• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.10
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• pp.843-849
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• 2016

It has been shown that the adaptive grasp feature can be implemented by underactuated robotic hands with a minimal number of actuators. Following this approach, a new design of prosthetic hand is presented. A method is proposed for evaluating grasp performance using cylinders, spheres, and square bars of various sizes. The effects of the major design parameters were investigated experimentally and an improved design is proposed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.4 s.175
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• pp.848-857
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• 2000

A pick-and-place operation in 3-dimensional environment is basic operation for human and multi-purpose manipulators. However, there may be a difficult problem for such manipulators. Especially, if the object cannot be moved with a single grasp, regrasping, which can be a time-consuming process, should be carried out. Regrasping, given initial and final pose of the target object, is a construction of sequential transition of object poses that are compatible with two poses in the point of grasp configuration. This paper presents a novel approach for solving regrasp problem. The approach consists of a preprocessing and a planning stage. Preprocessing, which is done only once for a given robot, generates a look-up table which has information of kinematically feasible task space of end-effector through all the workspace. Then, using the table planning automatically determines possible intermediate location, pose and regrasp sequence leading from the pick-up to put-down grasp. Experiments show that the presented is complete in the total workspace. The regrasp planner was combined with existing path.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.4
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• pp.126-135
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• 1997

A sensorless motion planner which succeeds in grasping a polygonal part firmly into a desired orientation has been developed through the dynamic analysis. The analytical results on the impact process with friction are used for modeling the contact motionduring the parallel-jaw grasp operation, which is com- posed of the pushing and the squeezing process. The developed planner succeeds in grasping a part into a specified orientation in the face of uncertainties of initial position and orientation of the part, motion direction of the finger, and the physical parameters such as the coefficients of friction and restitution. The motion planner has been fully implemented into a viable package on the computer system, and verified experimentally. The motion of parts is recorded using a high-speed video camera, and then compared to the results of the planner and the graphic simulation results that illustrate the simulated motion of the grasp operation.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.11
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• pp.1003-1012
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• 2000

When a robot hand grasp an object, the number of ways to grasp it stably are infinite and thus an optimal grasp planning is needed to find the optimal grasp points for satisfying the objective of the given task. In this paper, we first define some grasp indices to evaluate the quality of each feasible grasp and then a weighted composite grasp index by combining all of the grasp indices is also defined. Next, we propose a method to find the optimal grasp points of the given object by comparing the defined weighted composite grasp index for each feasible grasp points. By simulation results, we show the effectiveness of the proposed optimal grasp planning method and also discuss the trend of each grasp index as the grasp polygon.

• The Journal of Korea Robotics Society
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• v.3 no.2
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• pp.123-130
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• 2008

In this paper, we present a grasp planning method using grasp taxonomy and object primitives. Our grasp taxonomy includes newly defined grasp methods such as thumb supported pinch and palm supported pinch, to enhance grasp robustness. On the target surface, locations of finger-print that will be contacted by the robot fingers are sampled. The sampling is made to be consistent to the grasp taxonomy, called preformed grasps, matched to the target object. We perform simulations to examine the validity and the efficacy of the proposed grasp planning method.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.11
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• pp.1102-1110
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• 2006

This paper addresses the problem of computing grasp stability of the object for two-fingered robots in two dimensions. The concepts of force-closure and dual space are introduced and discussed in novel point of view, and we transform friction cones in a robot work space to line segments in a dual space. We newly define a grasp stability index by calculating intersection condition between line segments in dual space. Moreover, we propose a method to find the optimal grasp points of the given object by comparing the defined grasp stability index. Its validity and effectiveness are investigated and verified by simulations for quadrangle object and elliptic objects.

• Proceedings of the Korea Database Society Conference
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• 1999.10a
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• pp.153-163
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• 1999

소프트웨어 프로젝트가 대규모화되고 복잡해짐에 따라 체계적인 품질보증이 더욱 필요해지고 있다. 고품질의 소프트웨어를 개발하기 위해서는 작업산출물(work product)에 대한 품질보증뿐 아니라 개발 프로세스(process)에 대한 품질보증 활동을 동시에 수행해야만 목표하는 품질에 접근할 수 있다. 그러나 소프트웨어 품질보증은 다양한 품질특성이나 개발 주체간의 시각 차이에 따라 달라지는 가변성을 지니고 있어 품질보증에 적지 않은 어려움이 내재되어있다. 이러한 품질보증의 어려움이 소프트웨어 품질을 저해하는 원인으로 작용하여 기업의 품질 경쟁력을 떨어뜨리고 있다. 본 연구는 이러한 품질보증 활동의 어려움을 해결하고 나아가 품질향상을 달성하기 위한 방법을 개발하고자 하였다. 품질향상을 위해서 품질보증 활동을 보다 계획적이고 체계적으로 수행하기 위한 SQA(Software Quality Assurance) 방법론을 개발하였다. 일반적으로 방법론이란 모든 프로젝트에 그대로 적용하기란 어렵다. SQA 방법론 또한 프로젝트의 특성이나 조직 특성에 따라 적절히 커스터마이징(Customizing)되어 사용하여야만 효과성을 제고할 수 있다. 그리하여 본 SQA 방법론에서도 품질보증활동을 체계적으로 지원하기 위해 수행되어야할 품질보증 태스크가 리파지토리로 구성되어 있다. 프로젝트 특성 둥에 따라 필요한 품질보증 태스크를 이 리파지토리로부터 선정하여 활용할 수 있게 된다. 마지막으로 프로젝트 특성 등에 따라 필요한 품질보증 활동을 커스터마이징하기 위한 전문가시스템 접근방법을 제시한다.

• Journal of Service Research and Studies
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• v.10 no.2
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• pp.17-29
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• 2020

This study was performed to derive a modern service management model reflecting the philosophy of the new business administration. Service management as the modern business administration should be faithful to the spirit of modernity. In addition, service management must be faithful to the essence of service in service economy era. And since modern management is to manage organizations those are the central organizations of human society, it must be managed according to the common principles of the world. Management that satisfies these three management philosophy conditions is defined as modern service management. In this study, we analyzed that the existing service management framework does not meet these standards of modern management and derived an improved modern service management model. The modern service management model must be a management model that reflects the essence of intangible goods called service, it must be a management framework that reflects the modern spirit, and it must be a management model that reflects the common principles of the world required by the central organization of the modern economic society. Therefore, this study analyzed the modern spirit in addition to the service essence and the common principle of the world analyzed in the previous study, and presented a modern service management model with these three requirements. Also, examples of modern service management were presented. This study is a conceptual model, and analytical research is needed to demonstrate that this management model can consistently produce excellent management performance by strengthening empirical studies in the future.

• Journal of the Korea Society of Computer and Information
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• v.14 no.9
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• pp.135-145
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• 2009

Generally, the phases of constructing information systems are consisted of systems planning and selection, system analysis, system design, and system implementation and operation. These systems require many efforts and costs for additional development of modification requirements due to a frequent changes of business environments and business processes. Especially, inconsistencies between system design and system implementation usually happen during development steps because of the difficulties of program developments due to difficulties of capturing exact user requirements and frequent changes of user requirements. This paper proposes a scheme of implementing meta-data based applications for enterprises in order to reduce inconsistencies between system design and system implementation and to overcome limits of the existing coding-based development methods of applications which must use until disuse if they are developed once. Also, this paper presents a framework of repository system to systematically manage and utilize meta-data. The core concept of the proposed scheme makes outputs generated in the phases of system analysis and design into meta-data and is to easily develop and customize application programs using meta-data repository. Also, to show the applicability of the proposed scheme, it is applied to implement ERP system of 'H' automotive part manufacturer. As a result, the proposed scheme can gain improvements such as easiness and productivity of program development, easiness of maintenance, reusability of program components, etc.

• Proceedings of the Korean Environmental Sciences Society Conference
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• 2005.05a
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• pp.45-49
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• 2005

최근 해안송림에 대한 관심이 높아지고 있고, 이를 효과적으로 보전, 활용해야한다는 목소리가 높지만, 국내에서는 이러한 해안송림이 어떻게 변천되고 지역에 어떻게 기능해 왔는지 아직 알려지고 있지 않다. 본고는 해안송림의 기초연구로서, 하동송림을 대상으로 이러한 해안송림의 사회적인 기능과 관리문제를 검토한 것에 있다. 하동송림을 사례로 조사한 결과, 해안송림은 송림이 지역과 밀착함으로써 주민의 레크레이션기능은 물론 외부관광객을 끌어들일 수 있는 지역발전의 중요한 소재가 될 수 있는 것으로 나타났다. 또한 해안 송림이 지역주민의 일상생활과 밀접히 연관되고 지역발전의 한 축으로서 기능하면서, 송림에 대한 관리 및 주체의식이 높아지는 것으로 나타났다. 이러한 지역발전의 실질적 기능 및 자연스러운 관리의식의 고양은 일반 공원이나 원거리 해안림 등에서는 쉽게 나타나지 않는 것으로서, 마을 숲(해안송림 등)이 갖고 있는 하나의 중요한 잠재력이 아닌가 생각된다. 그러나 관리측면에서는 하천오염이 해결되지 않고, 송림확장계획이 중지되고, 소나무재선충 방지책에 의문에 제기되는 등 적지 않은 문제가 나타나고 있다. 또한 이러한 문제발생의 원인으로는 해안송림에 대한 기본적인 인식의 부족, 책임 있는 관리주체의 부재, 구체적인 연구의 부족 등이 검토된다. 해안송림의 기능과 식생은 고정되어 있는 것이 아니라 지역 환경에 따라 끊임없이 변화되는 것에 있어, 변화에 대응하는 개발논리가 필요하다. 따라서 이러한 특수성을 일반적 임업관리나, 시설보수 차원에서의 접근은 소중한 지역의 자산과 발전기회를 잃은 거와 다르지 않다. 소중한 지역자원의 가치를 빛내고, 보다 효과적인 활용을 위해서는, 보다 체계적이고 파지티브한 관리 및 활용 정책이 요구되는 것에 있고, 이를 위해서는 책임 있는 관리주체를 조직하는 것과 함께, 토지사병에 기초한 송림의 이용 및 식생 변화에 대한 연구가 필요한 것으로 판단된다.