• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1071-1076
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• 2003

In this work, we propose a new framework of robot control for a variety of applications to our unstructured everyday environments. Programming robots can be a very time-consuming process and seems almost impossible for ordinary end users. To cope with this, this work is to provide a software framework for building robot application programs automatically, where we have robots learn how to accomplish a commanded task from the object. An integrated sensing and computing tag is embedded into every single object in the environment. In the robot controller, only the basic software libraries for low-level robot motion control are provided from the robot manufacturer. The main contributions of this work is to develop a server platform that we call Omniscient Server that generates the application programs and send them to the robot controller through the network. The object-related information from the object server merges into robot control software to generate a detailed application program based on the task commands from the human. We have built a test bed and demonstrated that a robot can perform a common household task within the proposed framework.

• Journal of Korean Academy of Fundamentals of Nursing
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• v.4 no.2
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• pp.193-216
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• 1997

The purpose of this research was to understand the structure of the experiences of turnover among hospital nurses. The research question was 'What is the structure of the experiences of turnover among hospital nurses?' The sample consisted of 16 hospital nurses who experienced one or more turnover. The unstructured interview were carried out from July 15. through August 31., 1997. Intervewed by audio-recording and analyzed by Van Kaam's method. There were 361 descriptive expressions and priority classifications. The result summerized as 107 common elements, 38 syntheses of hypothetical definitions and 6 identifications of the structural definition. The structural definitions and hypothetical definitiones were as follows ; 1. There were different views on the turnover intention. Hard task, dissatisfaction of initial expectancy, uncomfortable relationship with doctors, inappriate reward, uncomfortable relationship with workers of other parts, uncomfortable relationship with patients, unreasonable promotion, uncomfortable relationship with co-worker, helplessness, poor environment of working conditions. 2. Motivating factor of turnover can be varied : self development, problem of social support, boring task, problem of relation-ship with the senior, unfair promotion, night duty. 3. Social supportive factors were co-worker support, senior support, self control, family support, time support. 4. There were different views on the job satisfaction. Task, relationship with patient, recognition, professionalism, promotion, working environment, relationship with co-worker, reward.

• Smart Media Journal
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• v.10 no.2
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• pp.16-21
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• 2021

Financial time series analysis plays a very important role economically and socially in modern society and is an important task affecting global development, but due to difficulties such as a lot of noise and uncertainty, financial time series analysis prediction is a difficult research topic. In this paper, we propose a market prediction method (MPIL) by converting unstructured data and structured data into images. For market prediction, it analyzes SNS and news data, which is unstructured data for n days, and converts the market data, which is structured data, to an image with the GADF algorithm, and predicts an ultra-short market that predicts the price of n+1 days through image learning. MPIL has an average accuracy of 56%, which is higher than the 50% average accuracy of the model that predicts the market with LSTM by using sentiment analysis used for existing market forecasting.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.10
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• pp.3038-3047
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• 1996

In telerobot systems, visual servoing of a task object for a slave arm with an eye-in-hand has drawn an interesting attention. As such a task ingenerally conducted in an unstructured environment, it is very difficult to define the inverse feature Jacobian matrix. To overcome this difficulty, this paper proposes an auto-tuning fuzzy rule-based visual servo algorithm. In this algorithm, a visual servo controller composed of fuzzy rules, receives feature errors as inputs and generates the change of have position as outputs. The fuzzy rules are tuned by using steepest gradient method of the cost function, which is defined as a quadratic function of feature errors. Since the fuzzy rules are tuned automatically, this method can be applied to the visual servoing of a slave arm in real time. The effctiveness of the proposed algorithm is verified through a series of simulations and experiments. The results show that through the learning procedure, the slave arm and track object in real time with reasonable accuracy.

• The Journal of the Korea Contents Association
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• v.5 no.1
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• pp.109-116
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• 2005

This paper is to develop the prototype of a decision making for loan granting system at banks and to evaluate the effectiveness of it. The prototype is called at FENET-LG in this paper. The decision to grant a loan is an unstructured and vagueness task because it is required a tremendous amount of data and many complex relationships among them. Evaluating these many data and relationships is a difficult task even for most experienced decision maker of bank. Therefore, where complex judgement is required, the decision maker of bank may benefit from the use of fuzzy expert network to support the evaluation of ability to pay back. Given the characteristics of decision maker of banking facilities judgement task about ability to pay back, the prototype system named FENET-LG is constructed by integration of fuzzy expert system and neural network. The FENET-LG takes advantage of both the deductive approach of fuzzy expert system and the inductive approach of a neural network to provide a decision aid designed to support and facilitate the process of conducting a judgement of ability to pay back.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.10 no.4
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• pp.281-286
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• 2010

We propose a space and time based sensor fusion method and a robust landmark detecting algorithm based on sensor fusion for mobile robot navigation. To fully utilize the information from the sensors, first, this paper proposes a new sensor-fusion technique where the data sets for the previous moments are properly transformed and fused into the current data sets to enable an accurate measurement. Exploration of an unknown environment is an important task for the new generation of mobile robots. The mobile robots may navigate by means of a number of monitoring systems such as the sonar-sensing system or the visual-sensing system. The newly proposed, STSF (Space and Time Sensor Fusion) scheme is applied to landmark recognition for mobile robot navigation in an unstructured environment as well as structured environment, and the experimental results demonstrate the performances of the landmark recognition.

• Journal of Construction Engineering and Project Management
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• v.1 no.2
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• pp.1-10
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• 2011

Bridges are critical and valuable components in any road and rail transportation network. Therefore bridge remediation has always been a top priority for asset managers and engineers, but identifying the nature of true defect deterioration and associated remediation treatments remains a complex task. Nowadays Decision Support Systems (DSS) are widely used to assist decision makers across an extensive spectrum of unstructured decision environments. The main objective of this research is to develop a requirements-driven methodology for bridge monitoring and maintenance which has the ability to assess the bridge condition and find the best remediation treatments using Simple Multi Attribute Rating Technique (SMART); with the aim of maintaining a bridge within acceptable limits of safety, serviceability and sustainability.

• Journal of Drive and Control
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• v.15 no.3
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• pp.29-35
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• 2018

This paper presents the design of attachments for dual arms of disaster responding heavy machine. The heavy machine handles a variety of tasks such as cutting, shredding, picking and moving in unstructured environment. Despite the need for rapid response, the heavy machine has difficulty in repeatedly replacing the attachment depending on the task. Thus, we propose a method to solve this physical and functional contradiction relation by using TRIZ separation principles. Above all, the existing equipment and the required working scenarios were surveyed and summarized in order to separate the attachments functionally for right-handed, left-handed and two-handed operation. Then, we proposed the design directions and conceptual design as following: multi function type attachment A, for precise operation and various operations; grab type attachment B, for grasping irregular objects and auxiliary device for both arms to handle bulky objects.

• International Journal of Control, Automation, and Systems
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• v.4 no.3
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• pp.318-324
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• 2006

The mobile manipulator is expected to work in partially defined or unstructured environments. In our global/local approach to path planning, joint trajectories are generated for a desired Cartesian space path, designed by the global path planner. For a local path planner, inverse kinematics for a redundant system is used. Joint displacement limit for the manipulator links is considered in the motion planner. In an event of failure to obtain feasible trajectories, the task cannot be accomplished. At the point of failure, a deviation in the Cartesian space path is obtained and a replanner gives a new path that would achieve the goal position. To calculate the deviation, a nonlinear optimization problem is formulated and solved by standard Sequential Quadratic Programming (SQP) method.

• Korean Journal of Applied Biomechanics
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• v.31 no.2
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• pp.87-94
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• 2021

Objective: Identification of meaningful patterns and trends in large volumes of unstructured data is an important task in various research areas. In the present study, we gathered golf swing image data and did quantitative analysis of swing image. Method: We collected golf swing images of 30 novice players and 30 professional players in this study. Results: We selected important features of swing posture and employed data mining algorithm to classify whether a player is an expert or a novice. Moreover, our proposed method could offer quantitative advices for golf beginners for correcting their swing. Conclusion: Finally, we found a possibility that our proposed method can be expanded to golf swing correction system