and highly nonlinear functions of many design variables for a complex task. TBD designs an optimal manipulator which performs a given task best, by using a framework called Progressive Design which decomposes the complexity of the task into three steps: kinematic design, planning and kinematic control. An example of TBD is presented to demonstrate the efficiency and effectiveness of our framework.

• Journal of the Ergonomics Society of Korea
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• v.32 no.1
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• pp.59-68
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• 2013

Objective: The purpose of this paper is to introduce a task complexity model combining task design aspects and complexity dimensions and to explain an approach to identifying and organizing task complexity factors based on the model. Background: Task complexity is a critical concept in describing and predicting human performance in complex systems such as nuclear power plants(NPPs). In order to understand the nature of task complexity, task complexity factors need to be identified and organized in a systematic manner. Although several methods have been suggested for identifying and organizing task complexity factors, it is rare to find an analytical approach based on a theoretically sound model. Method: This study regarded a task as a system to be designed. Three levels of design ion, which are functional, behavioral, and structural level of a task, characterize the design aspects of a task. The behavioral aspect is further classified into five cognitive processing activity types(information collection, information analysis, decision and action selection, action implementation, and action feedback). The complexity dimensions describe a task complexity from different perspectives that are size, variety, and order/organization. Combining the design aspects and complexity dimensions of a task, we developed a model from which meaningful task complexity factors can be identified and organized in an analytic way. Results: A model consisting of two facets, each of which is respectively concerned with design aspects and complexity dimensions, were proposed. Additionally, twenty-one task complexity factors were identified and organized based on the model. Conclusion: The model and approach introduced in this paper can be effectively used for examining human performance and human-system interface design issues in NPPs. Application: The model and approach introduced in this paper could be used for several human factors problems, including task allocation and design of information aiding, in NPPs and extended to other types of complex systems such as air traffic control systems as well.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.243-246
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• 1996

Modular robot manipulator is a robotic system assembled from discrete joints and links into one of many possible manipulator configurations. This paper describes the design method of newly developed modular robot manipulator and the methodology of a task based reconfiguration of it. New locking mechanism is proposed and it provides quick coupling and decoupling. A parallel connection method is devised and it makes modular robot manipulator working well and the number of components on each module reduced. To automatically determine a sufficient or optimal arrangement of the modules for a given task, we also devise an algorithm that automatically generates forward and inverse manipulator kinematics, and we propose an algorithm which maps task specifications to the optimized manipulator configurations. Efficient genetic algorithms are generated and used to search for a optimal manipulator from task specifications. A few of design examples are shown.

• Science of Emotion and Sensibility
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• v.5 no.2
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• pp.63-72
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• 2002

In order to examine universal design, 1 have developed two analytical methodologies based on 3P(point) task analysis: structured task analysis and task matrix analysis. I also extracted nine universal design items, namely (1) adjustment, (2) redundancy, (3) specification and function transparency, (4) feedback and (5) error tolerance, (6) effective acquisition of information, (7) ease of understanding and judgment, (8) comfortable operation, and (9) continuity of information and operation. Structured task analysis is used to uncover problems in each of the tasks constituting a job for each functionally challenged condition of users, and solutions to the extracted problems are examined in terms of the above-mentioned nine universal design items. Task matrix analysis calls for the production of a table for each task in a job. In each table, nine items form the columns, and the horizontal rows list all disability types. Then, solutions are formulated for each cell formed by the intersecting columns and rows. Using these two analysis methods, 1 have conducted a verification experiment for the universal design of a public bus. The results of the research have enabled me to propose various ,solutions from a system-based perspective, instead of coming up with the superficial and isolated solutions which are normally produced when conventional analytical methods are used.

• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 2002.05a
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• pp.144-151
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• 2002

In order to examine universal desist I have developed two analytical methodologies based on 3P(point) task analysis: structured task analysis and task matrix analysis. I also extracted me universal design items, namely (1) adjustment (2) redundancy, (3) specification and function transparency, (4) feedback and (5) error tolerance, (6) effective acquisition of information, (7) ease of understanding and judgment (8) comfortable operation, and (9) continuity of information and operation. Structured task analysis is used to uncover problems in each of the tasks constituting a job for each functionally challenged condition of users, and solutions to the extracted problems are examined in terms of the above-mentioned nine universal design items. Task matrix analysis calls for the production of a table for each task in a job. In each table, nine items from the columns, and the horizontal rows list all disability types. Then, solutions are formulated for each cell formed by the intersecting columns and rows. Using these two analysis methods, T have conducted a verification experiment for the universal design of a public bus. The results of the research have enabled me to propose various solutions from a system-based perspective, instead of coming up with the superficial and isolated solutions which are normally produced when conventional analytical methods are used.

• The Journal of Korea Robotics Society
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• v.1 no.1
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• pp.1-8
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• 2006

In this paper, we propose a methodology for classifying types of lower limb disability and their mechanical structure, based on extensive survey of previous developments. We also propose a task-oriented design with human-friendly and energy-efficient assistive system. The result can be used for optimal design of wearable walking-assistive robot considering the type of disability and the content of task.

• The Mathematical Education
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• v.55 no.1
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• pp.107-127
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• 2016

The purpose of this study was to explore the possibility of mathematical instruction through performance task activities based on the The Backward Design, which was suggested at first by Wiggins & McTighe in 1998. The Design deals with a performance assessment task involving the whole objective and its entire content of a lesson. Based on the Backward Design, this study established the mathematical instructional materials, which deal with the concept of 'the sector' taught in middle school, with one large performance task including three small tasks. It is important that in the lesson students be guided to achieve the several learning goals by themselves through reasoning activities. For this purpose, a formal interview was carried out by the subject of three middle school mathematics teachers. As a result, in order to implement the instruction utilizing the performance tasks more efficiently in future, it is required that a large performance task should be selected or developed including the content or problem contexts to be relevant with the real-life challenging situations. In addition, to make students enhance reasoning skills, it is strongly requested that the tasks including the utilization of supplementary materials such as technological devices or manipulatives be dealt with in a lesson.

• Journal of the Korean Society of Safety
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• v.20 no.1 s.69
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• pp.126-132
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• 2005

The purpose of this study is to propose a method to evaluate task complexity using CIFs(Complexity Influencing Factors). We developed a method that CIFs can be used in the evaluation of task complexity using fuzzy linguistic approach. That is, a fuzzy linguistic multi-criteria method to assess task complexity in a specific task situation was proposed. The CIFs luting was assessed in linguistic terms, which are described by fuzzy numbers with triangular and trapezoidal membership function. A fuzzy weighted average algorithm, based on the extension principle, was employed to aggregate these fuzzy numbers. Finally, the method was validated by experimental approach. In the result, it was validated that TCIM(Tink Complexity Index Method) is an efficient method to evaluate task complexity because the correlation coefficient between task performance time and TCI(Task Complexity Index) was 0.699.

• Journal of Fashion Business
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• v.23 no.2
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• pp.48-61
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• 2019

The objective of this study was to derive a list of creative thinking techniques applied with the requirements of the appropriate technique for the task of fashion design development among the process of fashion product planning. This was done through the analysis of thinking techniques by the type of thinking and idea method. Also, the study presented how each creative thinking technique derived is applied to the task of developing fashion design. The scope of the study was 'Fashion Design Development Task', which corresponds to the design sketch of a fashion item based on the seasonal design concept derived through the fashion design planning stage. Research on the thinking techniques consisted largely of the process of idea thinking, the elements of creative thinking, the patterns and types of thinking. Four studies by Makoto, Michalko, De Bono, and Cox suggesting that the patterns and types of thinking techniques were analyzed for the purpose of this study as empirical studies through FGI of a group of five fashion experts. The analysis results showed that the thinking techniques suitable for the development of fashion design were derived from the technique of fractionation, attributive listing, scamper, morphological analysis, mind mapping, lotus blossom, pattern language, provocative operation, and forced connection. In particular, it can be confirmed that the scamper was treated as an efficient and practical technique in the many studies.