• 제어로봇시스템학회:학술대회논문집
• /
• 1991.10a
• /
• pp.832-837
• /
• 1991

After many years of proliferation, the nuclear industry is indebted for a formidable consequence, the safe management of spent fuel. Naturally, the high radioactivity involved with such process motivates the development of effective telerobotic systems. Nevertheless, the existing master-slave type of tele manipulators are limited in effectiveness by the human operator's limited sensory and manipulation capabilities. This paper presents the result of a research effort to resolve such problems by assigning the slave manipulator a certain degree of intelligence; sensing and actuation. In the presented system, a perception-action loop is achieved using ultrasonic range sensor and laser distance sensor interfaced with the PUMA 760 industrial robot system, and applied to automating impact wrenching task for unbolting the lid of nuclear spent fuel cask. The perception-action loop performs determination of the cask location, collision avoidance and centering of the impact wrench onto the bolt head. To aid the insertion task and to provide versatility a mounting module consisting of an RCC device and an automatic tool changer is designed and implemented. The performance of the developed system is tested on the model cask and the result is given.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.4
• /
• pp.376-380
• /
• 2008

This paper deals with a performance analysis of real-time control systems, which engages DMR(dual modular redundancy) to detect transient errors and checkpointing technique to tolerate transient errors. Transient errors are caused by transient faults and the most significant type of errors in reliable computer systems. Transient faults are assumed to occur according to a Poisson process and to be detected by a dual modular redundant structure. In addition, an equidistant checkpointing strategy is considered. The probability of the successful task completion in a real-time control system where periodic checkpointing operations are performed during the execution of a real-time control task is derived. Numerical examples show how checkpoiniting scheme influences the probability of task completion. In addition, the result of the analysis is compared with the simulation result.

• IE interfaces
• /
• v.22 no.3
• /
• pp.263-277
• /
• 2009

This research deals with a task assignment problem to worker group which consists of one master and one assistant. Each task must be assigned to only one worker group and it is possible to make a pair of each master and each assistant to organize a worker group. A worker group may have more than one task assigned to it, but the workloads of each worker group must be balanced within the allowable range. This problem can be formulated mathematically using the Mixed Integer Programming(MIP), where the objective function is to minimize the total assignment cost. A two phase heuristic algorithm is suggested in order to find approximate solutions. The first phase is to obtain an initial solution, where the initial assignment is performed to follow the workload adjustment. In the second phase, the solution is improved through the repeated process of the exchange and the assignment adjustment. Numerical experiments have been performed to evaluate the performance of the heuristic algorithm.

• Journal of Information Technology Services
• /
• v.3 no.1
• /
• pp.43-61
• /
• 2004

Recently It becomes a rapidly growing concern to find effective ways of managing IS development projects as the projects increase in many organization. This paper focuses on developing an integrative management framework for IS development project in contingent perspective. The framework is based upon contingent relationship between management dimensions of IS development project and the characteristics of the task replaced or supported by an IS. Management dimensions of IS development consist of mode, content and process. Task characteristics which are considered as contingent variables include project size, unstructuredness level, hierarchical level, interdependence level and system innovativeness level. The data used for validating this conceptual framework are collected from 119 IS development projects in 70 Korean business organizations. One-way ANOVA and T-test are employed to test the hypotheses.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.412-412
• /
• 2000

This paper presents a task teaching method for off-line programming of a multi-robot system. Teaching commands were developed in order to simplify a complex teaching process, to shorten the setup time for new working environment and to have flexibility for changes in working environment. Four teaching commands can be used to automatically generate trajectories of an end-effector of the robot in electronics assembly line. The robots used in the work cell are a four-axis SCARA robot and six-axis articulated robot. Each robot is controlled in a independent way while objects, working environment and robots are modeled in corresponding modules, respectively. The off- line programming system developed uses OpenGL for a smooth graphic effect in Window s where three dimensional CAD data can be leaded for graphical modeling.

• Journal of Internet Computing and Services
• /
• v.8 no.1
• /
• pp.71-78
• /
• 2007

In this paper, an effective task scheduling scheme was proposed for the flexible real time LINUX systems with the selection between EDF(earliest deadline first) and RMS(rate monotonic scheduling). It was known that many task scheduling schemes were analyzed according to the characteristics of scheduling schemes and the guarantee of an earliest deadline scheduler for process utilities.

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

• Proceedings of the ESK Conference
• /
• 1994.04a
• /
• pp.7-18
• /
• 1994

Many office tasks have been automated by using computers to increase task productivity. The productivity of performing office tasks is dependent not only upon automating the task procedures, but also upon the usability of user interfaces. However, the literature lacks human factors research on evaluating the usability of user interface styles when they are used for performing different office tasks. This study evalu- ated the usability of user interfaces styles when performing various office tasks. User interface styles considered include menu-selection, command language, form fill-in, iconic styles, etc. A task analysis was conducted toclassify representative office tasks. A variety of analysis techniques such as brainstorming, analytic hierarchy process, prototyping, and expert opinions were used to evaluate the usability of the interfaces. The analysis procedures and results are described along with guidelines for selecting user interfaces in terms of subjective preferences and performance measures.

• Journal of the Ergonomics Society of Korea
• /
• v.8 no.2
• /
• pp.19-26
• /
• 1989

This study, as a part of integrated human-robot ergonomics, improves the robot motion control on the robot task in the TOES/WCS whose purpose is improving the teaching task constructed in the previous study. First, the updated combined fuzzy process using a new membership function with Weber's law is constructed for the purpose of coordinate reading of the end points in the macro motion control. Second, an algorithm using the geometric analysis is desinged in order to calculate position values and posture values of the robot joints. Third, the MGSLM method is designed to remove unnecessary the robot motion control caused by the GSLM method in the micro motion control. Consequently, proposed methods in this study lessen burdcn of a human of an improvement of the robot motion control and reduce the teaching time of a human operator and inaccuracy of the teaching task, which contribute to the integrated human-robot ergonomics.

• Journal of the Korean Society of Safety
• /
• v.18 no.2
• /
• pp.104-118
• /
• 2003

It has been criticized that conventional human reliability analysis (HRA) methodologies for probabilistic safety assessment (PSA) have been focused on the quantification of human error probability (HEP) without detailed analysis of human cognitive processes such as situation assessment or decision-making which are crticial to successful response to emergency situations. This paper introduces a new human reliability analysis (HRA) methodology, AGAPE-ET (A guidance And Procedure for Human Error Analysis for Emergency Tasks), focused on the qualitative error analysis of emergency tasks from the viewpoint of the performance of human cognitive function. The AGAPE-ET method is based on the simplified cognitive model and a taxonomy of influencing factors. By each cognitive function, error causes or error-likely situations have been identified considering the characteristics of the performance of each cognitive function and influencing mechanism of PIFs on the cognitive function. Then, overall human error analysis process is designed considering the cognitive demand of the required task. The application to an emergency task shows that the proposed method is useful to identify task vulnerabilities associated with the performance of emergency tasks.