• Asia pacific journal of information systems
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• v.15 no.4
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• pp.61-87
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• 2005

This paper has two primary objectives: (1) to propose a comprehensive theoretical model that incorporates valuable insights from two complementary streams of research, and (2) to empirically test the model that explain the task-media fit and satisfaction of customer contact center users. The comprehensive model was tested using LISREL analysis on the sample of 232 users who have experience with the customer contact center. The model was supported in customer contact center context, accounting for 29% of the variance in the task-media fit, 53% of the variance in the perceived ease of use, 61% of the variance in the perceived usefulness, and 52% of the variance in the user satisfaction. The results showed that the task-media fit, the perceived ease of use, and the perceived usefulness play a significant role in influencing the user satisfaction of the customer contact center. In addition, task analyzability, media richness, media interactivity, and self-efficacy were found to influence the task-media fit. The paper concludes with discussions and implications for researchers and practitioners.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.139-142
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• 1996

This paper presents a method of controlling contact force for deburring tasks. The cope with the nonlinearities and time-varying properties of the robot and the environment, a neural network control theory is applied to design the contact force control system. We show that the contact force between the hand and the contacting surface can be controlled by adjusting the command velocity of a robot hand, which is accomplished by the modeling of a robot and the environment as Mass-Spring-Damper system. Simulation results are shown.

• Journal of Engineering Education Research
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• v.26 no.2
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• pp.45-53
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• 2023

This study conducted and evaluated the PBL-based team activity classes in contact and untact learning. Appropriate subject (Engineering communication) was also selected and evaluation methods were improved. In the qualitative evaluation results, in contact learning, similar score ranges were formed for each task, and the variability of scores for each task was not large. In untact learning, the difference in scores for each task was rather large, and the variability of scores for each task was large, indicating a large difference between teams that performed well and teams that did not. In the quantitative evaluation, contact learning showed a little low grades, but untact learning showed relatively high grades, but there were limitations in showing the conclusion that the untact learning effect was very good. As a result of the survey, there were more positive responses to the degree of understanding of the class conducted online, the degree of help to improve competence, and the team activity. However, if untact learning continues, it was analyzed that it is necessary to prepare appropriate measures to enhance learning effects and efficiently conduct team activities.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.410-410
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• 2000

Impedance control is recognised as one of the most proper control scheme to carry out the assembly tasks, since it can control the dynamic relationship between the manipulator and environment directly. However, it is well known that the contact force cannot be controlled directly using the impedance control. Also impedance parameters should be properly defined depending on the task to be performed. We propose a new position based impedance control, which has self-adjusted impedance parameters and can control the contact force explicitly, Impedance parameters, as time-varying parameters, are adjusted automatically based on the measured contact force and the position error during the task. A proposed algorithm was implemented on the peg-in-hole task with the industrial manipulator. We shows the effectiveness of proposed control method experimentally.

• Korean Journal of Applied Biomechanics
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• v.30 no.3
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• pp.265-273
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• 2020

Objective: The aim of this study was to investigate the effect of participation in contact sports on neurocognitive scores, dual-task walking velocity, and cognitive costs in retired athletes. Method: Forty-four retired athletes (mean age = 26.4±5.5 yrs) and thirty-eight controls (mean age = 26.1±4.9 yrs) participated in this study. Neurocognitive score was collected using computerized neurocognitive testing using RehaCom. Gait velocity was collected one single task, four dual-tasks, and two multi-tasks using Optogait. Mann-Whitney U test was performed to compared differences in cognitive scores among groups. A mixed-design two-way ANOVA and Bonferroni posthoc test were used to assess the effect of group and walking tasks for each condition. Results: The auditory divided attention of neurocognitive score of retired athletes was higher than the control group (p < 0.05). No statistical differences were observed in the other neurocognitive scores between groups. The changes in walking velocity and cognitive costs according to the dual-task walking tests differed between the two groups (p < 0.05). Conclusion: Although participation in contact sports did not affect the neurocognitive results of retired athletes, it could be confirmed that the reduction in walking velocity and an increase in cognitive costs during dual-task walking. Rather than observing only neurocognitive scores as a single evaluation item for cognitive evaluation of retired athletes in relation to daily life, the application of the dual-task gait test may provide useful information.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.221-224
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• 1996

Since impact phenomenon is highly nonlinear, the analysis and control of the contact motion has been a challenging subject. Various researches have been carried out mostly for the contact of a rigid robotic manipulator with a stiff and elastic environment. This paper is motivated by a new contact task: the in-circuit test of a printed circuit board. In this process, high speed contact occurs between a rigid probing manipulator and a plastically deformable work environment. A new dynamic model of the impact controlled probing task has been proposed, considering contact with the plastically deformable object. Approaching velocity conditions to avoid an excess of the allowable penetration depth and control the generated impact force properly are derived from the proposed model. The results of the simulation studies are made for various probing conditions and show the validity of the proposed model.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.1
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• pp.26-34
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• 1998

In this paper, a force control algorithm for edge following task is suggested. Through the contact state modeling between rigid part and end-effector of robot, contact force and contact angle that are essencial parameters to build the control strategies for following movement of end-effector are derived. From these two parameters, we discriminate the every contact state into 8 cases and calculate the new moving position and direction simply. For the experiment. RX90 robot from Staubli with robot language V$^{+}$ is applied and F/T sensor is attached to the wrist of robot with RCC. Finally, 3 edge following experiments including the following of corner point are executed with successful results.s.

• Korean Journal of Child Studies
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• v.35 no.5
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• pp.83-98
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• 2014

This study examined the influences of eye-contact upon the relationship between mothers' control behaviors and emotions of preschool children. The participants of this study were 66 children aged 6, and their mothers. The children and mothers were observed taking part in a writing task for 15 minutes, and two coders analyzed the amount of eye-contact between children and mothers, mothers' verbal and nonverbal support and coercive control, and children's emotions in the task setting. The results showed that mothers' coercive control and nonverbal support significantly accounted for children's negative and positive emotions, respectively. In addition, the interaction between eye-contact and mothers' verbal support was significant. In particular, mothers' behaviors significantly affected children's emotions only when eye-contact occurred. Mothers' behaviors in the absence of eye-contact did not affect children's emotions. The discussion section included an analysis of the social function of eye-contact on the verbal and nonverbal communication between mothers and children, and suggestions for future study were also presented.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.743-746
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• 1996

A hybrid control scheme to regulate the force and position by dual arms is proposed, where two arms are treated as one arm in a kinematic viewpoint. Our approach is different from other hybrid control approaches which consider robot dynamics, in the sense that we employ a purely kinematic based approach for hybrid control, with regard to the nature of position-controlled industrial robots. The proposed scheme is applied to sawing task. In the sawing task, the trajectory of the saw grasped by dual arms is planned in an offline fashion. When the trajectory of the saw is planned to follow a line in a horizontal plane, 3 position parameters are to be controlled(i.e, two translational positions and one rotational position). And a certain level of contact force has to be controlled along the vertical direction(i.e., minus z-direction) not to loose the contact with the object to be sawn. Typical feature of sawing task is that the contact position where the force control is to be performed is continuously changing. Therefore, the kinematic mapping between the force controlled position and the joint actuators has to be updated continuously. The effectiveness of the proposed control scheme is experimentally demonstrated. The proposed hybrid control scheme can be applied to arbitrary dual arm systems, regardless of their kinematic structure and the number of actuated joints.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.10
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• pp.930-939
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• 2004

In this paper, both dynamic constraints and kinematic constraints are considered for the analysis of manipulability of robotic systems comprised of multiple cooperating arms. Given bounds on the torques of each Joint actuator for every robot, the purpose of this study is to drive the bounds of task-space acceleration of object carried by the system. Bounds on each joint torque, described as a polytope, is transformed to the task-space acceleration through matrices related with robot dynamics, robot kinematics, object dynamics, grasp conditions, and contact conditions. A series of mathematical manipulations including the procedure calculating minimum infinite-norm solution of linear equation is applied to get the reachable acceleration bounds from given actuator dynamic constrains. Several examples including two robot systems as well as three robot system are shown with the assumptions of complete-constraint contact model(or' very soft contact') and insufficient or proper degree of freedom robot.