• The Journal of Korea Robotics Society
• /
• v.10 no.1
• /
• pp.42-51
• /
• 2015

Peg-in-hole assembly is the most representative task for a robot to perform under contact conditions. Various strategies for accomplishing the peg-in-hole task with a robot exist, but the existing strategies are not sufficiently practical to be used for various assembly tasks in a human environment because they require additional sensors or exclusive tools. In this paper, the peg-in-hole assembly experiment is performed with anthropomorphic hand arm robot without extra sensors or devices using "intuitive peg-in-hole strategy". From this work, the probability of applying the peg-in-hole strategy to a common assembly task is verified.

• Journal of Institute of Control, Robotics and Systems
• /
• v.8 no.1
• /
• pp.15-20
• /
• 2002

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable contact work but also accurate force control for the automatic assembly tasks using hydraulic manipulators. In this manuscript, we applied a compliance control, which is based on the position control by a disturbance observer for our manipulator system. A reference trajectory modification method is proposed in order to achieve accurate force control even though the stiffness and the position of the environment change. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved under various environment conditions. The proposed force control algorithm is applied to the approaching of bolt and the wrenching of nut tasks as one typical task in the maintenance work of live power electric line and is experimentally confirmed very effective for the task.

• Phonetics and Speech Sciences
• /
• v.2 no.4
• /
• pp.3-10
• /
• 2010

The present study aims to investigate neural activations according to the level of code switching in English proficient bilinguals and to find the relationship between the performance of language switching and proficiency level using ERPs (event-related potentials). First, when comparing high-proficient (HP) with low-proficient (LP) bilingual performance in a native language environment, the activation level of N2 was observed to be higher in the HP group than in the LP group, but only under two conditions: 1) the language switching (between-language) condition known as indexing attention of code switching and 2) the inhibition of current language for L1. Another effect of N400 can be shown in both groups only in the language non-switching (within-language) condition. This effect suggests that both groups completed the semantic acceptability task well in their native language environment without the burden of language switching, irrespective of high or low performance. The latencies of N400 are only about 100ms earlier in the HP group than in the LP group. This difference can be interpreted as facilitation of the given task. These results suggest that HP showed the differential activation in inhibitory system for L1 in switching condition of L1-to-L2 to be contrary to inactivation of inhibitory system for the LP group. Despite the absence of an N400 effect at the given task in both groups, differential latencies between the peaks were attributed to the differences of efficiency in semantic processing.

• Physical Therapy Korea
• /
• v.18 no.4
• /
• pp.51-59
• /
• 2011

The purpose of this study was to investigate the effect of attentional focus and distance of external focus on the performance of balance task of upper extremity. Subjects (N=30) held a stick (2 m) and maintained it horizontally. All of the subjects performed balance task of upper extremity under four different attentional focus conditions: focus on hand (internal focus), marker at 10 cm inside of hand (external focus 1), marker at 10 cm outside of hand (external focus 2), marker at 20 cm outside of hand (external focus 3). The mean velocity of the bar (mm/s) and the muscle activity of biceps brachii (%RVC) were measured. They were decreased when the subjects focused on external focuses compared to internal focus and decreased as distance of attentional focus from body increased (p<.05). There were significant differences between groups (p<.05); internal focus-external focus 1, internal focus-external focus 2, internal focus-external focus 3, external focus 2-external focus 3. These results showed that external focus is more effective than internal focus in enhancing motor performance and focusing on more distant attentional focus results in enhanced motor performance promoting the utilization of more automatic control mechanisms.

• Journal of the Korean Society for Precision Engineering
• /
• v.29 no.9
• /
• pp.986-994
• /
• 2012

This paper is concerned with the application of the vision control algorithm with weighting matrix in robot point placement task. The proposed vision control algorithm involves four models, which are the robot kinematic model, vision system model, the parameter estimation scheme and robot joint angle estimation scheme. This proposed algorithm is to make the robot move actively, even if relative position between camera and robot, and camera's focal length are unknown. The parameter estimation scheme and joint angle estimation scheme in this proposed algorithm have form of nonlinear equation. In particular, the joint angle estimation model includes several restrictive conditions. For this study, the weighting matrix which gave various weighting near the target was applied to the parameter estimation scheme. Then, this study is to investigate how this change of the weighting matrix will affect the presented vision control algorithm. Finally, the effect of the weighting matrix of robot vision control algorithm is demonstrated experimentally by performing the robot point placement.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.20 no.12
• /
• pp.3871-3882
• /
• 1996

In this paper, a closed-form formulation for inverse kinematics of robot manipulators with kinematic redundancy under the constrained environment has been derived using the Kuhn-Tucker condition, the extended Lagrange multiplier method and the working set method. The proposed algorithm satisfies the necessaryand sufficient conditions for optimization subject to equality and inequality constraints. In addition, computationally efficient kinematic control methods have been proposed using differential kinemetics and gradient projection mehtod. The effectiveness of the proposed methods has been demonstrated with a 4-dof planar robot, and then a 7-dof spatial robot as a practical application to the nozzle dam task in the Nuclear Power Plant.

• Journal of Korean Academy of Fundamentals of Nursing
• /
• v.4 no.2
• /
• pp.193-216
• /
• 1997

The purpose of this research was to understand the structure of the experiences of turnover among hospital nurses. The research question was 'What is the structure of the experiences of turnover among hospital nurses?' The sample consisted of 16 hospital nurses who experienced one or more turnover. The unstructured interview were carried out from July 15. through August 31., 1997. Intervewed by audio-recording and analyzed by Van Kaam's method. There were 361 descriptive expressions and priority classifications. The result summerized as 107 common elements, 38 syntheses of hypothetical definitions and 6 identifications of the structural definition. The structural definitions and hypothetical definitiones were as follows ; 1. There were different views on the turnover intention. Hard task, dissatisfaction of initial expectancy, uncomfortable relationship with doctors, inappriate reward, uncomfortable relationship with workers of other parts, uncomfortable relationship with patients, unreasonable promotion, uncomfortable relationship with co-worker, helplessness, poor environment of working conditions. 2. Motivating factor of turnover can be varied : self development, problem of social support, boring task, problem of relation-ship with the senior, unfair promotion, night duty. 3. Social supportive factors were co-worker support, senior support, self control, family support, time support. 4. There were different views on the job satisfaction. Task, relationship with patient, recognition, professionalism, promotion, working environment, relationship with co-worker, reward.

• Journal of Information Technology Services
• /
• v.18 no.3
• /
• pp.75-93
• /
• 2019

Digital twin technology is one of the key technologies to strengthen the competitiveness of manufacturing industry from the viewpoint of digital transformation in the era of $4^{th}$ industrial revolution. In this research, the important role in using digital twin technology in product design, This paper summarizes and empirically verifies the technical characteristics of digital twins, a key concept in the digital transition of the manufacturing industry. In this study, the technology characteristics of digital twin which is key concept in the digital transformation of manufacturing industry are summarized and empirically validated which factors militate a critical role in the use of digital twin technology in product design which is key area of product development. As a result of analysis, datafication, intellectualization which are characteristics of digital twin technology and task characteristics of product design influence Task Technology Fit (TTF) and Task Technology Fit (TTF) influences Technology (UTAUT) And finally, performance expectancy, effort expectancy, social influence and facilitating conditions affect usage intention.

• Journal of the Korean School Mathematics Society
• /
• v.24 no.3
• /
• pp.309-324
• /
• 2021

From the past to the present, general mathematics classes have pursued changes in the educational environment. However, due to the actual college education conditions, general lecture classes are taking place. In this study, we wanted to find teaching and learning methods that would help students in general lecture classes. As a result, one group that took notes about class content and provided feedback on individual tasks was more effective in math achievement than the group that provided feedback on the same task. In addition, one group who took notes on class content and provided feedback on individual assignments was more effective in math achievement than the group who took notes on class content and provided feedback on the same task.

• Journal of the Korean Society of Safety
• /
• v.14 no.3
• /
• pp.174-180
• /
• 1999

The objective of this study was to investigate the effects of carrying postures and weight of load carried one time on a worker when carrying heavy loads. Six male students participated in this study to perform a manual materials carrying task as subjects. To make comparison of work loads with physical work capacity, maximal oxygen uptake measurement tests were performed with submaximal test. The average oxygen consumption for the tasks of this study was 27.59~31.93% $VO_2$max. The results showed that the weight of load carried one time affects on working heart rate and oxygen consumption($VO_2$). It was found that the workload was significantly lower when handling a 20kg load at a frequency rate of 3times/min than when handling a 40kg load at a frequency rate of 1.5 times/min. There was no difference between carrying postures. It is concluded from the results of this study that the workload can be reduced by controlling conditions of a manual materials handling task.