• The KIPS Transactions:PartD
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• v.12D no.7 s.103
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• pp.1049-1064
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• 2005

The demands of increasingly complicated software have led to the proliferation of object-oriented design methodologies in embedded systems. To execute a system designed with objects in target hardware, a task set should be derived from the objects, representing how many tasks reside in the system and which task processes which event arriving at an object. The derived task set greatly influences the responsiveness of the system. Nevertheless, it is very difficult to derive an optimal task set due to the discrepancy between objects and tasks. Therefore, the common method currently used by developers is to repetitively try various task sets. This paper proposes Scenario-based Implementation Synthesis Architecture (SISA) to solve this problem. SISA encompasses a method for deriving a task set from a system designed with objects as well as its supporting development tools and run-time system architecture. A system designed with SISA not only consists of the smallest possible number of tasks, but also guarantees that the response time for each event in the system is minimized. We have fully implemented SISA by extending the ResoRT development tool and applied it to an existing industrial PBX system. The experimental results show that maximum response times were reduced $30.3\%$ on average compared to when the task set was derived by the best known existing methods.

• Proceedings of the Korea Society of Information Technology Applications Conference
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• 2005.11a
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• pp.229-232
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• 2005

In this paper, an image-based "approach-align -grasp" visual servo control design is proposed for the problem of object grasping, which is based on the binocular stand-alone system. The basic idea consists of considering a vision system as a specific sensor dedicated a task and included in a control servo loop, and we perform automatic grasping follows the classical approach of splitting the task into preparation and execution stages. During the execution stage, once the image-based control modeling is established, the control task can be performed automatically. The proposed visual servoing control scheme ensures the convergence of the image-features to desired trajectories by using the Jacobian matrix, which is proved by the Lyapunov stability theory. And we also stress the importance of projective invariant object/gripper alignment. The alignment between two solids in 3-D projective space can be represented with view-invariant, more precisely; it can be easily mapped into an image set-point without any knowledge about the camera parameters. The main feature of this method is that the accuracy associated with the task to be performed is not affected by discrepancies between the Euclidean setups at preparation and at task execution stages. Then according to the projective alignment, the set point can be computed. The robot gripper will move to the desired position with the image-based control law. In this paper we adopt a constant Jacobian online. Such method describe herein integrate vision system, robotics and automatic control to achieve its goal, it overcomes disadvantages of discrepancies between the different Euclidean setups and proposes control law in binocular-stand vision case. The experimental simulation shows that such image-based approach is effective in performing the precise alignment between the robot end-effector and the object.

• Journal of Industrial Technology
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• v.20 no.B
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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.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.7
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• pp.126-136
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• 1997

This paper describes a task level cell programming environment that deals with difficulties in programming Flexible Manufacturing Cells (FMCs), and consists of the cell programming editor and the automatic generation module. In the cell programming editor, cell programs can be developed with task- oriented cell specifications that reduces the amount of details to be considered by cell programmers. The automatic generation module transforms task specifications into executable programs used by cell constituents. The development tool in designing the environment is an object-oriented approach which provides a simple to use and intuitive user interface, and allows for an easy development of object models associated with the environment. Test results are illustrated in order to demonstrate the applicability of the developed envifonment.

• Korean Journal of Cognitive Science
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• v.19 no.2
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• pp.125-142
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• 2008

This study investigated the effects of space- and object-based attention on spatial and visual working memory, by measuring recognition of working memory on the spatial Stroop task including two modalities of attention resource. The similarity condition of stimulus arrangement between working memory task and spatial stroop task was manipulated in order to examine the effects of space-based attention on spatial rehearsal during working memory task, while Stroop rendition was manipulated in order to examine the effects of object-based attention on object rehearsal during working memory task. The results showed that in a condition that stimulus arrangement was highly similar for the spatial working memory task and the spatial Stroop task, recognition accuracy of the spatial working memory was high, but it was not significantly different with the Stroop conditions. In contrast, the recognition accuracy of visual working memory in the incongruent Stroop condition was lower than that in the congruent Stroop condition, but it was not significantly different with the similarity conditions (25% vs. 75%). The results indicated that selective attention has effects on working memory only when resource modality of working memory is the same as that of selective attention.

• Proceedings of the KIEE Conference
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• 1995.11a
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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.

• Proceedings of the IEEK Conference
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• 2009.05a
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• pp.264-266
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• 2009

A skill is defined as the special ability to do something well, especially as acquired by learning and practice. To learn a skill, a Bayesian network model for representing the skill is first learned. We will regard the Bayesian network for a skill as an affordance. We propose a soft Behavior Motivation(BM) switch as a method for ordering affordances to accomplish a task. Then, a skill is constructed as a combination of an affordance and a soft BM switch. To demonstrate the validity of our proposed method, some experiments were performed with GENIBO(Pet robot) performing a task using skills of Search-a-target-object, Approach-a-target-object, Push-up-in front of -a-target-object.

• Journal of the Ergonomics Society of Korea
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• v.6 no.2
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• pp.19-28
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• 1987

If an error occurs in the automatic mode when the advanced teleoperator system performs a task in hostile environment, then the mode changes into the manual mode. The operation by program and the operation by hyman recover the error in the manual mode. The system resumew the automatic mode and continues the given task. In order to utilize the inverse kinematics as means of the operation by program in the manual mode, Lee and Nagamachi determined the end point of the robot trajectory planning which varied with the height of the task object recognized by a T.V monitor, solved the end point by the fuzzy set theory, and controlled the position of the robot hand by the inverse kinematics and the posture of the robot hand by the operation by human. But the operation by human did take a lot of task time because the position and the posture of the robot hand were separately controlled. To reduce the task time by human, this paper developes an error recovery expert system (ERES). The position of the robot hand is controlled by the inverse kinematics of the cartesian coordinate system to the end point which is deter- mined by the fuzzy set theory. The posture of the robot hand is controlled by the modulality of the robot hand's motion which is made by the posture of the task object. The knowledge base and the inference engine of the ERES is developed using the muLISP-86 language. The experimental results show that the average task time by human the ERES which was performed by the integration of the position and the posture control of the robot hand is shorter than that of the research, done by the preliminary experiment, which was performed by the separation of the position and the posture control of the robot hand. A further study is likely to research into an even more intelligent robot system control usint a superimposed display and digitizer which can present two-dimensional coordinate of the work space for the convenience of human interaction.

• Journal of the Ergonomics Society of Korea
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• v.29 no.6
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• pp.943-949
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• 2010

When PCB soldering is performed with microscope due to the electronic components' microminiaturization, workers' awkward upper body postures and difficulties being in focus among lens, object and eyes are one of reasons for productivity decline. The object of this study is to investigate the level of difficulties of work and the extent of productivity improvement by changing work interfaces from the work using microscope to the work using LCD monitor. Independent variables was usage of microscope and image system and dependent variables were upper body segments including neck, shoulder, back, and waist, task convenience and eye fatigue. The Visual Analogue Scale (10cm) was used for questionnaire and one way ANOVA (two levels) and two sample t-test were conducted. In addition, RULA rating was conducted for working postures. The result showed that interface changes of LCD monitor, suggested by productivity comparison per one Man Hour, highly contributed to work convenience and productivity improvement.

• Journal of the Korea Computer Industry Society
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• v.3 no.3
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• pp.351-362
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• 2002

Today, management object using SNMP is not only covered network but also more privacy object like personal or billing data. To enforce security management, view-based access control model is introduced in SNMPv3. However, they are not designed to enforce more privacy object such as purpose and increase complexity of user management. Task-based access control can provide enhanced security service using purpose binding and leverage the complexity of user management using purpose of task.