• 감성과학
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• 제24권1호
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• pp.3-10
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• 2021

본 연구는 생각/생각회피 과제를 이용하여 의도적 생각회피, 즉 생각억제와 생각대체의 효과를 종합적으로 검증하였다. 이를 위해 연관성이 높지 않은 2음절 단어자극을 선정하고, 단일집단을 대상으로 회상조건(단서회상, 표적회상)과 훈련조건(생각, 생각억제, 생각대체, 기저선)의 정확회상률을 비교하였다. 그 결과, 훈련조건과 관계없이 표적회상에 비해 단서회상의 정확기억률이 높은 것으로 나타났으며, 회상조건과 관계없이 다른 조건에 비해 생각조건의 정확회상률이 높은 것으로 나타났다. 또한 회상조건과 훈련조건의 상호작용 효과의 경향성이 나타났으며, 세부적 검증 결과. 생각억제의 경우, 회상조건 간 차이가 나타나지 않은 반면에 생각대체의 경우에는 표적회상에 비해 단서회상의 정확기억률이 높은 것으로 나타났다. 이러한 결과는 생각억제와 생각대체전략이 모두 의도적으로 생각을 회피하는데 효과적이라는 것과 더불어 생각억제와 생각대체전략이 서로 다른 원리에 의해 발생할 수 있음을 시사한다.

• 제어로봇시스템학회논문지
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• 제7권11호
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• pp.927-932
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• 2001

When people write a character with a pen stably, proper compliance planning is necessary. In this paper, after investigating the property of character writing task, we propose a fundamental grasp model for character writing and also analyze compliance characteristics for effective character writing using multi-fingered hands. For this, the general stiffness relation of multi-fingered hand is firstly described. Next, we investigate the grasp configurations for grasping a pen and then, we analyze the conditions of the specified stiffness matrix in the operational space to successfully and more effectively achieve the given character writing task. Through the analysis, an effective grasp modeling for successful character writing is shown. And also, we conclude that the operational compliance characteristics should be properly planned for character writing, stably and precisely.

• 제어로봇시스템학회논문지
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• 제6권2호
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• pp.181-189
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• 2000

This paper presents the optimal redundant actuation of parallel manipulators for complicated robotic applications such as cutting grinding drilling and digging that require a high degree of operational stiffness as well as the balance between force applicability and dexterity. First by taking into account the distribution(number and location) of active joints the statics and the operational stiffness of a redundant parallel manipulator are formulated and the effects of actuation redundancy are analyzed, Second for given task requirements including joint torque limit task force maximum allowable disturbance and maximum allowable deflection the task execution conditions of a redundant parallel manipulator are derived and the efficient testing formulas are provided. Third to achieve high operational stiffness while maintaining moderate dexterity the redundant actuation of a parallel manipulator is optimized which determines the optimal distribution of active joints and the optimal internal joint torque, Finally the simulation results for the optimal redundant actuation of a planar parallel manipulator are given.

• 한국경영과학회:학술대회논문집
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• 한국경영과학회/대한산업공학회 2005년도 춘계공동학술대회 발표논문
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• pp.112-118
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• 2005

Workflow is a collection of tasks organized to accomplish some business processes. It also defines the order of task invocation or conditions under which task must be invoked, task synchronization, and information flow. And activity based costing(ABC) provides accurate cost information for decision making. In ABC systems, costs must be separable into cost pools each of which corresponding to a single cost driver. These two systems are closely related to each other. But recent research deals with workflows and ABC systems separately. Thus, this research proposes an extended workflow model which is expressed cost information using activity based costing.

• 융복합기술연구소 논문집
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• 제6권2호
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• pp.9-13
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• 2016

Robot usually requires spline motion to move through multiple knots. In this paper, catmull-rom spline method is applied to the trajectory planning of industrial robot in task space. Centripetal catmull-rom is selected to avoid self-intersection and slow motion which can be occurred in uniform and chordal spline. The method to set two control points are proposed to satisfy velocity conditions of initial and final knots. To optimize robot motion, time scaling method is presented to minimize margin between real robot value and maximum value in velocity and acceleration. The simulation results show that the proposed methods are applied to trajectory planning and robot can follow the planned trajectory while robot motion does not exceed maximum value of velocity and acceleration.

• 로봇학회논문지
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• 제2권2호
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• pp.129-136
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• 2007

This paper introduces a position-based robust visual servoing method which is developed for operation of a human-like robot with two arms. The proposed visual servoing method utilizes SIFT algorithm for object detection and CAMSHIFT algorithm for object tracking. While the conventional CAMSHIFT has been used mainly for object tracking in a 2D image plane, we extend its usage for object tracking in 3D space, by combining the results of CAMSHIFT for two image plane of a stereo camera. This approach shows a robust and dependable result. Once the robot's task is defined based on the extracted 3D information, the robot is commanded to carry out the task. We conduct several position-based visual servoing tasks and compare performances under different conditions. The results show that the proposed visual tracking algorithm is simple but very effective for position-based visual servoing.

• 한국수학교육학회지시리즈D:수학교육연구
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• 제16권3호
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• pp.155-176
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• 2012

It is an important issue to explore classroom environments which are conducive to developing students' mathematical performance. This study explores the effects of different classroom environments (solution-demand and corresponding-time setting) on mathematical performances. Fourteen and eighteen prospective teachers were required to prove a task under different conditions respectively: a) Cognitive demand of multiple-solution corresponding time of three hours, and b) Cognitive demand of a right solution corresponding time of 20 minutes. We used SOLO as the assessment tool for mathematical performance from quality perspective. Significant differences were found in the quantity and quality of mathematical performance. The regular environment focusing on speed and accuracy were found to be directly linked to low levels of performance. The findings above provide implications to the cognitive benefits of multiple-solution demand and corresponding time setting.

• 대한산업공학회지
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• 제17권2호
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• pp.97-105
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• 1991

In developing a regression relationship for a standard data system in work measurement, job characteristics are frequently measured with error when measurements are made in the field under less controlled conditions or when accurate instruments are not available. This paper concerns with the prediction of the total task time when job characteristics are measured with error. Integrated mean square error of prediction(IMSE) is developed as a measure of the effect of errors in job characteristics on the predicted total task time. By evaluating how IMSE is affected by the measurement error in each job characteristic, we can determine which error should be controlled to develop a desirable standard data system.

• 대한전기학회논문지:전력기술부문A
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• 제48권4호
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• pp.452-460
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• 1999

Sawing experiments using a two-arm system have been performed in this work. The two-arm system under consideration of two kinematically-nonidentical arms. A passive joint is inserted at the end-point of one robot in order to increase the mobility up to the motion degree required for sawing tasks. A hybrid control algorithm for control of the two-arm system is designed. We experimentally show that the performance of the velocity and force response are satisfactory, and that one additional passive joint not only prevents the system from unwanted yaw motion in the sawing task, but also allows an unwanted pitch motion to be notably reduced by an internal load control. To show the general applicability of the proposed algorithms, we perform experimentation under several different conditions for saw, such as three saw blades, two sawing speeds, and two vertical forces.

• 사물인터넷융복합논문지
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• 제6권1호
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• pp.83-95
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• 2020

실제 복잡다난한 농작물 밭 환경에서 잡초를 정밀하게 검출하는 것은 이전의 접근방법들로는 이미지 프레임을 정확하게 처리하는 속도 면에서 부족했다. 식물의 질병 분류 문제가 중요시 되는 상황에서 특히 작물의 잡초 문제는 큰 화제가 되고 있다. 이전의 접근방식들은 빠른 알고리즘을 사용하지만 추론 시간이 실시간에 가깝지 않아 통제되지 않은 조건에서 비현실적인 해결책이 된다. 따라서, 복잡한 벼 잡초 검출 과제에 대한 탐지 모델을 제안한다. 실험 결과에 따르면, 우리의 접근 방식의 추론 시간은 잡초 검출 과제에서 상당한 시간절약을 보여준다. 실제 조건에서 실제로 적용할 수 있는 것으로 나타난다. 주어진 예시들은 쌀의 두 가지 성장 단계에서 수집되었고 직접 주석을 달았다.