• 로봇학회논문지
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• 제8권3호
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• pp.186-196
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• 2013

Since its introduction (e.g., [4, 6]), virtual coupling technique has been de facto way to connect a haptic device with a virtual proxy for haptic rendering and control. However, because of the single dependence on spring-damper feedback action, this virtual coupling suffers from the degraded transparency particularly during contact tasks when large device/proxy-forces are involved. In this paper, we propose a novel virtual coupling technique, which, by utilizing passive decomposition, reduces device-proxy position deviation even during the contact tasks while also scaling down (or up) the apparent inertia of the coordinated device-proxy. By doing so, we can significantly improve transparency between multiple degree of freedom (possibly nonlinear) haptic device and virtual proxy. In other to use passive decomposition, disturbance observer of [3] is adopted to estimate human force with some dead-zone modification to avoid "winding-up" force estimation in the presence of device torque saturation. Some preliminary experimental results are also given to illustrate efficacy of the proposed technique.

• 한국콘텐츠학회논문지
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• 제20권7호
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• pp.282-291
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• 2020

본 연구는 PBL 활동에서 교육과정 편성 과제의 구조화 정도에 따라 학생들의 문제해결력에 미치는 영향을 탐색하기 위해서 수행되었다. 연구는 교육과정 수업을 수강하는 대학생 60명을 대상으로 하였다. 학기 초 문제 해결력을 측정하였고, 중간고사 실시 이후에 PBL활동을 수행하였다. 실험집단 30명은 비구조화 된 PBL 형태의 과제를 수행하였고, 비교집단 30명은 반 구조화된 문제를 수행하였다. 과제 종료 후 학기 말에 문제해결력을 측정하였다. 사전·사후 검사 자료의 분석을 위해서 ANCOVA를 사용하였다. 그 결과 실험집단은 비교집단 보다 정보수집요인과 확산적 사고 그리고 평가 및 피드백 수준이 통계적으로 유의미하게 향상되었다.

• 조명전기설비학회논문지
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• 제20권7호
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• pp.53-57
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• 2006

PID 제어기는 산업자동화 설비에 널리 쓰이고 있다. 하지만 시스템 특성이 간헐 또는 연속적으로 변화할 때에 정밀제어를 위한 새로운 매개변수 결정이 쉽지 않다. 이를 해결하기 위한 방법으로 본 논문에서는 PID 제어기와 같은 기능을 갖는 신경망이득 자동조절기를 제안 하였다. 시스템의 적절한 궤환제어 이득은 델타 학습규칙에 의해서 결정된다. 제안된 신경망이득 자동조절기의 기능은 유도 전동기의 속도제어 실험에 의해 확인하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1887-1891
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• 2005

Despite significant advances in multimedia transferring technologies in various fields of robotics, it is sometimes quite difficult for the operator to fully understand the context of 3D remote environments from 2D image feedback. Particularly, in the remote control of mobile robots, the recognition of the object associated with the task is very important, because the operator has to control the robot safely in various situations not through trial and error. Therefore, it is necessary to provide the operator with 3D volumetric models of the object and object-related information as well such as locations, shape, size, material properties, and so on. Thus, in this paper, we propose a vision-based human interface system that provides an interactive, information-rich map through network-based information brokering. The system consists of an object recognition part, a 3D map building part, a networked knowledge base part, and a control part of the mobile robot.

• 제어로봇시스템학회논문지
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• 제16권12호
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• pp.1233-1240
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• 2010

In the flat panel display and semiconductor industries, the visual alignment system is considered as a core technology which determines the productivity of a manufacturing line. It consists of the vision system to extract the centroids of alignment marks and the stage control system to compensate the alignment error. In this paper, we develop a Kalman filter algorithm to estimate the alignment mark postures and propose a coarse-fine alignment control method which utilizes both original fine images and reduced coarse ones in the visual feedback. The error compensation trajectory for the distributed joint servos of the alignment stage is generated in terms of the inverse kinematic solution for the misalignment in task space. In constructing the estimation algorithm, the equation of motion for the alignment marks is given by using the forward kinematics of alignment stage. Secondly, the measurements for the alignment mark centroids are obtained from the reduced images by applying the geometric template matching. As a result, the proposed Kalman filter based coarse-fine alignment control method enables a considerable reduction of alignment time.

• 제어로봇시스템학회논문지
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• 제14권11호
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• pp.1117-1123
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• 2008

This paper implements dual-kernel system using standard Linux and real-time embedded Linux for the real-time control of intelligent robot systems. Such system provides more useful services including standard Linux thread that is easy to implement complicated tasks and real-time tasks for the deterministic response to velocity control. Here, an open source real-time embedded Linux, XENOMAI, is ported on embedded target board. And for interfacing with motor controller we adopted a real-time serial device driver. The real-time task was implemented with a priority to keep the cyclic control command for trajectory control. In order to validate deterministic response of the proposed system, the performance measurement of the delay in performing trajectory control with feedback loop is evaluated with non real-time standard Linux. The proposed software architecture is anticipated to take advantage of features in both standard Linux and real-time operating systems for the intelligent robot systems.

• 재활복지공학회논문지
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• 제6권1호
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• pp.37-43
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• 2012

본 논문은 안드로이드기반 모바일 보완대체의사소통시스템(AAC)의 기능 및 사용자인터페이스(UI)에 대한 사용성 평가에 대한 것이다. 시나리오를 사용한 평가를 통해 특정 기능실행의 용이성, 기능사용의 만족도, 정보찾기의 용이성 등을 살펴보았고, 설문조사를 통해 모바일 AAC의 개발목적, 내용, 교수학습 전략, 활용가능성, 편집/설정 기능과 사용자인터페이스 등이 무발화아동의 의사소통 요구에 적합한지를 평가하였으며, 자유 피드백을 통하여 사용자의 선호도, 만족도, 요구분석 사항 등에 대한 피드백들을 조사하고 분석하였다. 또한 5인치, 7인치, 4.3인치의 모바일 기기를 사용하여 다양한 크기의 안드로이드기반 모바일 기기에 대한 사용자의 선호도를 조사하였다.

• 지식경영연구
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• 제2권1호
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• pp.25-44
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• 2001

There are two types of organizational knowledge in terms of its creation process: experiential and analytical knowledge. The experiential knowledge is created by repetitive experiences of an individual or team through task execution, while the analytical knowledge is acquired by analyzing accumulated data or information in the organization. The experiential knowledge often remains tacit or implicit in the organization because it is primarily acquired at an individual or team level. Therefore, the issue on the experiential knowledge is to share it actively within the organization. On the other hand, the analytical knowledge is explicit in its nature since it is extracted from data or information. Thus, it is important to guide a systematic creation of the analytical knowledge rather than encourage to share it. The current trend of "knowledge management" mainly focuses on the experiential knowledge - know-how, idea, case, etc - and neglects another important knowledge in the organization. i. e., analytical knowledge. This paper tries to shed a new light on the "knowledge management" arena by introducing rather new perspective in the concept of knowledge. The purpose of this study is to identify the factors affecting the analytical knowledge creation in the organization. We conducted an exploratory case study of three companies with a previously defined research framework and found some critical factors for the analytical knowledge creation. They are "organizational resource", "effectiveness of feedback process", "data source management", and "experimental mind set". Finally, we proposed research model and propositions regarding the analytical knowledge creation in the organization.

• 한국산업정보학회논문지
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• 제11권5호
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• pp.181-189
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• 2006

유비쿼터스 기술은 학습 분야에서 많은 변화를 요구 하고 있으며, 이러닝 컨텐츠 분야 역시 이 기술에 기초한 컨버전스 학습컨텐츠 개발로 변화되어야 한다. 그러나 현재까지 대다수의 이러닝 컨텐츠는 기술융합적 관점에서 매우 미약하고 학습자 눈높이에 맞춘 컨텐츠로 보기는 많은 무리가 따른다. 따라서 본 연구의 목적은 학습자 중심의 이런닝 컨텐츠 개발 방안을 제시하는데 있다. 이를 위해 형식, 비형식 학습의 장점을 적극 활용하게 되는 컨버전스 학습모형을 살펴 본 후, 컨버전스 시대 이러닝 컨텐츠 개발을 위한 학습관리시스템에 대한 과제분석, 스토리텔링, 그리고 피드백 디자인 전략의 중요성을 살펴 보고 학습자 중심의 효과적인 컨텐츠 개발 방안을 제시 한다.

• 한국정밀공학회지
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• 제16권4호통권97호
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• pp.205-212
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• 1999

A three dimensional binary parallel robot manipulator uses actuators which have only two stable states and its structure is variable geometry truss. As a result, it has a finite number of states and fault tolerant mechanism because of kinematic redundancy. This kind of robot manipulator has some advantages compared to a traditional one. Feedback control is not required, task repeatability can be very high, and finite state actuators are generally inexpensive. Because the number of states of a binary robot manipulator grows exponentially with the number of actuators it is very difficult to solve and inverse kinematic problem. The goal of this paper is to develop an efficient algorithm to solve an inverse kinematic problem of three dimensional binary parallel robot manipulator using a backbone curve when the number of actuators are too much. We first derive the coordinate transformations associated with a three degree of freedom in-parallel actuated robot manipulator. The backbone curve is generated optimally by considering the maximum roll and pitch angles of the robot manipulator configuration and length of link. Then, the robot manipulator is fitted along the backbone curve with some criterion.