• Journal of Institute of Control, Robotics and Systems
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• v.6 no.5
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• pp.404-414
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• 2000

This paper addresses the development of a 3-fingered humanoid robot hand system and a real-time grasp synthesis of multifingered robot hands to find grasp configurations which satisfy the force closure condition of arbitrary shaped objects. We propose a fast and efficient grasp synthesis algorithm for planar polygonal objects, which yields the contact locations on a given polygonal object to obtain a force closure grasp by the multifingered robot hand. For an optimum grasp and real-time computation, we develop the preference and the hibernation process and assign physical constraints of the humanoid hand to the motion of each finger. The preferences consist of each sublayer reflecting the primitive preference similar to the conditional behaviors of humans for given objectives and their arrangements are adjusted by the heuristics inspired from human's grasping behaviors. The proposed method reduces the computational time significantly at the sacrifice of global optimality, and enables the grasp posture to be changable within two-finger and three-finger grasps. The performance of the presented algorithm is evaluated via simulation studies to obtain the force-closure grasps of polygonal objects with fingertip grasps. The architecture suggested is verified through experimental implementation to our robot hand system by solving the 2- or 3-finger grasp synthesis.

• 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 Labour Economics
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• v.35 no.3
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• pp.1-28
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• 2012

We measure a worker's analyzability by how correctly he grasps its causes when a problem occurs, comprehensiveness by how much he understand the overall process of his firm, and flexibility by how frequently unusual situations occur at his job. After controling firm-specific fixed of fandom effects, his age, tenure, position, and rank, the characteristics increase a worker's wage. A worker who grasps correctly the causes of problem is paid more by 5.2% than a worker who scarcely does. A worker who understands the overall process of his firm is paid more by 2.52% than a worker who understands roughly the process of his team or department. A worker whose job is mew one by one is paid more by 2.98% than a worker whose job is routine and repetitive.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1489-1494
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• 2003

A neuromuscular control system of a myoelectric prosthetic hand (PH) constitutes a nonlinear system with a dead zone whose magnitude is equal to its joint angle when the PH just grasps an object. This is because the neuromuscular control system remains an open-loop system until the PH grasps the object but it constitutes a feedback control system after the PH griped the object in which a torque induced in the fingers of the PH is fed back. To improve the transient performance of the control system, it is desirable to make the feed-forward gain as large as possible, so long as the stability of the system is not impaired. It is also desired that the control system remains stable even when the PH lifts a heavy or rigid object, because this makes the closed loop gain large and leads to the closed system unstable. According to the theory of stability analysis of nonlinear systems, we can only know the sufficient conditions that the system should be stable. Thus the nonlinear theory on stability is insufficient to be used to design the neuromuscular control system for improving its transient responses. This paper shows that the nonlinear system with a dead zone can be approximated to a linear feedback system and that well-known methods of analysis and design on linear control systems can be applicable. It is also shown through various simulation results that errors induced by approximation are practically negligible and thus the design methods are quite accurate.

• Journal of The Korean Association of Information Education
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• v.19 no.4
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• pp.409-418
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• 2015

The purpose of this study is derived implications at software curriculum development utilizing the backward design model. In this study, we developed 'Algorithms and Programming' unit teaching plan based on backward design template. First, we have derived enduring understandings, essential questions, specific knowledge and skill on 'Algorithms and Programming' unit by considering the goal, content, achievement standard of Software education operating instructions. Second, we developed authentic tasks using GRASPS technic and holistic scoring rubrics. Third, we developed 7 lesson 14 WHERETO element for effective teaching in 'Algorithms and Programming' unit. Fourth, we investigated about the effectiveness of the development unit based on backward design. Backward design could be useful of developing curriculum unit and lesson plan at software education.

• Korean Institute of Interior Design Journal
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• v.15 no.3 s.56
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• pp.155-162
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• 2006

Space is integrated or segment with organic formation by circulation path. It estimates important problem to grasp as factor that promote movement of visitor and space organization without grasping circulation as connection relation about simple space function from these viewpoint, is a thing which this study does not cause confusion to visitor's circulation path through data that analyze form of space connection and visitor's circulation path as quantitative in museum space and layout form that access by easy each unit exhibition grasps what it is. This study does factor grasping for guideline and inspection circulation path of layout by purpose in exhibition space on the basis of analytical result that grasps connection form between exhibition area that grasp laying stress on visitor's movement and appears in space through follow-up survey for circulation path of museum exhibition area. Space connection form that is expose by sequence of investigation and analysis(II) estimates on constituent affecting to visitor's circulation, and these do not speak for all space connection forms at the museum, but may systematize typology about connection form of unit spaces to utilize by indicator pointer of space planning if continue study to various spatial sphere more than hereafter. Unit exhibition area, divide connection form of space by grid and tree and laying stress on this quantitative data by spectator follow-up survey comparison and Estimate that space connection form provides partial basis of judgement for supposition that can promote direction and circulation path about visitor's movement if summarize result of investigation and analysis (III).

• International Journal of Advanced Culture Technology
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• v.12 no.3
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• pp.67-72
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• 2024

The algorithm is applied on the premise that the image generated by AI can be recognized and used smoothly by the user. Other assets are not exposed to the user or discarded because they are unnecessary or unfamiliar. This study aims to expand the scope of the utility of the image generated by AI, which is used as a high-level tool in the design field. To this end, we first examined human information processing and reflection in AI by the cognitive paradigm by examining previous studies and cases, and discussed the value of expansion by focusing on creativity and bottom-up processing of AI's self-organization. Considering the human recogmition process that instinctively grasps an object, the following AI usability was proposed. It is to utilize AI as a high-level tool applied appropriately to human perception, or to utilize the derivative itself by bottom-up self-organization. In addition, it is to set the algorithm to the minimum intervention so that basic elements such as shape, color, size, texture, and movement are composed of figure-ground according to the human perception process that instinctively grasps an object, and to utilize the results. Limiting the use of AI to a tool suitable for human perception and information processing or production by designers or general users is to operate only a part of the convenience and usability of AI. The image creation through AI's self-organization, as seen from the cognitive paradigm, is a step toward opening a new era of design where technical aesthetics meets devices, just as design has been constantly developing in pursuit of novelty and differentiation due to its nature.

• Proceedings of the Korea Institute of Fire Science and Engineering Conference
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• 2008.11a
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• pp.471-478
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• 2008

This study grasps the type and site area of properties, the size of properties, the distance between the wooden properties and fire station, the direction of a fire engine in the wooden properties, the member of self-protection, and the present condition of fire fighting. And the 121 main temples properties in Korea is researched for an effective fire suppression.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2004.04a
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• pp.267-273
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• 2004

The advantage of the remote sensing is extraction the information of wide area rapidly. Such advantage is the resource and environment are quick and efficient method to grasps accurately method through the land cover classification of wide area. Accordingly this study is used to the high-resolution (6.6m) Electro-Optical Camera (EOC) panchromatic image of the first Korea Multi-Purpose Satellite 1 (KOMPSAT-1) and the multi-spectral Moderate Resolution Imaging Spectroradiometer (MODIS) image data(36 bands).We accomplished FCM classification technique with MLC technique to be general land cover classification method in the content of research. And evaluated the accuracy assessment of two classification method.

• Proceedings of the KSR Conference
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• 2011.10a
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• pp.994-999
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• 2011

The main wearing slider of pantograph is a difference which is considerable to wear phenomenon according to material properties. Especially, Cu-type wearing slider suddenly occurs the abnormal wear by precipitation, this threatens the travelling safety of the train. The abnormal wear by precipitation and arc influences are main factor decided to life time of Cu-type wearing slider and contact wire. Consequently, the application of the main wearing slider with wear resisting capacity, electrical conductivity, resistance arc and lubrication is demanded. In this paper through tribologic approach, overcame abnormal phenomenon of the Cu-type wearing slider by the precipitation and for the economic efficient augmentation by durability improvement and the travelling safety were accomplished. The Cu-type wearing slider which has excellent electric conductivity and arc characteristic but it occurs the normal and abnormal wear phenomenon according the precipitation which changes, respectively. Consequently, this phenomenon grasps fixed quantity according to precipitation, a mileage and wear volume then Fe-type wearing slider compared and analyzed.