• 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.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.4 no.3
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• pp.353-360
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• 2004

In this paper we describe Task-Based Problem Solving Adapters (TPSAs) for modeling a humam solution (through activity-centered analysis) to a software solution (in form of computer-based artifact). TPSAs are derived from the problem solving pattern or consistent problem solving structures/strategies employed by practitioners while designing solutions to complex problems. The adapters developed by us lead toward human-centeredness in their design and underpinning that help us to address the pragmatic task constraints through a range of technologies like neural networks, fuzzy logic, and genetic algorithms. We also outline an example of applying the TPSAs to develop a working system for assisting sales engineers of an electrical manufacturing firm in preparing indent and monitoring the status of orders in the company.

• Journal of KIISE:Computing Practices and Letters
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• v.16 no.5
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• pp.519-524
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• 2010

In this paper, we will introduce our approach for composing operation based on user tasks. It is based on Service Component Architecture (SCA). In addition, we developed ontology based on OWL and the MIT process handbook, called u-TO(universal task ontology), which can be used for users describing and specifying semantically their needs. We represent the hierarchy of tasks, and classify tasks according to views in u-TO. It aims at facilitating the modeling of complex demands or systems without regarding details of technical aspects of underlying infrastructure.

• Journal of Information Processing Systems
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• v.7 no.4
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• pp.707-716
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• 2011

It is important that desktop grids should be able to aggressively deal with the dynamic properties that arise from the volatility and heterogeneity of resources. Therefore, it is required that task scheduling be able to positively consider the execution behavior that is characterized by an individual resource. In this paper, we implement a log analysis system with REST web services, which can analyze the execution behavior by utilizing the actual log data of desktop grid systems. To verify the log analysis system, we conducted simulations and showed that the resource group-based task scheduling, based on the analysis of the execution behavior, offers a faster turnaround time than the existing one even if few resources are used.

• The Journal of Korea Robotics Society
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• v.19 no.2
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• pp.196-202
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• 2024

The ability to understand given environments and plan a sequence of actions leading to goal state is crucial for personal service robots. With recent advancements in deep learning, numerous studies have proposed methods for state representation in planning. However, previous works lack explicit information about relationships between objects when the state observation is converted to a single visual embedding containing all state information. In this paper, we introduce graph-based state representation that incorporates both object and relationship features. To leverage these advantages in addressing the task planning problem, we propose a Graph Neural Network (GNN)-based subgoal prediction model. This model can extract rich information about object and their interconnected relationships from given state graph. Moreover, a search-based algorithm is integrated with pre-trained subgoal prediction model and state transition module to explore diverse states and find proper sequence of subgoals. The proposed method is trained with synthetic task dataset collected in simulation environment, demonstrating a higher success rate with fewer additional searches compared to baseline methods.

• Journal of the Korean Society of Safety
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• v.20 no.1 s.69
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• pp.126-132
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• 2005

The purpose of this study is to propose a method to evaluate task complexity using CIFs(Complexity Influencing Factors). We developed a method that CIFs can be used in the evaluation of task complexity using fuzzy linguistic approach. That is, a fuzzy linguistic multi-criteria method to assess task complexity in a specific task situation was proposed. The CIFs luting was assessed in linguistic terms, which are described by fuzzy numbers with triangular and trapezoidal membership function. A fuzzy weighted average algorithm, based on the extension principle, was employed to aggregate these fuzzy numbers. Finally, the method was validated by experimental approach. In the result, it was validated that TCIM(Tink Complexity Index Method) is an efficient method to evaluate task complexity because the correlation coefficient between task performance time and TCI(Task Complexity Index) was 0.699.

• Journal of Information Processing Systems
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• v.10 no.2
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• pp.193-214
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• 2014

Load balancing is the major benefit of any distributed system. To facilitate this advantage, task duplication and migration methodologies are employed. As this paper deals with dependent tasks (DAG), we used duplication. Task duplication reduces the overall schedule length of DAG along-with load balancing. This paper proposes a new task duplication algorithm at the time of tasks assignment on various processors. With the intention of conducting proposed algorithm performance computation; simulation has been done on the Netbeans IDE. The mesh topology of a distributed system is simulated at this juncture. For task duplication, overall schedule length of DAG is the main parameter that decides the performance of a proposed duplication algorithm. After obtaining the results we compared our performance with arbitrary task assignment, CAWF and HEFT-TD algorithms. Additionally, we also compared the complexity of the proposed algorithm with the Duplication Based Bottom Up scheduling (DBUS) and Heterogeneous Earliest Finish Time with Task Duplication (HEFT-TD).

• Journal of the Korean School Mathematics Society
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• v.19 no.4
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• pp.357-371
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• 2016

The purpose of this study was to decide the task space and Rating Scheme of task difficulty in complicated mathematical modelling situations. One of main objective was also to conform the validation of Rating Scheme to determine the degree of difficulty by comparing the student performance with the statement of the theoretical model. In spring 2014, the experimental setting was in Modelling Course for 38 in-service teachers in mathematics education. In conclusions, we developed the Model of Task Space based on their solution paths in mathematical modelling tasks and Rating Scheme for task difficulty. The Validity of Rating Scheme to determine the degree of task difficulty based on comparing the student performance gave us the meaningful results. Within a modelling task the student performance verifies the degree of difficulty in terms of scoring higher using solution approaches determined as easier and vice versa. Another finding was some relations among three research topics, that is, degree of task difficulty on rating scheme, levels of students performance and numbers of specific heuristic. Those three topics showed the impressive consistence pattern.

• Journal of Digital Convergence
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• v.11 no.3
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• pp.363-369
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• 2013

In this paper, the modeling of phenomena that occurs in the brain related language was designed and developed the second language proficiency method. This method based on cognitive ability test in cognitive psychology that is the lexical decision task, the priming task and the verbal span task. The lexical decision task involves measuring how quickly decide stimuli as words or nonwords. This task is divided reading and listening according to stimulus type to the details. The priming task finds the output of the language. This task is divided the translation-priming and the semantic-priming according to stimulus type. The verbal span task finds the short term memory. In this paper, we propose the second language proficiency measurement method using the linguistics cognitive ability of the learner about the second language.

• Journal of Gifted/Talented Education
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• v.18 no.1
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• pp.111-137
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• 2008

The purpose of this study is to develop learning materials and teaching model for the gifted, and to examine the improvement of creativity of them in middle schools. Subjects were 126 gifted students, who were the 7th or 8th graders and have been taught in gifted classes of the adjacent Education Institute for the gifted of Boryeong Education Districts, Chungnam Province Office Of Education. Divisions of gifted Classes were logical reasoning, mathematics, foreign language, science. After the instruction of project-based task, gifted students had improved creativity. Especially, instruction using project-based task was more effective on scientifically gifted students. Most gifted students were satisfied with the instruction using project-based task, and attractive in it. Finally, it was suggested that the instruction using project-based task should be actively used for the gifted students.