• Title/Summary/Keyword: position probability

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Visual Servoing of Robot Manipulators using Pruned Recurrent Neural Networks (저차원화된 리커런트 뉴럴 네트워크를 이용한 비주얼 서보잉)

  • 김대준;이동욱;심귀보
    • Proceedings of the Korean Institute of Intelligent Systems Conference
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    • 1997.11a
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    • pp.259-262
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    • 1997
  • This paper presents a visual servoing of RV-M2 robot manipulators to track and grasp moving object, using pruned dynamic recurrent neural networks(DRNN). The object is stationary in the robot work space and the robot is tracking and grasping the object by using CCD camera mounted on the end-effector. In order to optimize the structure of DRNN, we decide the node whether delete or add, by mutation probability, first in case of delete node, the node which have minimum sum of input weight is actually deleted, and then in case of add node, the weight is connected according to the number of case which added node can reach the other nodes. Using evolutionary programming(EP) that search the struture and weight of the DRNN, and evolution strategies(ES) which train the weight of neuron, we pruned the net structure of DRNN. We applied the DRNN to the Visual Servoing of a robot manipulators to control position and orientation of end-effector, and the validity and effectiveness of the pro osed control scheme will be verified by computer simulations.

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A Study of Institutional in Industrial Accident Compensation Insurance Application for Unpaid Family Worker (무급가족종사자의 산재보험 적용에 관한 제도연구)

  • Seo, Gyu-Seok;Kang, Kyung-Sik
    • Proceedings of the Safety Management and Science Conference
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    • 2009.11a
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    • pp.495-505
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    • 2009
  • Unpaid Family Worker is blind area of industry safety. Danger of industrial accident is some high but because was excepted in industrial accident compensation insurance application. In most case, because paltry Unpaid Family Worker is no opportunity to take safety education to prevent industrial accidents and there are few safety facility and safety equipment, etc., among business, it may be said that probability to suffer industrial accidents on a trifling mistake or carelessness is higher than general worker of business. Consider such difficult actuality of Unpaid Family Worker and our country must give these benefit of industrial accident compensation insurance application, as opened the door of insurance application in recognition of worker position by "Industrial accident compensation insurance Law" to middle·smaller enterprise's business proprietor or special form labor employees.

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Optimal Placement of Strain Gauge for Vibration Measurement for Fan Blade (블레이드 진동측정을 위한 스트레인 게이지 설치위치 최적화)

  • Choi ByeongKeun
    • Transactions of the Korean Society for Noise and Vibration Engineering
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    • v.14 no.9 s.90
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    • pp.819-826
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    • 2004
  • A multi-step optimum strategy for the selection of the locations and directions of strain gauges is proposed in this paper to capture at best the modal response of blade in a series of modes on fan blades. It is consist of three steps including two pass reduction step, genetic algorithm and fine optimization to find the locations-directions of strain gauges. The optimization is based upon the maximum signal-to-noise ratio(SNR) of measured strain values with respect to the inherent system measurement noise, the mispositioning of the gauge in location and gauge failure. Optimal gauge positions for a fan blade is analyzed to prove the effectiveness of the multi-step optimum methodology and to investigate the effects of the considering parameters such as the mispositioning level, the probability of gauge failure, and the number of gauges on the optimal strain gauge position.

On the modification of particle dispersion in isotropic turbulence by free rotation of particle (등방성 난류에서 입자의 회전에 의한 분산 특성의 변화)

  • Park, Yong-Nam;Lee, Chang-Hoon
    • Proceedings of the KSME Conference
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    • 2008.11b
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    • pp.2554-2557
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    • 2008
  • Effect of a particle's spin is investigated numerically by considering the effect of lift occurring due to difference of rotations of a particle and of fluid such as the Saffman lift and Magnus force. These lift forces have been neglected in many previous works on particle-laden turbulence. The trajectory of particles can be changed by the lift forces, resulting in significant modification of the stochastic characteristics of heavy particles. Probability density functions and autocorrelations are examined of velocity, acceleration of solid particle and acceleration of fluid at the position of solid particle. Changes in velocity statistics are negligible but statistics related with acceleration are a little bit changed by particle's rotation. When a laden particle encounters with coherent structures during the motion, the particle's rotation might significantly affects the motion due to intermittently large fluid acceleration near coherent structures.

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Development of Preventive Maintenance Plan based on PRA - Case Study of Pansong-Line Railway in Pusan - (위험도평가에 기초한 예방유지관리 계획 - 부산지하철 반송선의 설계 예 -)

  • Kim Jae-Won;Choi Young-Min;Kim Dae-Sung;Kim Kyo-Hun;Park Hyang-Woo
    • Proceedings of the KSR Conference
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    • 2005.11a
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    • pp.482-487
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    • 2005
  • In the most current Turn-key bidding and Alternative design, is going to establish maintenance plan along with a economical assessment (VE/LCC assessment etc). Generally, establishment of maintenance plan is based on past experiences that are decided upon sensor position and amount with analytic or mechanical control section. But, it is more reasonable that maintenance plan based on level of significance for Probabilistic Risk, with presuming damage probability assessment of structural fracture scenarios. Therefore, in this study it is considered about the technique that an improved maintenance plan of railroad structures using PRA (Probabilistic Risk Assessment) on the basis of structural reliability theory. For this, in the paper, Preventive maintenance plan based on PRA is suggested with an application example of Pansong-Line (Line number 3) railway in Pusan works that actually executed Turn-key design.

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Eye as a Human/Computer Interface Device (눈으로 조종하는 인간/컴퓨터 인터페이스)

  • 박경수;이경태
    • Proceedings of the ESK Conference
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    • 1996.04a
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    • pp.36-47
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    • 1996
  • By integrating the eye head-position monitioring devices, the present authors developed an eye-controlled human/computer interface based on the line-of-sight and an intentional blink to invoke commands. Also modified was an existing calibration method to reduce the visual angle between the target center and the intersection point of the derived line-of-sight. This modified calibration method allowed 108 or more command blocks to be displayed on the 14 inch monitor with the target acquisition probability(hit rate) of 98% when viewed at the distance of 500 mm apart. An active triggering method using an intentional blink was proposed and was shown to be a feasible and efficient alternative to invoke commands with total triggering time of 0.8 sec or less. The system could be used by the normal people as well as the handicapped individuals as a new human/computer interface.

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Study on the Job Satisfaction and Turnover Intention in Korean Business in China (중국진출 한국기업의 직무만족도와 이직률에 관한 연구)

  • Kim, Mie-Jung
    • International Commerce and Information Review
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    • v.9 no.3
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    • pp.3-22
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    • 2007
  • The purpose of this study is to gain a better understanding of the relationships between job satisfaction and organizational commitment of employees at the Chinese employees in Korean company. This study also focuses on revealing homogeneous demographic characteristics these employees exhibit that affect their satisfaction level. This paper analyzes the job satisfaction and turnover intention of the Chinese employees in Korean Businesses based on a great deal of questionnaire research. The research found that individual's characteristics, such as gender, age, education and marital status, as well as duty variables like salary, position, length of service, number of turnover times, probability and number of promotion, made influence on the employees about their job satisfaction and turnover tendency. The result of this research is helpful in studying how to improve the Chinese employees' job satisfaction and impair their turnover intention in Korean businesses.

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What is the Correct Answer to the Sleeping Beauty Problem? (잠자는 미녀의 문제, 그의 대답은?)

  • Song, Ha-Suk
    • Korean Journal of Logic
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    • v.14 no.1
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    • pp.1-23
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    • 2011
  • I take the position of the thirders on the sleeping beauty problem like Elga and criticize Lewisian halfers. In particular, I attack Franceschi's recent arguments for the halfers. In addition, I claim that Bostrom's and Kim's hybrid view is not satisfactory, because it is to pre-empt or to take the burden of proof that the problem is the genuine paradox. Consequently, the purpose of this paper is to show that the thirders' argument is more intuitive than others and what the fallacies of the halfer's arguments are.

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Improvement of Target Motion Analysis for a Passive Sonar System with Measurement Bias Estimation (측정각 Bias 보상을 통한 수동소나체계의 표적기동분석 성능 향상 연구)

  • Yoo, Phil-Hoon;Song, Taek-Lyul
    • Proceedings of the KIEE Conference
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    • 2001.07d
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    • pp.2011-2013
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    • 2001
  • In this paper the MMAE(Multiple Model Adaptive Estimation) algorithm using the MGEKF(Modified Gain Extended Kalman Filter) of which modes are set to be measurement biases is proposed to enhance the performance of target tracking with bearing only measurements. The state are composed of relative position, relative velocity and taregt acceleration. The mode probability is calculated from the bearing only measurements from the HMS(Hull-Mounted Sonar). The proposed algorithm is tested in a series of computer simulation runs.

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Error in Incremental Encoder Due to Vibration and Its Solution (증분 엔코더에서 발생하는 진동에 의한 에러와 해결방안에 관한 연구)

  • Nam, Yoon-Su;Park, Hae-Kyoon
    • Journal of the Korean Society for Precision Engineering
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    • v.25 no.6
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    • pp.55-61
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    • 2008
  • Incremental encoder is a common choice for measuring the rotational angle of an axis. It produces, however, some measurement errors, if some kinds of rotational vibration are occurred. Even by increasing the number of slits on the circular peripheral, these kinds of error can not be removed. It only decreases the probability of the error being generated by making the magnitude of encoder resolution smaller than that of the axial vibration. This paper investigates the error mechanism of incremental encoder and suggests a digital logic circuit that prevents the measurement error to happen.