• 대한기계학회논문집A
• /
• 제27권7호
• /
• pp.1234-1242
• /
• 2003

In this paper we present a simple and efficient robust optimal design formulation for MEMS structures and its application to a resonant-type micro probe. The basic idea is to use the gradient index (GI) to improve robustness of the objective and constraint functions. In the robust optimal design procedure, a deterministic optimization for performance of MEMS structures is followed by design sensitivity analysis with respect to uncertainties such as fabrication errors and change of operating conditions. During the process of deterministic optimization and sensitivity analysis, dominant performance and uncertain variables are identified to define GI. The GI is incorporated as a term of objective and constraint functions in the robust optimal design formulation to make both performance and robustness improved. While most previous approaches for robust optimal design require statistical information on design variations, the proposed GI based method needs no such information and therefore is cost-effective and easily applicable to early design stages. For the micro probe example, robust optimums are obtained to satisfy the targets for the measurement sensitivity and they are compared in terms of robustness and production yield with the deterministic optimums through the Monte Carlo simulation. This method, although shown for MEMS structures, may as well be easily applied to conventional mechanical structures where information on uncertainties is lacking but robustness is highly important.

• International Journal of Control, Automation, and Systems
• /
• 제1권1호
• /
• pp.142-148
• /
• 2003

Reinforcement learning is considered as an important tool for robotic learning in unknown/uncertain environments. In this paper, we propose an evaluation function expressed in a vector form to realize multi-dimensional reinforcement learning. The novel feature of the proposed method is that learning one behavior induces parallel learning of other behaviors though the objectives of each behavior are different. In brief, all behaviors watch other behaviors from a critical point of view. Therefore, in the proposed method, there is cross-criticism and parallel learning that make the multi-dimensional learning process more efficient. By ap-plying the proposed learning method, we carried out multi-dimensional evaluation (reward) and multi-dimensional learning simultaneously in one trial. A special neural network (Q-net), in which the weights and the output are represented by vectors, is proposed to realize a critic net-work for Q-learning. The proposed learning method is applied for behavior planning of mobile robots.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.1109-1114
• /
• 2003

In this paper, task control architecture is proposed for a mobile robot with behaviors based on cognition theory to endow the robot intelligence. In the task control architecture, task manager is introduced especially for the management of computational resource. The management is based on classical RMS (Rate Monotonic Strategy), but with online rate modulation strategy. The rate modulation is performed using the value variances of behavior execution for the task. Because the values are based on natively uncertain sensor information, they are modeled using PDF (probability Density Function). As a rate modulation process, the range of the rate modulation is defined firstly by real-time constraints of RMS and discrete control stability of behaviors. With the allowable range, rate modulations are performed considering harmonic bases to maintain utilization bound without decrease. To evaluate the efficiency of the proposed rate modulation strategy, a simulation test is performed to compare the efficiency between the control architecture with the proposed strategy and previous one. A performance index with the formalization of propensity of resource allocation is proposed and utilized for the simulation test. To evaluate the appropriateness of the performance index, the performance index is compared with practical one through a practical simulation test.

• 임상간호연구
• /
• 제24권1호
• /
• pp.44-55
• /
• 2018

Purpose: This study aimed to explore and understand the experience of decision making among women undergoing or forgoing selective fetal reduction who have higher-order multiple pregnancies through assisted reproductive techniques. Methods: A qualitative study was conducted from August 1, to October 30, 2013. Eight participants were interviewed and the interviews were audio-recorded and transcribed verbatim. Six persons participated in in-depth interviews in person and two participated over the telephone. A thematic analysis was conducted. Results: Four themes were identified and carefully named: Confusion after higher-order multiple pregnancy; Obstacles to choice: Uncertain safety; Weighing between reality and ideality and; Influences of medical professionals. Conclusion: The results demonstrated a wide range of factors considered by women when making decisions about selective fetal reduction, and mothers' feelings of conflict and distress in the decision-making process. The results suggest that it is important for nurses to provide emotional support and consolation, in addition to sufficient information. These findings will help nurses improve their counseling techniques by understanding the situation of infertile couples.

• 동력기계공학회지
• /
• 제21권1호
• /
• pp.30-36
• /
• 2017

In robot industries, the request to obtain a high efficiency and accurately controlled electric actuator has been growing. Nevertheless, the effectiveness of electric actuators is significantly affected by the presence of factors such as nonlinearity, uncertain disturbance and unknown dynamics. Therefore, it makes difficult to derive an exact mathematical model of the controlled system. In this paper, a new method for easily recognizing and regenerating robot motions used in small size industries such as painting and welding parts is proposed. Instead of modeling the entire dynamic motion of the robot system, this method is based on the procedure of modeling and controller design for every arm individually. The proposed method does not require complex model and control system such that it gives easy working process to the small size industries. Based on this fact, in this research, the model and PID controller for every arm of the 3 DOF robot system are obtained separately. Some experimental results are implemented to validate the effectiveness of the proposed method.

• 대한전자공학회논문지TC
• /
• 제37권10호
• /
• pp.1-8
• /
• 2000

본 연구에서는 AOA(Angle of Arrival)와 TOA(Time of Arrival) 그리고 TDOA(Time Difference of Arrival)의 추정값을 이용한 위치 추정 기법들을 설명하고 분석하였다 이들 기법들을 다중경로 페이딩 (mutipath fading)과 shadowing을 갖는 마이크로셀 환경에 적용한다면, 빠르고 예측할 수 없는 신호 레벨 의 변화로 인하여 이동체의 위치를 정확히 추정하는 것은 어렵다. 따라서 본 연구에서는 수신 신호 세기 (RSS: Received Signal Strength) 이외에 이동체와 기지국간의 거리, 이동체의 이동방향, 이동체의 이전위치와 같은 부정확한 다수의 파라미터를 동시에 고려하는 퍼지 다기준(multi-criteria) 의사 결정 방법을 이용하여 이동체의 위치를 결정하는 방법을 제안한다. 시뮬레이션을 통하여, 이동체의 방향과 속도의 영향을 분석한다.

• Journal of Information Technology Applications and Management
• /
• 제19권2호
• /
• pp.249-263
• /
• 2012

Recently the open innovation is considered as one of the important issues for the survival strategy of a company in the industry. There have been several researches and practices on this topic. However, previous researches are mainly focused on the study of successful cases and some statistical analyses on the relationship between the open innovation and its performance. There are rare researches on the hindrance factors in the practical level. This paper tries to find some hinderance factors for the open innovation in Korean large-scale companies based on the WFGM(Want-Find-Get-Manage) model proposed by Gene Slowinski(2006). Especially this research focused on each processes of open innovation by in-depth interviews for two representative large companies in Korea. From the result of this research we come to know that the critical hindrance factor in the WANT step is the uncertain definition of the necessary technologies for the company. Issues on establishing and maintaining the innovation network are in the FIND step. Technology evaluation, technology introduction channel and technology copying issues are in the GET step. Communication issues, technology feasibility and lack of competition are in the MANAGE step. This paper finds some hindrance factors in each process step of open innovation, which gives some implications for the companies that want to adopt open innovation.

• Asia pacific journal of information systems
• /
• 제4권2호
• /
• pp.35-61
• /
• 1994

Accounting information system is the most important and formal subsystem of the total information system of an organization which produces and delivers financial information. An organization has its own contigent characteristics. It is the key to a successful development of accounting information system to select the development mode and information characteristics appropriate for the contigent characteristics. The main purpose of this study is to analyze the relationship between the contigent factors and the development mode of accounting information system. In addition, this study will examine the relationship between the contigent variables and the information characteristics of accounting information system. The research method adopted in this study is the survey. The results show that the environmental uncertainty, organization size, task diversity, task interrelatedness, and management commitment are positively related with the involvement and role of user in the system development process. The aggregate information regarding various departments tends to be produced by an organization under the uncertain environment. The information is reported periodically by a centralized organization. The aggregate information is preferred when tha task for implementation is diversified. The output information is more aggregate and provided more frequently when there exists a high interrelatioship between tasks. The output information is more external and reported more frequently in an organization with the high management commitment.

• International Journal of Precision Engineering and Manufacturing
• /
• 제8권4호
• /
• pp.27-32
• /
• 2007

Gears, crucial components in modern precision machinery for power transmission mechanisms, are required to have low contacting noise with high torque transmission, which makes the use of gear-tooth profile modifications and gear-tooth surface crowning extremely efficient and valuable. Due to the shortcomings of current techniques, such as manual rectification, mechanical modification, and numerically controlled rectification, we propose a novel electrochemical gear-tooth profile modification method based on an artificial neural network control technique. The fundamentals of electrochemical tooth-profile modifications based on real-time control and a mathematical model of the process are discussed in detail. Due to the complex and uncertain relationships among the machining parameters of electrochemical tooth-profile modification processes, we used an artificial neural network to determine the required processing electric current as the tooth-profile modification requirements were supplied. The system was implemented and a practical example was used to demonstrate that this technology is feasible and has potential applications in the production of precision machinery.

• Journal of Microbiology and Biotechnology
• /
• 제24권5호
• /
• pp.714-718
• /
• 2014

Apoptosis is the process of programmed cell death executed by specific proteases, the caspases, which mediate the cleavage of various vital proteins. Elucidating the consequences of this endoproteolytic cleavage is crucial to understanding cell death and other related biological processes. Although a number of possible roles for caspase-6 have been proposed, the identities and functions of proteins that interact with caspase-6 remain uncertain. In this study, we established a cell line expressing tandem affinity purification (TAP)-tagged caspase- 6 and then used LC-MS/MS proteomic analysis to analyze the caspase-6 interactome. Eight candidate caspase-6-interacting proteins were identified. Of these, five proteins (hnRNP-M, DHX38, ASPP2, MTA2, and UACA) were subsequently examined by co-immunoprecipitation for interactions with caspase-6. Thus, we identified two novel members of the caspase-6 interactome: hnRNP-M and MTA2.