• 대한전기학회:학술대회논문집
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• 대한전기학회 1995년도 추계학술대회 논문집 학회본부
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• pp.579-582
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• 1995

Recently, the vision system has the wide and growing' application field on account of the vast information from that visual mechanism. Especially, in the control field, the vision system has been applied to the industrial robot. In this paper, the object tracking and grasping task is accomplished by the robot vision system with a camera in the robot hand. The camera setting method is proposed to implement that task in a simple way. In spite of the calibration error, the stable grasping task is achieved using the tracking control algorithm based on the vision feature.

• 산업기술연구
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• 제20권B호
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• pp.201-206
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• 2000

A priori information of object is needed to control in some well known control methods. But we can't always know a priori information of object in real world. In this paper, the inverted pendulum is simulated as a control task with the goal of learning to balance the pendulum with no a priori information using neural network controller. In contrast to other applications of neural networks to the inverted pendulum task, the performance feedback is unavailable on each training step, appearing only as a failure signal when the pendulum falls or reaches the bound of track. To solve this task, the delayed performance evaluation and the learning of nonlinear of nonlinear functions must be dealt. Reinforcement learning method is used for those issues.

• 제어로봇시스템학회논문지
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• 제8권11호
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• pp.963-969
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• 2002

Design method of a robust impedance control is proposed for the kinematically redundant manipulators. To achieve this objective, we first use the momentum feedback disturbance observer(MFDOB) scheme which can handle the nonlinear dynamics of a manipulator in Joint space. An extended task space formulation to describe the behaviors of task and null spaces of redundant manipulator is employed. Using the extended task space formulation and disturbance observer scheme, a robust impedance control method is designed. The performance of the proposed extended impedance controller is verified through experiments with a planar three links direct-drive manipulator.

• The Journal of Korean Physical Therapy
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• 제30권2호
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• pp.47-53
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• 2018

Purpose: To find the effect of visual feedback of head angle with using a mobile posture-aware system on craniocervical angle and neck and shoulder muscles fatigue for preventing or decreasing the forward head posture. Methods: Twenty-four healthy young adults in Chungbuk to participate in this study. The subjects started to watch a movie clip for 10 minutes with visual feedback in $0^{\circ}$, $30^{\circ}$, and $60^{\circ}$ of head angles. During the task, surface electromyography (EMG) was used to collect data from the upper trapezius (UT), sternocleidomasetoid muscle (SCM), cervical erecter spinae (CES) during watching the smartphone. Craniocervical angles were measured using a sagittal-view photograph of the subject in a sitting posture. A one-way repeated analysis of variance with a significant level of 0.05 used for statistical analysis. Results: Craniocervical angle with $0^{\circ}$ visual feedback was significantly greater than $30^{\circ}$ and $60^{\circ}$. Craniocervical angle with $30^{\circ}$ visual feedback was significantly greater than $60^{\circ}$. In addition, MDF of UT muscles in $0^{\circ}$ and $30^{\circ}$ of visual feedback was significantly greater than $60^{\circ}$. Conclusion: We concluded that $0^{\circ}$ visual feedback of head angle with using a mobile posture-aware system would be beneficial to prevent or decrease forward head posture during watching a smartphone. We also could recommend using of $30^{\circ}$ visual feedback in case of caring UT muscle fatigue primarily.

• 한국콘텐츠학회논문지
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• 제9권12호
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• pp.940-947
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• 2009

본 연구는 주파수 변조 피드백(FAF) 수준에 따라 말더듬인의 말더듬 빈도와 형태 변화를 밝히고자 하였다. 발달성 말더듬 성인 10명을 대상으로 NAF와 FAF 수준별(+2000, +1000, -1000, -2000) 상황에서 읽기 및 혼자말하기 과업을 통하여 수집한 구어 표본을 분석한 결과는 다음과 같다. 읽기 및 혼자말하기 과제 모두에서 NAF와 FAF 모든 수준 간에 말더듬 빈도의 유의한 차이가 있었으나, FAF 수준 간에는 차이가 없었다. 말더듬 형태는 두 과업 모두 NAF 수준 보다 FAF 수준에서 모든 핵심행동이 감소하였다. 특히 폐쇄가 많이 감소하였고 핵심행동이 주로 반복으로 변화하였다.

• 벤처창업연구
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• 제16권6호
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• pp.269-285
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• 2021

조직 내 개인 및 개별 기기에 산재 되어 있는 지식의 체계적 관리가 조직의 지속적 성장을 위한 핵심 요인으로 인식되면서, 조직들은 지식경영에 대한 관심을 높이고 있다. 하지만, 조직 지식경영의 지속적 운영은 지식을 생산하는 구성원의 능동적인 공유 행동을 필수적으로 요구하지만, 리더 및 조직원의 참여 부족과 같은 이유로 실패 사례들이 제시되고 있다. 본 연구는 지식 생산 역량이 상대적으로 부족한 중소기업 내 리더의 진성 리더십이 조직에 대한 가치 인식을 통해 개인의 지식공유 의도로 이어지는 메커니즘을 제시하는 것을 목적으로 한다. 또한, 업무적 활동의 상호교환 관점에서 상호피드백과 업무 상호의존성이 지식공유 의도에 미치는 영향을 조절하는 것을 확인한다. 연구는 선행연구를 기반으로 연구 모델을 도출하였으며, 지식경영 정책을 도입한 중소기업에 근무하는 직원들을 대상으로 설문을 실시하여 272개의 표본을 확보하였다. 또한, 연구는 AMOS 22.0 기반의 구조방정식모델링을 적용하여 가설을 검증하였다. 연구 결과는 진성 리더십이 조직 동일시와 조직 몰입을 매개로 지식공유 의도에 긍정적 영향을 미치는 것을 확인하였으며, 상호피드백과 업무 상호의존성이 지식공유 의도에 영향을 주는 선행요인들에 대한 조절 효과를 가지는 것을 확인하였다. 본 연구는 중소기업의 리더의 진정성 있는 행동이 구성원의 지식공유 행동에 미치는 절차를 제시하고, 업무적 협력이 절차의 영향을 강화하는 것을 제시하였기 때문에, 지식경영을 위해 중소기업 리더와 조직 차원에서 접근해야 할 행동 방향을 제시한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.610-615
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• 2005

Visual servoing is the fusion of results from many elemental areas including high-speed image processing, kinematics, dynamics, control theory, and real-time computing. It has much in common with research into active vision and structure from motion, but is quite different from the often described use of vision in hierarchical task-level robot control systems. We present a new approach to visual feedback control using image-based visual servoing with the stereo vision in this paper. In order to control the position and orientation of a robot with respect to an object, a new technique is proposed using a binocular stereo vision. The stereo vision enables us to calculate an exact image Jacobian not only at around a desired location but also at the other locations. The suggested technique can guide a robot manipulator to the desired location without giving such priori knowledge as the relative distance to the desired location or the model of an object even if the initial positioning error is large. This paper describes a model of stereo vision and how to generate feedback commands. The performance of the proposed visual servoing system is illustrated by the simulation and experimental results and compared with the case of conventional method for dual-arm robot made in Samsung Electronics Co., Ltd.

• The Journal of Korean Physical Therapy
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• 제29권5호
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• pp.246-254
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• 2017

Purpose: Previous studies have reported that action observation training has beneficial effects on enhancing the motor task, such as balance and gait functions. On the other hand, there have been few studies combined with action observation training and auditory feedback. The purpose of this study was to determine the effects of action observation training with auditory feedback on the gait function in stroke patients with hemiparesis Methods: A total of 24 inpatients with post-stroke hemiparesis were assigned randomly to either an experimental group 1 (EG 1, n=8), experiment group 2 (EG 2, n=8), control group (CG, n=8, EG 1). The EG 2 and CG watched video clip demonstrating three functional walking tasks with auditory feedback, without auditory feedback, and showing a landscape image, respectively. The exercise program consisted of 30 minutes, five times a week, for four weeks. The participants were measured to 10MWT (10 m walk test), 6MWT (6 minutes walking distance test), TUG (timed up and go test), DGI (dynamic gait index), time and steps of F8WT (figure-of-8 walk test). Results: In the intra-group comparison after the intervention, EG 1 and EG 2 showed a significantly different gait function (10MWT, 6MWT, DGI, TUG, F8WT) (p<0.05). In the inter-group comparison after intervention, EG 1 showed significant improvements in the entire gait parameters and EG 2 only showed significant improvement in DGI and TUG compared to CG (p<0.05). Conclusion: These findings show that action observation training with auditory feedback may be used beneficially for improving the gait function of stroke patients with hemiparesis.

• 대한물리치료과학회지
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• 제28권1호
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• pp.33-45
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• 2021

Background: Children with cerebral palsy have difficulty acquiring motor skills through motor learning due to lack of motor planning of the central nervous system and musculoskeletal dysfunction. Motor learning is the acquisition or modification of movements with the aim of developing skilled movements and behaviors. Cerebral palsy improve motor function through motor learning, and effective motor learning mainly depends on practice parameters such as learning feedback. Therefore, we investigate the effect of motor learning in children with cerebral palsy and try to present the possibility of clinical application. Design: A systemic review. Methods: Research papers were published from Jan, 2010 to Dec, 2020 and were searched using PubMed and Medline. The search terms are 'task specific training' OR 'motor learning' OR 'feedback(Mesh term)' OR 'goal activity' AND 'cerebral palsy(Mesh term)'. A total of eight papers were analyzed in this study. The paper presented the quality level based on the research evidence, and also presented PEDro (Physiotherapy Evidence Database) scores to evaluate the quality of design studies in randomized clinical trials. Results: The results showed that motor learning coaching in children with cerebral palsy improved motor function in post and follow up tests. Also, self-control feedback of motor learning is more effective than external control feedback. 100% external control feedback of motor learning is effective in the acquisition phase and 50% external feedback of motor learning is effective in the retain phase. Conclusion: These results suggest that it will be an important data for establishing evidence on the effect of motor learning arbitration methods in children with cerebral palsy to develop clinical applicability and protocols.

• 한국콘텐츠학회논문지
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• 제12권2호
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• pp.322-330
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• 2012

본 연구는 Hackman and Oldham의 직무특성이론에 근거하여 대학생을 대상으로 자원봉사활동 직무특성이 활동만족도와 지속의지에 미치는 효과를 분석하였다. 이를 위해 강원도내 6개 대학의 대학생 261명을 대상으로 설문조사를 실시하여 자료를 분석하였다. 연구 결과 대학생의 자원봉사참가율은 평균 71.6%로 나타났으며, 자원봉사활동의 직무특성과 활동만족도, 지속의지는 중간값 보다 낮은 수준으로 나타났다. 자원봉사 활동만족도에 미치는 직무특성의 효과에서는 기술다양성과 과업정체성, 피드백이 유의한 수준에서 영향을 미치는 것으로 나타났고, 지속의지에 대해서는 자율성을 제외한 기술다양성, 과업정체성, 과업중요성, 피드백 모두가 영향을 미치는 것으로 나타났다. 또한 상관분석을 통해 자원봉사 활동만족도가 높으면 지속의지 역시 높아지는 것을 알 수 있다. 따라서 자원봉사관리자는 자원봉사활동의 직무를 직무특성이론에 기초하여 설계(design)함으로써 의미충만감이나 책임감, 결과의식을 높여서 최종적으로는 자원봉사를 통한 동기부여와 성과 향상으로 이어져야 할 것이다.