• 한국정밀공학회지
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• 제17권9호
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• pp.181-188
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• 2000

This paper deals with an analysis of the compliance characteristic for effective peg-in-hole task using robot hand without inter-finger coupling. We first observe the fact that some of coupling stiffness elements cannot be planned arbitrary. next we classify the task of inserting a peg-in-a-hole into two contact styles between the peg and the hole. Then we analyze the conditions of the specified stiffness matrix in the operational space to successfully and more effectively achieve the give peg-in-hole task for each case. It is concluded that the location of compliance center on the peg and the coupling stiffness element existing between the translational and the rotational direction play important roles for successful peg-in-hole task. Simulation results are included to verify the feasibility of the analytic results.

• 디자인학연구
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• 제3권1호
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• pp.83-93
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• 1990

The constant evolution of society, culture and scientific technology, coupled with changes in life style and behavioral patterns, has led mankind to peroeive diverse needs for space. Particularly, the rapid structural change in the field of marketing has entailed changes in techinques for construction and presentation of space for an improved marketing environment. To satisfy such new, diverse needs for space, interior designers will have to redefine the "mankind and environmen( concept and examine their design methodology anew. The question of how to design available space for a certain purpose will remain a daunting task for designers in the future, as it has been in the past. In the pursuit of convenience and conformity to mankind's surroundings, every nation has, in common with other nations, basic design elements, design skills and other factors. In designing camercial space in a particular region, it is essential, however, to have a proper understanding of the social economic and cultural context indigenous to that region, as well as the impact on environmental and ecological change and marketing strategy. This study discusses design metholdology for the comming camercial space on the basis of the space concept and current status in Korea, with major emphasis on Korea's regional characteristics.

• 한국항공우주법학회:학술대회논문집
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• 한국항공우주법학회 2008년도 제40회 국제학술발표대회
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• pp.273-294
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• 2008

Korea now has a rapidly expanding space programme with exploration aspirations. The government is giving priority to the aerospace industry and, to put it on a better footing, enacted an Aerospace Industry Development Promotion Act in 1987, a Space Development Promotion Act in 2005 and a New Space Compensation for Damage Act in 2007. I would like to describe briefly the legislative history, main contents and comment for these three space acts including especially launch licensing, registration of space objects, use of satellite information, astronaut rescue, liability for compensation, third party liability insurance and establishment of committee and plans to assist the Korean space effort. Furthermore author proposed to legislate a draft for the establishment of a new Korean National Space Development Agency (KNSDA: tentative title) to create a similar body to Japan Aerospace Exploration Agency (JAXA), British National Space Centre (BNSC) of UK, French Centre National d'Etudes Spatiales (CNES), German Aerospace Center (DLR), Swedish Space Corporation, China Aerospace Science and Industry Corporation, Indian Space Research Organization (ISRO) as well as the Korean Space Agency (KSA: Tentative title) to create a similar body to Canadian Space Agency, European Space Agency, Russian Space Agency, Italian Space Agency, Israel Space Agency, Indian Department of Space, National Aeronautics and Space Administration (NASA) of USA, China National Space Administration in order to develope efficiently space industry. A call is made for Asian countries to unite and further their space development through a regional space agency.

• 한국정밀공학회지
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• 제19권1호
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• pp.119-126
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• 2002

In this paper, we present a new approach based on an elitist genetic algorithm for the task of aligning the position of a robot gripper using CCD cameras. The vision-based control scheme for the task of aligning the gripper with the desired position is implemented by image information. The relationship between the camera space location and the robot joint coordinates is estimated using a camera-space parameter modal that generalizes known manipulator kinematics to accommodate unknown relative camera position and orientation. To find the joint angles of a robot manipulator for reaching the target position in the image space, we apply an elitist genetic algorithm instead of a nonlinear least square error method. Since GA employs parallel search, it has good performance in solving optimization problems. In order to improve convergence speed, the real coding method and geometry constraint conditions are used. Experiments are carried out to exhibit the effectiveness of vision-based control using an elitist genetic algorithm with a real coding method.

• International Journal of Computer Science & Network Security
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• 제23권8호
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• pp.146-158
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• 2023

Smart City is gaining attention with the advancement of Information and Communication Technology (ICT). ICT provides the basis for smart city foundation; enables us to interconnect all the actors of a smart city by supporting the provision of seamless ubiquitous services and Internet of Things. On the other hand, Crowdsourcing has the ability to enable citizens to participate in social and economic development of the city and share their contribution and knowledge while increasing their socio-economic welfare. This paper proposed a hybrid model which is a compound of human computation, machine computation and citizen crowds. This proposed hybrid model uses knowledge-based crowdsourcing that captures collaborative and collective intelligence from the citizen crowds to form democratic knowledge space, which provision solutions in areas of civic innovations. This paper also proposed knowledge-based crowdsourcing framework which manages knowledge activities in the form of human computation tasks and eliminates the complexity of human computation task creation, execution, refinement, quality control and manage knowledge space. The knowledge activities in the form of human computation tasks provide support to existing crowdsourcing system to align their task execution order optimally.

• 제어로봇시스템학회논문지
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• 제18권12호
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• pp.1106-1114
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• 2012

To achieve synchronized motion between a wearable robot and a human user, the redundancy must be resolved in the same manner by both systems. According to the seven DOF (Degrees of Freedom) human arm model composed of the shoulder, elbow, and wrist joints, positioning and orientating the wrist in space is a task requiring only six DOFs. Due to this redundancy, a given task can be completed by multiple arm configurations, and thus there exists no unique mathematical solution to the inverse kinematics. This paper presents analysis on the kinematic and dynamic aspect of the human arm movement and their effect on the redundancy resolution of the human arm based on a seven DOF manipulator model. The redundancy of the arm is expressed mathematically by defining the swivel angle. The final form of swivel angle can be represented as a linear combination of two different swivel angles achieved by optimizing different cost functions based on kinematic and dynamic criteria. The kinematic criterion is to maximize the projection of the longest principal axis of the manipulability ellipsoid for the human arm on the vector connecting the wrist and the virtual target on the head region. The dynamic criterion is to minimize the mechanical work done in the joint space for each two consecutive points along the task space trajectory. As a first step, the redundancy based on the kinematic criterion will be thoroughly studied based on the motion capture data analysis. Experimental results indicate that by using the proposed redundancy resolution criterion in the kinematic level, error between the predicted and the actual swivel angle acquired from the motor control system is less than five degrees.

• International Journal of Naval Architecture and Ocean Engineering
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• 제13권1호
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• pp.208-222
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• 2021

Managing with the presence of sea ice is the primary challenge in the operation of floating platforms in the Arctic region. It is widely accepted that offshore structures operating in Arctic conditions need station-keeping methods as well as ice management by icebreakers. Dynamic Positioning (DP) is one of the station-keeping methods that can provide mobility and flexibility in marine operations. The presence of sea ice generates complex external forces and moments acting on the vessel, which need to be counteracted by the DP system. In this paper, an icevaning control algorithm is proposed that enables Arctic offshore vessels to perform DP operations. The proposed icevaning control enables each vessel to be oriented toward the direction of the mean environmental force induced by ice drifting so as to improve the operational safety and reduce the overall thruster power consumption by having minimum external disturbances naturally. A mathematical model of an Arctic offshore vessel is summarized for the development of the new icevaning control algorithm. To determine the icevaning action of the Arctic offshore vessel without any measurements and estimation of ice conditions including ice drift, task and null space are defined in the vessel model, and the control law is formulated in the task space. A backstepping technique is utilized to handle the nonlinearity of the Arctic offshore vessel's dynamic model, and the Lyapunov stability theory is applied to guarantee the stability of the proposed icevaning control algorithm. Experiments are conducted in the ice tank of the Korea Research Institute of Ships and Ocean Engineering to demonstrate the feasibility of the proposed approach.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.894-897
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• 2004

In this paper, we address a position control scheme for a stage system, which is levitated and driven by electric magnetic actuators. This consists of a levitating object (called platen) with 4 permanent magnetic linear synchronous motors in parallel. Each motor generates vertical force for suspension against gravity and propulsion force horizontally as well. This stage can generate six degrees of freedom motion by the vertical and horizontal forces. Dynamic equations of the stage system are derived based on Newton-Euler method and its special Jacobian matrix describing a relation between the Joint velocity and platen velocity is done. There are proposed two control schemes for positioning, which are Cartesian space controller and Joint space controller. The control performance of the Cartesian space controller is better than the Joint space controller in task space trajectory while the Joint space controller is simpler than the Cartesian space controller in controller realization.

• 한국항공우주학회지
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• 제38권5호
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• pp.427-436
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• 2010

본 논문은 다수의 목표물과 다수의 임무가 존재하는 상황에서의 다수 무인항공기의 임무할당 문제를 다룬다. 다수 무인항공기의 임무할당 문제는 순회 세일즈맨 문제, 차량 라우팅 문제와 같은 조합최적화 문제의 일종으로 NP-hard의 계산 복잡도를 가지고 있다. 이런 성격의 문제는 문제의 크기가 커질수록 계산시간이 급격히 증가하는 특징을 지니기 때문에 문제를 효율적으로 풀기 위해서 근사화 방법 또는 발견적인 방법을 사용한다. 본 연구에서는 임무할당 문제를 혼합정수 선형계획 문제로 정식화하고, 혼합정수 선형계획법과 유전 알고리듬으로 해를 구하였다. 다수의 목표물, 다수의 임무, 장애물이 존재하는 환경에 대한 수치 시뮬레이션을 수행하여 각 방법의 최적성과 효율성에 대해 검토하였다.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2008년도 학술대회 2부
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• pp.158-164
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• 2008

본 논문은 모바일폰의 사용성 연구에 있어서 모바일폰의 사용 특성을 충분히 반영할 수 있도록 추후 연구를 돕기 위한 목적으로 진행되었다. 모바일폰의 사용 특성은 무엇보다 컨텍스의 영향에 매우 민감하다는 것과, 1인 1디바이스로서 개인적인 라이프 패턴을 많은 부분 수용한다는 것이다. 이러한 전제로부터 모바일폰이 사용되는 컨텍스트를 정의하였다. 특별히 컨텍스트의 정의에 있어서 상황적 컨텍스트(situational context)라는 정의를 도입하였으며, 모바일폰으로 할 수 있는 다양한 task 중 특별히 situational context의 영향을 직접적으로 받는 task를 contextual task로 이름하였다. 연구 결과물로써 contextual task의 모델을 제작하였다. 이는 디자인 종사자들과 타 업계의 종사자들이 모두 사용자의 실제적 행태를 이해할 수 있도록 하여 동일한 컨셉을 가지고 사용자 중심의 디자인을 진행할 수 있도록 한다. 또한, 이러한 사용자 사용 행태에 대한 통일한 컨셉은 디자인을 위한 서로의 의사전당에도 효과적일 젓이다. 수집된 사용자 task 들은 3가지 모델로 그 패턴을 정의할 수 있다. 사용자의 공간 확장과 관련되어 다양한 패턴을 구조화한 Extend Model, 기능의 컨버전스로 인해서 각 기능의 충돌을 최소화하여 사용성을 높일 수 있는 기회를 제공하기 위해 이와 관련된 task 들의 패턴을 구조화한 Synchronize Model, 마지막으로 사용자의 라이프 패턴을 반영하여 기존의 object를 대체하는 결과를 가져오는 task들의 패턴을 구조화한 Replace Model 로 Contextual Task를 정의하였다. 마지막으로 각 모델의 구체적 용도를 보이기 위해 Context 를 반영한 Interview 를 시행할 수 있는 질문지 제작을 진행하였다.