• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.6 no.2
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• pp.10-18
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• 1997

This paper presents the development of real-time estimation and control details for a computer vision-based robot control method. This is accomplished using a sequential estimation scheme that permits placement of these points in each of the two-dimensional image planes of monitoring cameras. Estimation model is developed based on a model that generalizes know 4-axis Scorbot manipulator kinematics to accommodate unknown relative camera position and orientation, etc. This model uses six uncertainty-of-view parameters estimated by the iteration method. The method is tested experimentally in two ways : First the validity of estimation model is tested by using the self-built test model. Second, the practicality of the presented control method is verified in performing 4-axis manipulator's assembly task. These results show that control scheme used is precise and robust. This feature can open the door to a range of application of multi-axis robot such as deburring and welding.

• IE interfaces
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• v.7 no.2
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• pp.121-132
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• 1994

Despite extensive research on various factors affecting the effectiveness of decision support systems (DSS), considerable ambiguity still exists regarding the role and influence of the experience on the given task and the decision support system. Although researchers have advocated DSS effectiveness as a multi-dimensional construct, specific results regarding the effect of the familiarity in the task and the DSS on the problem-solving time is still lacking. The study reported here attempts to find the effect of the peculiarity of the problem-solving process on the problem-solving time. The results of the study highlight that the expertise in both the task and the DSS have made the shortage of the problem-solving time. However, more research about the generalized performance measure on the DSS is required.

• Proceedings of the IEEK Conference
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• 2008.06a
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• pp.747-748
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• 2008

In this paper, we propose a new algorithm for task scheduling consisting of subtask partitioning and subtask priority scheduling steps in order to keep the peak power under the system specification. The subtask partitioning stepis performed to minimize the idle operation time for processors by dividing a task into multiple subtasks using the least square method developed with power consumption pattern of tasks. In the subtask priority scheduling step, a priority is assigned to a subtask based on the power requirement and the power variation of subtask so that the peak power violation can be minimized and the task can be completed within the execution time deadline.

• Proceedings of the KSPS conference
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• 1996.10a
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• pp.435-447
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• 1996

In this paper, we propose the method that extracts the speech feature using the hearing model through signal processing techniques. The proposed method includes the following procedure ; normalization of the short-time speech block by its maximum value, multi-resolution analysis using the discrete wavelet transformation and re-synthesize using the discrete inverse wavelet transformation, differentiation after analysis and synthesis, full wave rectification and integration. In order to verify the performance of the proposed speech feature in the speech recognition task, korean digit recognition experiments were carried out using both the DTW and the VQ-HMM. The results showed that, in the case of using DTW, the recognition rates were 99.79% and 90.33% for speaker-dependent and speaker-independent task respectively and, in the case of using VQ-HMM, the rate were 96.5% and 81.5% respectively. And it indicates that the proposed speech feature has the potential for use as a simple and efficient feature for recognition task

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.400-400
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• 2000

This paper purposed that verify the validity of Petri Net method for control progressive increase of system complexity, before extend the realized single robot system to multi-robot system. An autonomous mobile robot(AMR) needs decision making, motion control, path planning, tracking a path, obstacle avoidance, and sensor fusion, to complete its task. An AMR integrates and operates these technics through a consistent command system. An error in a command hierarchy which is like duplication or omission of a control command hierarchy for each module results in serious problems. This paper minimizes the error by modeling each module and whole system using Petri Net graphical representation and applies it to the exploration task of an AMR

• The Korean Journal of Applied Statistics
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• v.21 no.6
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• pp.997-1006
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• 2008

This paper proposes a new model by combining an infinite-server queueing model for multi-task processing software system with a perfect debugging model based on Markov process with two types of faults suggested by Lee et al. (2001). We apply this model for module and integration testing in the testing process. Also, we compute several measure, such as the expected number of tasks whose processes can be completed and the task completion probability are investigated under the proposed model.

• Journal of the Ergonomics Society of Korea
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• v.9 no.1
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• pp.21-27
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• 1990

Teaching Expert System/World Coordinate System(TES/WDS) was proposed to improve robot motion control. First, precise coordinate reading for getting the inherent data about position and posture of task objects was performed throgh the integrated image and fuzzy processing. Second, singularity and parameter limitation problems in getting the motion data about position and posture of robot in macro motion were solved by proposed geometric algorithm. Third, the unnecessary robot motion was also removed by the Robot Time and Motion (RTM) method and the Multi-Geometric Straight-Line Motion (MGSLM) method in micro motion. This results demonstrated reduction of the average teaching task time according to task order.

• Phonetics and Speech Sciences
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• v.10 no.1
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• pp.33-38
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• 2018

Although deep neural network-based acoustic models have greatly improved the performance of automatic speech recognition (ASR), reverberation still degrades the performance of distant speech recognition in indoor environments. In this paper, we adopt the DenseNet, which has shown great performance results in image classification tasks, to improve the performance of reverberant speech recognition. The DenseNet enables the deep convolutional neural network (CNN) to be effectively trained by concatenating feature maps in each convolutional layer. In addition, we extend the concept of multi-resolution CNN to multi-resolution DenseNet for robust speech recognition in reverberant environments. We evaluate the performance of reverberant speech recognition on the single-channel ASR task in reverberant voice enhancement and recognition benchmark (REVERB) challenge 2014. According to the experimental results, the DenseNet-based acoustic models show better performance than do the conventional CNN-based ones, and the multi-resolution DenseNet provides additional performance improvement.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.556-559
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• 1997

In this paper, we propose a cooperative multi-robot control algorithm. Specifically, the cooperative task is that two mobile robots should transfer a long rigid object along a predefined path. To resolve the problem, we introduce the master-slave concept for two mobile robots, which have the same structure. According to the velocity of the master robot and the positions of two robots on the path, the velocity of the slave robot is determined. In case that the robots can't move further, the role of the robot is interchanged. The effectiveness of this decentralized algorithm is proved by computer simulations.

• IE interfaces
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• v.1 no.1
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• pp.27-37
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• 1988

In the multi-stage and multi-process plant, it is not an easy task to describe the interrelationships among each process and facility. The purpose of this simulation study is to analyze the effect of additional facilities on productivity in a steel mill. The simulation was performed using SLAM Simulation Language for Alternative Modeling. The results of this study was used by the plant engineers in making decisions on the expansion of the plate mill. The prediction of which process would cause bottle-necks enabled the plant engineers to invest most effectively.