• The Journal of Korea Robotics Society
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• v.17 no.3
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• pp.264-272
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• 2022

Human-robot cooperative tasks are increasingly required in our daily life with the development of robotics and artificial intelligence technology. Interactive reinforcement learning strategies suggest that robots learn task by receiving feedback from an experienced human trainer during a training process. However, most of the previous studies on Interactive reinforcement learning have required an extra feedback input device such as a mouse or keyboard in addition to robot itself, and the scenario where a robot can interactively learn a task with human have been also limited to virtual environment. To solve these limitations, this paper studies training strategies of robot that learn table balancing tasks interactively using deep reinforcement learning with human's facial expression feedback. In the proposed system, the robot learns a cooperative table balancing task using Deep Q-Network (DQN), which is a deep reinforcement learning technique, with human facial emotion expression feedback. As a result of the experiment, the proposed system achieved a high optimal policy convergence rate of up to 83.3% in training and successful assumption rate of up to 91.6% in testing, showing improved performance compared to the model without human facial expression feedback.

• The Journal of the Korea Contents Association
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• v.20 no.3
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• pp.542-559
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• 2020

This study was conducted to derive theoretical and practical implications in situations where innovation of the business is desperate in the face of the emergence of agile organizations and digital transformation. To do so, we tried to verify the correlation between negative feedback-seeking behavior and innovative behavior and whether the learning goal orientation of these two variables has a moderated mediating effect by coaching leadership. It analyzed the collected questionnaire from 381 members working in domestic companies; SPSS 25.0, AMOS 25.0, and Process Macro 3.0 were used. The analysis result showed that the negative feedback seeking behavior had a positive effect on the learning goal orientation, and the leader's coaching leadership found to have a moderating effect between the negative feedback seeking behavior and the learning goal orientation. Learning goal orientation has been found to have a moderated mediating effect between negative feedback seeking behavior and innovative behavior. This study is significant in the sense that it reveals the process of how members seeking negative feedback in the organization could be led to innovative behavior and shows the necessity of organizational support for coaching leadership for the vitalization of innovative behavior.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.13 no.6
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• pp.461-469
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• 2020

In this paper, we propose a PCA-based feature feedback method for extracting important areas of handwritten numeric data sets and face data sets. A PCA-based feature feedback method is proposed by extending the previous LDA-based feature feedback method. In the proposed method, the data is reduced to important feature dimensions by applying the PCA technique, one of the dimension reduction machine learning algorithms. Through the weights derived during the dimensional reduction process, the important points of data in each reduced dimensional axis are identified. Each dimension axis has a different weight in the total data according to the size of the eigenvalue of the axis. Accordingly, a weight proportional to the size of the eigenvalues of each dimension axis is given, and an operation process is performed to add important points of data in each dimension axis. The critical area of the data is calculated by applying a threshold to the data obtained through the calculation process. After that, induces reverse mapping to the original data in the important area of the derived data, and selects the important area in the original data space. The results of the experiment on the MNIST dataset are checked, and the effectiveness and possibility of the pattern recognition method based on PCA-based feature feedback are verified by comparing the results with the existing LDA-based feature feedback method.

• The Journal of the Korean dental association
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• v.58 no.11
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• pp.670-682
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• 2020

This research examined the difference in cognitive load and the virtual presence depending on auditory feedback and task difficulty in haptic-based dental simulation. In the field of dental education, practice-centered training using handpiece has been crucial because a practitioner's psychomotor experience has a significant impact on the mastery of treatment skills. For the novice, it is necessary to reduce errors in dental treatment to enhancing skill acquisition in the haptic practice. In the training process, the force-feedback is crucial to elaborate subtle movement to guide what to do and how it should be hard or soft. However, It is not easy to add force-feedback to generate kinetic experience training. As an alternative method, we examined that auditory feedback can help learners' skill training. In this study, we analyzed how the presence/absence of auditory feedback at the different levels of task difficulty impacts learners' psychological demand and virtual presence in the virtual reality simulation. For this study, 29 dental college students participated in a dental simulation. The participants were grouped into two conditions that are with and without auditory feedback. Additionally, two consecutive tooth preparation tasks with different levels of difficulty were used in the simulation. The auditory feedback condition gives alarms to a learner when he treats a non-targeted tooth with a virtual handpiece. The user's cognitive load and virtual presence were measured to examine the effects of auditory feedback. The results revealed that the main effect was found in cognitive loads. Also, a significant interaction effect was shown in the virtual presence. We discussed the effective design methods for the virtual reality-based dental simulation through the result of this study.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2004.04a
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• pp.235-240
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• 2004

The equipment of industrial robot in manufacturing and assembly lines has rapidly increased. In order to achieve high productivity and flexibility, it becomes very important to develop the visual feedback control system with Off-Line Programming System(OLPS). We can save much efforts and time in adjusting robots to newly defined workcells by using OLPS. A proposed visual calibration scheme is based on position-based visual feedback. The calibration program firstly generates predicted images of objects in an assumed end-effector position. The process to generate predicted images consists of projection to screen-coordinates, visible range test and construction of simple silhouette figures. Then camera images acquired are compared with predicted ones for updating position and orientation data. Computation of error is very simple because the scheme is based on perspective projection which can be also expanded to experimental results. Computation time can be extremely reduced because the proposed method does not require the precise calculation of tree-dimensional object data and image Jacobian.

• Journal of Engineering Education Research
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• v.21 no.1
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• pp.37-43
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• 2018

The purpose of this study is to investigate the effects of peer tutoring and feedback on academic learning in university mathematics. We compared subject satisfaction and academic achievement between the test group and the control group. We classified the test group(82 participants) and the control group(134 non-participants) and then applied peer tutoring and feedback to the test group. The rest of the environment was the same except for participation in the program. According to results, it was confirmed that the subject satisfaction were significantly higher(significance level .05) in the test group, where the subject satisfaction were learning objectives and expectation, learning satisfaction, and learning effect. Furthermore, in the change of academic achievement, the rate of decrease was lower and the rate of increase was higher in the test group than the control group. The satisfaction of participants was 4.33(Likert scale 5), and this trend tended to be same regardless of gender, high school course, or admission process.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.26 no.5
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• pp.71-78
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• 2012

This paper presents a digital control solution to process capacitor current feedback of high performance single-phase UPS for non-linear loads. In all UPS the goal is to maintain the desired output voltage waveform and RMS value over all unknown load conditions and transient response. The proposed UPS uses instantaneous load voltage and filter capacitor current feedback, which is based on the double regulation loop such as the outer voltage control loop and inner current control loop. The proposed DSP-based digital-controlled PWM inverter system has fast dynamic response and low total harmonic distortion (THD) for nonlinear load. The control system was implemented on a 32bit Floating-point DSP controller TMS320C32 and tested on a 5[KVA] IGBT based inverter switching at 11[Khz]. The validity of the proposed scheme is investigated through simulation and experimental results.

• The Journal of the Korea Contents Association
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• v.14 no.5
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• pp.487-497
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• 2014

The purpose of this study is to investigate the efficacy of interaction using Wiki in communication-oriented classes taught by native teachers on the incidental improvement of productive vocabulary knowledge. Eighty two university freshmen participated in the study and they were divided into two groups. Thirty eight students(Process Group) received process feedback from the teacher while forty four students(Result Group) received result feedback. They were given a short movie project working in a group of four or five people to practice interaction between peers and between students and the teacher. Data were collected from one receptive and three productive vocabulary knowledge test scores. The results showed that interaction using Wiki was conducive to the growth of productive vocabulary knowledge incidentally due to continuous opportunities to use vocabulary. The students of process feedback group made greater gains of productive vocabulary than those of result feedback group. Based on these results, pedagogical implications are discussed.

• International Journal of Control, Automation, and Systems
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• v.5 no.2
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• pp.161-169
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• 2007

The PLL equivalent augmented system incorporated with state feedback is proposed in this paper. The optimal value of filter time constant of loop filter in the phase-locked loop control system and the optimal state feedback gain designed by using linear quadratic regulator approach are derived. This approach allows the PLL control system to employ the large value of the phase-frequency gain $K_d$ and voltage control oscillator gain $K_o$. In designing, the structure of phase-locked loop control system will be rearranged to be a phase-locked loop equivalent augmented system by including the structure of loop filter into the process and by considering the voltage control oscillator as an additional integrator. The designed controller consisting of state feedback gain matrix K and integral gain $k_1$ is an optimal controller. The integral gain $k_1$ related to weighting matrices q and R will be an optimal value for assigning the filter time constant of loop filter. The experimental results in controlling the second-order lag pressure process using two types of loop filters show that the system response is fast without steady-state error, the output disturbance effect rejection is fast and the tracking to step changes is good.

• Journal of the Korea Organic Resources Recycling Association
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• v.2 no.1
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• pp.3-18
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• 1994

Municipal solid wastes in Korea have physical and chemical properties suitable for composting, but composting has had little practical use in solid waste disposal until now because of a lack of understanding of process control. For practical use of composting, process control must be capable of maintaining good product quality while large quantities are composted in a short period of time. Ventilation control to maintain optimum temperature(Temperature Feedback Aeration Method) is reported to be convenient to operate. The purpose of this study is to analyze process efficiency and optimum temperature in the temperature feedback aeration method for composting of municipal solid wastes. The results of this study show that degradation and drying of substrate in the temperature feedback aeration method are higher than those in the constant aeration method. And the optimum temperature range for composting of solid wastes appears to be $50{\sim}54^{\circ}C$.