• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.410-410
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• 2000

Impedance control is recognised as one of the most proper control scheme to carry out the assembly tasks, since it can control the dynamic relationship between the manipulator and environment directly. However, it is well known that the contact force cannot be controlled directly using the impedance control. Also impedance parameters should be properly defined depending on the task to be performed. We propose a new position based impedance control, which has self-adjusted impedance parameters and can control the contact force explicitly, Impedance parameters, as time-varying parameters, are adjusted automatically based on the measured contact force and the position error during the task. A proposed algorithm was implemented on the peg-in-hole task with the industrial manipulator. We shows the effectiveness of proposed control method experimentally.

• Journal of Internet Computing and Services
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• v.8 no.2
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• pp.137-146
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• 2007

This paper presents a way to integrate a task planner with a plan executive for efficient control of intelligent robots. For this purpose, it first surveys several types of the existing task planners and plan executives. And then it introduces a new approach that combines a BDI-based executive with an on-demand task planner, and it explains a control architecture of intelligent robots based upon this integrating paradigm. Finally it analyzes the flexibility and robustness of both the proposed integrating paradigm and the control architecture through implementation of a demo system using AIBO robots.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.8
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• pp.129-138
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• 2001

The paper presents an implementation procedure of assembly line for ABS motor, which is composed of four subassemblies-yoke, grommet, housing and armature. The characteristics of ABS motor and its assembly processes are analysed, and the automation possibility of each process is examined in order to decrease assembly time. The assembly machines and facilities are then selected for automatic assembly, and the layout of the selected facilities is determined. Finally, task allocation of each worker is achieved by assembly line balancing to increase assembly productivity and efficiency. The line efficiency is also analyzed using simulation.

• Journal of the military operations research society of Korea
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• v.29 no.1
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• pp.57-75
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• 2003

Policy-based networking offers a network manager the ability to manage the network in a holistic and dynamic fashion rather than force a network manager to manage the network by dealing with each device individually. Policy-based networking is focusing on users and applications instead of emphasizing devices and interfaces. An important part of the policy-based networking is to simplify the task of administration and management for different disciplines. The Defense Information System(DIS) of today are complex and heterogeneous systems. Operational needs are not a trivial task and Quality of Service(QoS) is not generally guaranteed. So, important data may be missed or congested by trivial data. Policy-based networking provide a way to support QoS and simplify the management of multiple devices deploying complex technologies. This paper suggest implementation of policy-based networking in DIS to improvement of performance, and implementation is progressed step by step. Especially this paper is focusing on the providing QoS with policy-based networking using Lightweight Directory Access Protocol(LDAP) Server.

• Korean Journal of Computational Design and Engineering
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• v.6 no.3
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• pp.157-168
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• 2001

The description of enterprise activities is the basis fur process improvement and information system building. To describe such activities, it is necessary to model the enterprise activities from the abstraction level to the implementation level in a stepwise and integrated form. For this reason, several modeling approaches have been proposed. However, most of them lacked the stepwise or integration aspects although some of them covered overall levels. This study proposes the hierarchical modeling approach for integrating the enterprise activity model from the abstraction level to the implementation level systematically. It is composed of five modeling levels such as function level, process level, task level, document workflow level, and event flow level. This study discusses the definition and characteristics of each level and compare our modeling frame with other modeling methodologies in case study.

• Proceedings of the ESK Conference
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• 1993.10a
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• pp.252-262
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• 1993

The subject on office automation is gradually gaining more improtance due to the fact that the efficiency of office systems contribute to the increase of productivity as much as manufactoring systems themselves. For successful implementation of office automation, one must carefully plan and execute various steps such as the analysis of office tasks, personnel training, workplace design, equipment design, and so on. The previous studies related to the subject has not been concrete enough to be practically helpful for the actual realization of office automation. In this paper, a new analysis method of the office task is proposed. This analysis method is based on the Rasmussen's and Bennette's methods. The Rasmussen's method describes a way of quantifying mental workload while the Bennette's method provides a tool for the analysis of the office task. The posner's and Rouse's methods are also employed for the detailed division of tasks. The method proposed in this paper is believed to be easier for use and expected to be more helpful for us to cope with the clear definition of office tasks that is vital to successful implementation of office automation.

• ETRI Journal
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• v.42 no.5
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• pp.748-760
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• 2020

MapReduce is a framework that can process huge datasets in parallel and distributed computing environments. However, a single machine failure during the runtime of MapReduce tasks can increase completion time by 50%. MapReduce handles task failures by restarting the failed task and re-computing all input data from scratch, regardless of how much data had already been processed. To solve this issue, we need the computed key-value pairs to persist in a storage system to avoid re-computing them during the restarting process. In this paper, the task failure resilience (TFR) technique is proposed, which allows the execution of a failed task to continue from the point it was interrupted without having to redo all the work. Amazon ElastiCache for Redis is used as a non-volatile cache for the key-value pairs. We measured the performance of TFR by running different Hadoop benchmarking suites. TFR was implemented using the Hadoop software framework, and the experimental results showed significant performance improvements when compared with the performance of the default Hadoop implementation.

• Research in Mathematical Education
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• v.25 no.4
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• pp.285-309
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• 2022

A large body of previous studies investigated mathematical tasks by analyzing the design process prior to lessons or textbooks. While researchers have revealed the significant roles of mathematical tasks within written curricular, there has been a call for studies about how mathematical tasks are implemented or what is experienced and learned by students as enacted curriculum. This article proposes a mathematical task analytic framework based on a holistic definition of tasks encompassing both written tasks and the process of task enactment. We synthesized the features of the mathematical tasks and developed a task analytic framework with multiple dimensions: breadth, depth, bridging, openness, and interaction. We also applied the scoring rubric to analyze three multiplication tasks to illustrate the framework by its five dimensions. We illustrate how a series of tasks are analyzed through the framework when students are engaged in multiplicative thinking. The framework can provide important information about the qualities of planned tasks for mathematics instruction (proactive) and the qualities of implemented tasks during instruction (reactive). This framework will be beneficial for curriculum designers to design rich tasks with more careful consideration of how each feature of the tasks would be attained and for teachers to transform mathematical tasks with the provision of meaningful learning activities into implementation.

• Journal of the Korean Society for Precision Engineering
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• v.25 no.9
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• pp.45-52
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• 2008

As multiple functions arc required in a robot controller, RTOS(Real Time Operating System) should be adopted to manage complex situations, such as choosing most urgent task among competing ones. In this paper, we implemented RTAI(Real Time Application Interface) based robot controller for wafer handling robots including graphic simulator. We showed how multiple tasks are organized and also explained in detail about task priorities and execution periods. Finally, we presented simulation results.

• Journal of Construction Engineering and Project Management
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• v.1 no.1
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• pp.31-36
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• 2011

Construction materials usually constitute a major portion of the total cost in a building construction project. Materials management Is made problematic by materials shortages, delays in supply, price fluctuations, damage and wastage, and lack of storage space. Despite the potential benefit of ICT, convincing construction organisations to embrace its use and implementation has proved a difficult task. This study seeks to identify the implementation of ICT for materials management processes in construction projects. The findings from the case studies reveal that the implementation of ICT in the materials management processes for construction projects in Malaysia Is at early stage. Microsoft Excel Spreadsheet and handheld devices are found to be the common ICT tools adopted in the materials management processes. The main barrier is found to be the cost involvement at the initial stage or overall implementation of ICT in the materials management processes. Finally, this paper concludes the finding from interviews towards the ICT implementation of materials management in the construction projects.