• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.7
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• pp.1110-1119
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• 2003

This paper deals with the synthesis of the 3-dimensional grasp planning for unknown objects. Previous studies have many problems, which the estimation time for finding the grasping points is much long and the analysis used the not-perfect 3-dimensional modeling. To overcome these limitations in this paper new algorithm is proposed, which algorithm is achieved by two steps. First step is to find the whole 3-dimensional geometrical modeling for unknown objects by using stereo matching. Second step is to find the optimal grasping points for unknown objects by using the neural network trained by the result of optimization using genetic algorithm. The algorithm is verified by computer simulation, comparing the result between neural network and optimization.

• Proceedings of the Korea Information Processing Society Conference
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• 2018.10a
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• pp.774-777
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• 2018

어질러진 환경에서의 물체 조작은 개방형 과제이다. 어질러진 환경에서는 장애물들에 의한 물체 조작의 실패가 자주 발생한다. 본 논문에서는 어질러진 환경에서 장애물에 의한 막힌 물체 잡기를 위한 작업-모션 계획의 연계 방법을 제안한다. 작업-모션 계획의 연계는 로봇이 실행해야 할 연속된 행위들을 생성하고 이 행위들의 실행 가능성을 확인하는 방법이다. 본 논문에서 제안하는 연계 방법은 1) 실행 가능성 확인을 위해 비-기호적 상태를 포함한 작업 계획 생성, 2) 장애물 처음 위치를 고려한 목표 포즈 생성, 3) 실행 가능성 확인 과정에서 발생한 실패 처리를 위한 재계획 등의 세부 기술들을 포함한다. 본 논문에서 제안하는 연계 방법의 높은 효율성을 확인하기 위해 휴머노이드 로봇을 이용한 실험을 진행하고 그 내용을 소개한다.

• 주택과사람들
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• s.193
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• pp.18-21
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• 2006

정부가 강남의 집값을 잡기 위해 고심하고 있는 가운데 서울시가 지난 2월 '강북 U턴 프로젝트'를 내놓았다. 뉴타운 사업을 비롯해 강북 개발을 위한 계획안을 내놓고 있는 서울시는 관련 법안의 재정비와 정부 지원, 주택 소유자들의 이해관계 등 여러 가지 사안들로 바쁘게 뛰고 있다. 용산과 뚝섬 일대를 거점으로 동북부와 서북부 등 강북 일대를 친환경 고급 주거지로 개발하는 서울시의 전략적 구상인 '강북 U턴 프로젝트'에 대한 내용을 살펴보자.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.462-465
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• 2002

This paper deals with the problem of synthesis of stable and optimal grasps with unknown objects by 3-finger hand. Previous robot grasp research has analyzed mainly with either unknown objects 2D by vision sensor or unknown objects, cylindrical or hexahedral objects, 3D. Extending the previous work, in this paper we propose an algorithm to analyze grasp of unknown objects 3D by vision sensor. This is archived by two steps. The first step is to make a 3D geometrical model of unknown objects by stereo matching which is a kind of 3D computer vision technique. The second step is to find the optimal grasping points. In this step, we choose the 3-finger hand because it has the characteristic of multi-finger hand and is easy to modeling. To find the optimal grasping points, genetic algorithm is used and objective function minimizing admissible farce of finger tip applied to the object is formulated. The algorithm is verified by computer simulation by which an optimal grasping points of known objects with different angles are checked.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.11
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• pp.54-64
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• 2002

This paper deals with the problem of synthesis of stable and optimal grasps with unknown objects by 3-finger hand. Previous robot grasp research has mainly analyzed with either unknown objects 2-dimensionally by vision sensor or known objects, such as cylindrical objects, 3-dimensionally. As extending the previous work, in this study we propose an algorithm to analyze grasp of unknown objects 3-dimensionally by using vision sensor. This is archived by two steps. The first step is to make a 3-dimensional geometrical model for unknown objects by using stereo matching. The second step is to find the optimal grasping points. In this step, we choose the 3-finger hand which has the characteristic of multi-finger hand and is easy to model. To find the optimal grasping points, genetic algorithm is employed and objective function minimizes the admissible force of finger tip applied to the objects. The algorithm is verified by computer simulation by which optimal grasping points of known objects with different angle are checked.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.4
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• pp.112-117
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• 2003

This paper deals with the problem of synthesis of the 3-dimensional Grasp Planning. In previous studies the genetic algorithm has been used to find optimal grasping points, but it had a limitation such as the determination time of grasping points was so long. To overcome this limitation we proposed a new algorithm which employs the Neural Network. In the Neural network we chose input parameters based on the shape of the object and output parameters resulted from optimization with the GA method. In this study the GRNN method is employed, it has been trained by the result value of optimization method and it has been tested by known object. The algorithm is verified by computer simulation.

• 전기의세계
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• v.27 no.2
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• pp.17-22
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• 1978

현대건설의 후원으로 교수 30명으로 구성된 중도지역방문교수단의 일원으로 Saudi Arabia, Bahrain 및 Kuwait에서의 현대건설의 작업현장을 시찰한 후, 필자는 약 2주일 예정으로 현대중공업의 전기사업부의 사람들과 더불어 북구제국에서의 전기공업시찰의 길로 떠났다. 필자로서는 첫 경험이 될 스웨덴의 ASEA와 서독의 Siemens 및 AEG-TELEFUNKEN계열의 공장과 연구소 시찰계획은 서울출발때부터 본인으로 하여금 여러가지 공상을 갖게 하였다. 짧은 시간이나마 중동지역 및 스웨덴과 서독에서 필자이 눈으로 직접보았고 그곳 회사중역 혹은 투사들과의 대화를 통하여 얻은 단편적인 이야기를 잡기형식으로 기술하고자 하나 독자들에게 혹시 지루한 감을 주지 않을지 염려된다.

• The Journal of Korea Robotics Society
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• v.14 no.2
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• pp.104-113
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• 2019

Object manipulation in cluttered environments remains an open hard problem. In cluttered environments, grasping objects often fails for various reasons. This paper proposes a novel task and motion planning scheme to grasp objects obstructed by other objects in cluttered environments. Task and motion planning (TAMP) aims to generate a sequence of task-level actions where its feasibility is verified in the motion space. The proposed scheme contains an open-loop consisting of three distinct phases: 1) Generation of a task-level skeleton plan with pose references, 2) Instantiation of pose references by motion-level search, and 3) Re-planning task based on the updated state description. By conducting experiments with simulated robots, we show the high efficiency of our scheme.

• Korean Journal of Psychosomatic Medicine
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• v.24 no.2
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• pp.174-183
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• 2016

Objectives : The aim of this study is to evaluate difference of somatic symptoms of anxiety disorder and major depressive disorder and domainal association with suicidal idealization, plan, and attempts. Methods : A total of 359 adults diagnosed with major depressive disorder and anxiety disorder of last one year participated. Participants interviewed with certain sections of Korean version of Composite International Diagnostic interview of CIDI. Sections of interests includes questionnaires regarding somatic symptoms and suicidal idea, plan and attempts of last one year. Results : Chest pain shows more prevalence in major depressive disorder. Symptoms of Headache and loose stool are more prevalent in anxiety disorder. Difficulty in equilibrium and fainting spells are more common somatic complaints of co-diagnosis states of anxiety disorder and major depressive disorder. Comparing 3 domains of pain symptoms, gastrointestinal symptoms and pseudo-neurological symptoms, pain symptom domains, gastrointestinal symptoms domain shows significant statistic difference between diagnosis. Average somatic symptom numbers of each symptom domains increase through suicidal idealization, plan and attempt, accordingly. Conclusions : Our finding shows some of somatic symptoms are more prevalent at certain diagnosis. Since increasing numbers of somatic complaints of each symptom domains goes with the suicidal idealization to suicidal attempts, proper psychiatric evaluation and consultations are crucial for patients with numerous somatic complaints in non-psychiatric clinical settings.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.6
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• pp.385-397
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• 2021

This study examined service failure and recovery of domestic ethnic food restaurants based on a model of the repercussions of service failure dealing with seriousness and control and the cause-and-effect relationships among the variables relevant to the quality of relationships -trust, satisfaction, and loyalty. This study provides valuable information for Korean restaurant managers regarding food service failure and response plans by collecting data from actual Japanese tourists visiting ethnic food restaurants. The results suggested that it is important to develop a strategy to present the distributional fairness to customers who recognize the seriousness of service failure to control the situation promptly. These results can be used to establish more systematic business plans, improving customer management and firm performance. The advantage of this research is that it is time for substantial research data on the booming domestic restaurant industry and service quality to overcome the current recession and grow and solidify the current restaurant market.