• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 1998년도 추계학술대회 학술발표 논문집
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• pp.568-576
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• 1998

In this thesis discuss with a flexible robotic finger design and controller which is used for the micro flexible robotic finger. So, miniaturization, precision, controller for the control of grasping force and actuator were needed. And, even if we develop a new actuator and controller, in order to use on real system, we must considerate of a many side problem. In a force control of micro flexible finger for grasping an object, the fingertip's vibration was more important task of accuracy control. And, controller were adopt the PD/PI mixed type fuzzy controller. The controller were consist of two part, one is a PD type fuzzy controller for increase the rising time response, the other is a PI type fuzzy controller for decrease of steady-state error. Especially, in a PD type fuzzy controller, we used only seven rules. And, for a PI controller, we adopt a reset factor for the control of input values. so, we have overcome the exceed of controller's input range. For the estimate of ontroller's utility and usefulness, we have experiment and computer simulation of three cases. First, we consider of unit force grasping control for a task object, which is 0.03N. Second, bounding grasping force control which is add to a sinusoidal force on the unit force. At this cases the task force is (0.03+0.01 sin wt N). And consider of following of rectangular forces.

• 인터넷정보학회논문지
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• 제12권6호
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• pp.1-17
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• 2011

분산 이기종 컴퓨팅 시스템의 성능은 입력 그래프인 방향성 비순환 그래프DAG)를 스케줄링 하는 알고리즘의 성능에 따라 좌우된다. 그러나 분산 이기종 컴퓨팅 시스템에서의 태스크 스케줄링은 NP-complete 문제로 휴리스틱 방법으로 접근해야한다. 태스크 스케줄링 알고리즘은 우선순위 결정 단계와 프로세서 할당 단계로 구성되며, 많은 연구들이 두 단계를 함께 고려하고 있다. 본 논문에서는 태스크 우선순위 결정 단계에 초점을 맞추어 태스크 복제 기반 프로세서 할당 방법에 최적화된 태스크 우선순위 결정 알고리즘인 WPD 알고리즘을 제안한다. 제안하는 WPD 알고리즘의 성능 분석을 위해 태스크 복제 기반 프로세서 할당 방법을 사용하는 기존의 태스크 스케줄링 알고리즘인 HMPID, HCPFD, HCT 알고리즘의 프로세서 할당 단계에 본 논문에서 제안하는 WPD 알고리즘을 결합하여 성능을 비교하였다. 그 결과 본 논문에서 제안하는 WPD 알고리즘이 기존 태스크 우선순위 결정 방법에 비해 태스크 복제를 더욱 효율적으로 사용하여 HCPFD 알고리즘보다 9.58%, HCT 알고리즘보다 1.31% 성능 향상이 있는 것을 확인하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1992년도 하계학술대회 논문집 A
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• pp.411-413
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• 1992

This paper proposes a simple and high performance hybrid position/force control of robots based on disturbance compensation by using the disturbance observer in task coordinate space. The disturbance observer linealizes system of robot manipulators in task coordinate space and realizes acceleration control. To realize the strict acceleration control, the disturbance observer whose input is a position signal by simple computation, works as if it were a disturbance detector. The inverse kinematics can be simplified, because the disturbance observer in task coordinate space compensates not only the disturbance but also the error due to the simplification of the inverse kinematics. The new strategy is applied to a three-degrees-of freedom direct drive robot. The robust and simple hybrid position/force control is realized experimentally.

• International Journal of Control, Automation, and Systems
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• 제6권2호
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• pp.194-203
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• 2008

Iterative learning control (ILC) is a simple and effective method for the control of systems that perform the same task repetitively. ILC algorithm uses the repetitiveness of the task to track the desired trajectory. In this paper, we propose a PID (proportional plus integral and derivative) type ILC update law for control discrete-time single input single-output (SISO) linear time-invariant (LTI) systems, performing repetitive tasks. In this approach, the input of controlled system in current cycle is modified by applying the PID strategy on the error achieved between the system output and the desired trajectory in a last previous iteration. The convergence of the presented scheme is analyzed and its convergence condition is obtained in terms of the PID coefficients. An optimal design method is proposed to determine the PID coefficients. It is also shown that under some given conditions, this optimal iterative learning controller can guarantee the monotonic convergence. An illustrative example is given to demonstrate the effectiveness of the proposed technique.

• 제어로봇시스템학회논문지
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• 제21권7호
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• pp.699-708
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• 2015

In the testing of a software component-based robot system, generating test cases for the system is a time-consuming and difficult task that requires the combining of test data. This paper proposes an adaptive combinatorial testing method which is based on the input/output relationship among components and which automatically generates the test cases for the system. The proposed algorithm first generates an input/output relationship graph in order to analyze the input/output relationship of the system. It then generates the reduced set of test cases according to the analyzed type of input/output relationship. To validate the proposed algorithm some comparisons are given in terms of the time complexity and the number of test cases.

• 한국언어정보학회지:언어와정보
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• 제9권1호
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• pp.69-92
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• 2005

Pattern recognition in cognitive agents is based on (i) the uninterpreted input data (e.g. parameter values) provided by the agent's hardware devices and (ii) and interpreted patterns (e.g. templates) provided by the agent's memory. Computationally, the task consists in finding the memory data corresponding best to the input data, for any given input. Once the best fitting memory data have been found, the input is recognized by applying to it the interpretation which happens to be stored with the memorized pattern. This paper presents a fast converging procedure which starts from a few initially recognized items and then analyzes the remainder of the input by systematically checking for items shown by memory to have been related to the initial items in previous encounters. In this way, known patterns are tried first, and only when they have been exhausted, an elementary exploration of the input is commenced. Efficiency is improved further by choosing the candidate to be tested next according to frequency.

• 대한인간공학회지
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• 제30권2호
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• pp.303-310
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• 2011

In this study, we employ CPM-GOMS analysis for explaining physical and cognitive processes and for quantitatively predicting when users are typing Korean text messages on mobile phones using both hands. First, we observe the behaviors of 10 subjects, when the subjects enter keypads with both hands. Then, basing upon MHP, we categorize the behaviors into perceptual, cognitive, motor operators, and then we analyze those operators. After that, we use the critical paths to model two task sentences. Also, we used Fitts' law method which was applied many times to predict text entering time on mobile phone to compare with the results of our CPM-GOMS model. We followed Lee's (2008) method that is well suited for text entry task using both hands and calculate total task time for each task sentences. For the sake of comparison between the actual data and the results predicted from our CPM-GOMS model, we empirically tested 10 subjects and concluded that there were no significant differences between the predicted values and the actual data. With the CPM-GOMS model, we can observe the human information processes composed on the physical and cognitive processes. Also we verified that the CPM-GOMS model can be well applied to predict the users' performance when they input text messages on mobile phones using both hands by comparing the predicted total task time with the real execution time.

• ETRI Journal
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• 제42권5호
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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.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 1998년도 가을 학술발표논문집 Vol.25 No.2 (2)
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• pp.336-338
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• 1998

This paper presents a novel neural network structure to the blind deconvolution task where the input (source) to a system is not available and the source has any type of distribution including sparse distribution. We employ multiple sensors so that spatial information plays a important role. The resulting learning algorithm is linear so that it works for both sub-and super-Gaussian source. Moreover, we can successfully deconvolve the mixture of a sparse source, while most existing algorithms [5] have difficulties in this task. Computer simulations confirm the validity and high performance of the proposed algorithm.

• 영어어문교육
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• 제12권3호
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• pp.267-286
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• 2006

The purpose of the study was to investigate what kinds of learning strategies EFL learners use to learn English grammar and what is benefit from structured grammar input processing. Students of the study consisted of 48 college students who took Practical English Grammar at a university in Kyung-Gi area and were divided into two groups based on grammar scores. The students were asked to take two grammar tasks and grammar tests and complete a survey including questions on grammar strategy and input processing. The results of the study are as follows. First, learners' grammar level has an effect on use of grammar attack strategy including asking teachers, using grammar books and given contexts whereas there was no significant difference between groups in the planning strategies, Among memory strategies, using grammar exercise and linking with already known structure demonstrated a significant difference between groups. Second, with regard to input processing, high level students got higher score on how much they understood the structured grammar input compared with low level students. Third, explicit implicit instruction added to input processing seems more comprehensible and more available than structured input only, Finally, it showed that there is positive relationship between perception and score of input processing tasks and grammar tests. Especially, learners' perception of input processing correlated more with final tests and tasks. Therefore, it suggests that the more input processing task need to develop and utilize in order to facilitate learners' intake.