• Journal of Institute of Control, Robotics and Systems
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• v.10 no.10
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• pp.855-868
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• 2004

There are several types of singularities in controlling robotic manipulators: kinematic singularity, algorithmic singularity, semi-kinematic singularity, semi-algorithmic singularity, and representation singularity. The kinematic and algorithmic singularities have been investigated intensively because they are not predictable or difficult to avoid. The problem with these singularities is an unnecessary performance reduction in non-singular region and the difficulty in performance tuning. Tn this paper, we propose a method of avoiding kinematic and algorithmic singularities by applying a task reconstruction approach while maximizing the task performance by calculating singularity measures. The proposed method is implemented by removing the component approaching the singularity calculated by using singularity measure in real time. The outstanding feature of the proposed task reconstruction method (TR-method) is that it is based on a local task reconstruction as opposed to the local joint reconstruction of many other approaches. And, this method has dynamic task priority assignment feature which ensures the system stability under singular regions owing to the change of task priority. The TR-method enables us to increase the task controller gain to improve the task performance whereas this increase can destabilize the system for the conventional algorithms in real experiments. In addition, the physical meaning of tuning parameters is very straightforward. Hence, we can maximize task performance even near the singular region while simultaneously obtaining the singularity-free motion. The advantage of the proposed method is experimentally tested by using the 7-dof spatial manipulator, and the result shows that the new method improves the performance several times over the existing algorithms.

• Journal of Korea Multimedia Society
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• v.20 no.12
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• pp.1856-1864
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• 2017

The ultimate goal of multimedia in bio-signal research is to approach multimedia contents through bio-signal. Hence it is important to interpret user's emotions by analyzing his or her bio-signals. In this paper, we construct ERP task of oddball component to analyze EEG signal between normal stimuli and fear stimuli and measure EEG during ERP task. The results from extracted ERP component show that there is a difference in N200 in visual stimuli, P300 in auditory stimuli, and N100 and P300. Moreover, there are larger changes in audiovisual stimuli, indicating that users recognize greater fear of crime when visual and auditory stimuli are simultaneously presented.

• Journal of KIISE:Computing Practices and Letters
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• v.16 no.5
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• pp.519-524
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• 2010

In this paper, we will introduce our approach for composing operation based on user tasks. It is based on Service Component Architecture (SCA). In addition, we developed ontology based on OWL and the MIT process handbook, called u-TO(universal task ontology), which can be used for users describing and specifying semantically their needs. We represent the hierarchy of tasks, and classify tasks according to views in u-TO. It aims at facilitating the modeling of complex demands or systems without regarding details of technical aspects of underlying infrastructure.

• The Transactions of the Korea Information Processing Society
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• v.7 no.1
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• pp.115-125
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• 2000

In this paper, we suggest the basic components of monitoring system for the semiconductor wafer cleaning equipment and a monitoring system model based on these components. Basic component is defined as a mandatory function which consists of communication with the control system, user interface, communication with the remote monitoring system, management of monitoring data and inter-task communication. We have defined the function of each component and the relation among them, and designed each component as a task. To evaluate the validity of the suggested model, we have implemented the basic components using the Visual C++ on Windows NT and applied them to the Monitoring System for the semiconductor wafer cleaning equipment.

• The KIPS Transactions:PartA
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• v.8A no.1
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• pp.16-26
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• 2001

This paper proposes an extended scheduler model that is an extension of the existing model proposed already in [4, 5], which consists of upper layer task scheduler and lower layer scheduling framework. However, in order to support aperiodic task scheduling, the task scheduler has been divided into two parts, such as periodic task control component and aperiodic task control component. Thus, the proposed model can support various bandwidth-preserving servers that can service aperiodic tasks. The model distinctly separates a classic monolithic kernel scheduler into several kernel components according to their functionality. This enables system developers to implement a new scheduling algorithm or aperiodic task server independent of complex low kernel mechanism, and reconfigure the system at need. In Real-Time Linux [6], we implemented the proposed scheduling framework representative scheduling algorithms, and server bandwidth-preserving servers on purpose to test. Throughout these implementations, we confirmed that a new algorithm or server could be developed independently without updates of complex low kernel modules. In order to verify efficiency of the proposed model, we measured the performance of several aperiodic task servers. The results showed this the performance of model, which even consisted of two hierarchical components and several modules, didnt have such high run-time overhead, and could efficiently support reconfiguration and scheduler development.

• Proceedings of the Korean Information Science Society Conference
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• 2002.10d
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• pp.232-234
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• 2002

EEG-based brain computer interface (BCI) provides a new communication channel between human brain and computer. The classification of EEG data is an important task in EEG-based BCI. In this paper we present methods which jointly employ principal component analysis (PCA) and linear dynamical system (LDS) modeling for the task of EEG classification. Experimental study for the classification of EEG data during imagination of a left or right hand movement confirms the validity of our proposed methods.

• Journal of the Korean Society of Physical Medicine
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• v.12 no.1
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• pp.51-59
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• 2017

PURPOSE: This study compared cognitive task-directed functional motor control ability for reaching and kicking movements in younger and older adults. METHODS: Subjects were divided into two groups of younger and older adults, with 13 subjects in each group. Subjects were required to perform a dual task combining a functional movement and cognitive component. The task consisted of reaching and kicking movements. Participants performed indicated movements when a target appeared on a monitor. The target randomly appeared on the monitor every 10 seconds. The total performance time (TPT), joint angular velocity (JAV), and muscle activation time were used to evaluate motor control ability. RESULTS: There were significant differences in all evaluation factors in a comparison of younger and older adults (p<.05). TPT was significantly shorter in older adults, and JAV and muscle activation time were significantly slower than that in the younger adult group. Although the results for older adults were within the normal range for functional assessment, their motor control abilities were significantly worse for cognitive tasks compared with those of younger adults. CONCLUSION: The results of this study indicated that a motor control assessment tool using a cognitive task would be helpful in assessment of motor control ability in healthy older adults.

• The Journal of Korean Physical Therapy
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• v.32 no.2
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• pp.70-74
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• 2020

Purpose: This study examined whether 1) the motor inhibition response as cognitive-behavioral component is learning though a stop signal task using stop-signal paradigm, and 2) whether there is a difference in the learning degree according to imagery training and actual practice training. Methods: Twenty young adults (males: 9, females: 11) volunteered to participate in this study, and were divided randomly into motor imagery training (IT, n=10) and practice training (PT, n=10) groups. The PT group performed an actual practice stop-signal task, while the IT group performed imagery training, which showed a stop-signal task on a monitor of a personal computer. The non-signal reaction time and stop-signal reaction time of both groups were assessed during the stop-signal task. Results: In the non-signal reaction time, there were no significant intra-group and inter-group differences between pre- and post-intervention in both groups (p>0.05). The stop-signal reaction time showed a significant difference in the PT group in the intra-group analysis (p<0.05). On the other hand, there was no significant intra-group difference in the IT group and inter-group difference between pre- and post-intervention (p>0.05). Conclusion: These results showed that the motor inhibition response could be learned through a stop-signal task. Moreover, these findings suggest that actual practice is a more effective method for learning the motor inhibition response.

• Phonetics and Speech Sciences
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• v.1 no.4
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• pp.29-38
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• 2009

This study investigated the interaction between consonants and vowels in Korean syllable perception using a speeded classification task (Garner, 1978). Experiment 1 examined whether listeners analytically perceive the component phonemes in CV monosyllables when classification is based on the component phonemes (a consonant or a vowel) and observed a significant redundancy gain and a Garner interference effect. These results imply that the perception of the component phonemes in a CV syllable is not linear. Experiment 2 examined the further relation between consonants and vowels at a subphonemic level comparing classification times based on glottal features (aspiration and lax), on place of articulation features (labial and coronal), and on vowel features (front and back). Across all feature classifications, there were significant but asymmetric interference effects. Glottal feature.based classification showed the least amount of interference effect, while vowel feature.based classification showed moderate interference, and place of articulation feature-based classification showed the most interference. These results show that glottal features are more independent to vowels, but place features are more dependent to vowels in syllable perception. To examine the three-way interaction among glottal, place of articulation, and vowel features, Experiment 3 featured a modified Garner task. The outcome of this experiment indicated that glottal consonant features are independent to both the place of articulation and vowel features, but the place of articulation features are dependent to glottal and vowel features. These results were interpreted to show that speech perception is not abstract and discrete, but nonlinear, and that the perception of features corresponds to the hierarchical organization of articulatory features which is suggested in nonlinear phonology (Clements, 1991; Browman and Goldstein, 1989).

• Journal of KIEE
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• v.11 no.1
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• pp.1-7
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• 2001

Various methods for blind source separation (BSS) are based on independent component analysis (ICA) which can be viewed as a nonlinear extension of principal component analysis (PCA). Most existing ICA methods require certain nonlinear functions (which leads to higher-order statistics) depending on the probability distributions of sources, whereas PCA is a linear learning method based on second-order statistics. In this paper we show that the PCA can be applied to the task of BBS, provided that source are spatially uncorrelated but temporally correlated. Since the resulting method is based on only second-order statistics, it avoids the nonlinear function and is able to separate mixtures of several colored Gaussian sources, in contrast to the conventional ICA methods.