• 한국항공우주학회지
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• 제42권3호
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• pp.254-262
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• 2014

레이더 임무 스케줄링은 제한된 자원 환경에서 레이더의 성능을 향상시키기 위해 효과적으로 임무 배치를 하는 것이다. 본 논문에서는 다기능 레이더의 복수 운용 시의 스케줄링 성능 평가를 위해 총 지연 시간의 합을 목적함수로 정의하고, 실시간성을 고려한 휴리스틱 접근법을 제시한다. 제안된 스케줄링 기법들을 일반적인 임무 시뮬레이션 환경에서 비교 분석하였으며, 특히, 다기능 레이더의 복수 운용에서의 스케줄링 성능을 분석한다.

• 로봇학회논문지
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• 제14권2호
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• pp.104-113
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• 2019

Object manipulation in cluttered environments remains an open hard problem. In cluttered environments, grasping objects often fails for various reasons. This paper proposes a novel task and motion planning scheme to grasp objects obstructed by other objects in cluttered environments. Task and motion planning (TAMP) aims to generate a sequence of task-level actions where its feasibility is verified in the motion space. The proposed scheme contains an open-loop consisting of three distinct phases: 1) Generation of a task-level skeleton plan with pose references, 2) Instantiation of pose references by motion-level search, and 3) Re-planning task based on the updated state description. By conducting experiments with simulated robots, we show the high efficiency of our scheme.

• 한국실내디자인학회논문집
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• 제33호
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• pp.46-53
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• 2002

The development of data communication and network technology has brought a change to various communications through the internet. Regarding the stable internet service, corporations and Individuals came to require an internet data center in which there is computer equipment and network devices available 24 hours everyday. The internet data center is now on a large scale in its structure and facility, suitable for the internet environment that is under development in various dimensions, and effective for task support, stable facility, capable of space expansion and flexibility, and easiness in ease of maintenance and management, etc. The monitoring center of the data center which is one of the core facilities in the center, special space elements and functions as well as a function of task space are to be put into consideration additionally. This study was to present a proposal for the space elements and environmental design of a monitoring center, which could create an efficient and comfortable room.

• 설비공학논문집
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• 제13권2호
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• pp.106-114
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• 2001

The office environment of the building has been significantly changed and the office automation(OA) for productivity improvement and efficiency has proceeded. According to thee trends, the concept of office environment was transferred from conventional \"working space\" to \"living space\" or \"creative space\". Thus, occupants in office building have demanded more comfortable and advanced task environment. The objective of this paper is to evaluate the indoor environment of working space with personal air conditioning system using the measurements of environmental comfort parameters and the questionnaire survey of occupants、 thermal sensation response to the environment.n response to the environment.

• 항공우주정책ㆍ법학회지
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• 제9권
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• pp.183-197
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• 1997

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.180-185
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• 2003

In order to enhance dexterity in execution of robot tasks, a redundant number of degrees-of-freedom (DOF) is adopted for design of robotic mechanisms like robot arms and multi-fingered robot hands. Associated with such redundancy in the number of DOFs relative to the number of physical variables necessary and sufficient for description of a given task, an extra performance index is introduced for controlling such a redundant robot in order to avoid arising of an ill-posed problem of inverse kinematics from the task space to the joint space. This paper shows that such an ill-posedness of DOF redundancy can be resolved in a natural way by using a novel concept named “stability on a manifold”. To show this, two illustrative robot tasks 1) robotic handwriting and 2) control of an object posture via rolling contact by a multi-DOF finger are analyzed in details.

• 한국정보과학회 언어공학연구회:학술대회논문집(한글 및 한국어 정보처리)
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• 한국정보과학회언어공학연구회 2018년도 제30회 한글 및 한국어 정보처리 학술대회
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• pp.305-309
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• 2018

딥러닝에서 층을 공유하여 작업에 따라 변하지 않는 정보를 사용하는 multi-task learning이 다양한 자연어 처리 문제에 훌륭하게 사용되었다. 그렇지만 우리가 아는 한 공유 공간의 상태와 성능과의 관계를 조사한 연구는 없었다. 본 연구에서는 공유 공간과 task 의존 공간의 자질의 수와 오염 정도가 성능에 미치는 영향도 조사하여 공유 공간과 성능 관계에 대해서 탐구한다. 이 결과는 multi-task를 진행하는 실험에서 공유 공간의 역할과 성능의 관계를 밝혀서 시스템의 성능 향상에 도움이 될 것이다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.392-395
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• 1995

This paper presents a time efficient method for determining a sequence of locations of a mobile manipulator that facilitates tracking of continuous path in cluttered environment. Given the task trajectory in the form of octree data structure, the algorithm performs characterization of task space and subsequent multistage optimization process to determine task feasible locations of the robot. Firstly, the collision free portion of the trajectory is determined and classified according to uniqueness domains of the inverse kinematics solutions. Then by implementing the extent of task feasible subspace into an optimization criteria, a multistage optimization problem is formulated to determines the task feasible locations of the mobile manipulator. The effectiveness of the proposed method is shown through a simulation study performed for a 3-d.o.f. manipulator with generic kinematic structure.

• 전자공학회논문지B
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• 제31B권9호
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• pp.47-56
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• 1994

In this paper, we demonstrate how to design a redundant robot which is suitable for the multiple task execution without any constraints on the work space. The implementation is possible by the rigid connection of a cacro-robot and a micro-robot. A 5 d.o.f. articulated robor designed for commercial purpose is utilized as a micro-robot which can perform a general task with the appropriate adjustment of its base location. The base of a micro-robot is located at a suitable position by the macro-robot designed and implemented through this research. A task assigned to this redundant robot is performed mainly by the micro-robot. However, when the micro-robot cannot perform the task by itself or when the micro-robot has difficulties in performing the task, the coordination of the macro-robot is requited. To monitor the task execution efficiency of the micro-robot, we used the 'Manipulability Measure' as a cost function. The coordination between the two robots are verified both by the simulation and the experiment.

• 조명전기설비학회논문지
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• 제29권9호
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• pp.1-9
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• 2015

The aim of this study is to deduce color temperature and illuminance by conducting the preference & affective evaluation consequent on illuminance change of ambient light in case of the lighting method of ambient light mixed with task light in time of reading which is visual work action among the action in learning space. As a result of the prior survey on preferred lighting method in time of the act of reading targeting 20 experts before doing evaluation, the method of lighting mixed with ambient light and task light was found to be the highest. Such a result is analyzed to be attributable to the fact that the less the difference in illuminance of nearby space and work surface because of the mixed method of lighting, the less the glare, which makes a reader feels easy and concentrate on reading. On the basis of descriptive statistics of evaluation results and impact analysis by category, this study recommends the application of combinations of ambient light illuminance ranging from 40lx to 100lx with color temperature of 5500~6000K in case of the method of lighting mixed with general light and task light.