• KSII Transactions on Internet and Information Systems (TIIS)
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• v.16 no.8
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• pp.2529-2551
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• 2022

Visual servoing (VS) based on the Kalman filter (KF) algorithm, as in the case of KF-based image-based visual servoing (IBVS) systems, suffers from three problems in uncalibrated environments: the perturbation noises of the robot system, error of noise statistics, and slow convergence. To solve these three problems, we use an IBVS based on KF, African vultures optimization algorithm enhanced extreme learning machine (AVOA-ELM), and fuzzy logic (FL) in this paper. Firstly, KF online estimation of the Jacobian matrix. We propose an AVOA-ELM error compensation model to compensate for the sub-optimal estimation of the KF to solve the problems of disturbance noises and noise statistics error. Next, an FL controller is designed for gain adaptation. This approach addresses the problem of the slow convergence of the IBVS system with the KF. Then, we propose a visual servoing scheme combining FL and KF-AVOA-ELM (FL-KF-AVOA-ELM). Finally, we verify the algorithm on the 6-DOF robotic manipulator PUMA 560. Compared with the existing methods, our algorithm can solve the three problems mentioned above without camera parameters, robot kinematics model, and target depth information. We also compared the proposed method with other KF-based IBVS methods under different disturbance noise environments. And the proposed method achieves the best results under the three evaluation metrics.

• Korean Journal of Occupational Health Nursing
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• v.10 no.1
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• pp.24-40
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• 2001

This study is to observe the effectiveness of the applied model and to present the improvement plan and directions for development for the case management practical model suitable for the actual condition of Korea Labor Welfare Co. and needs of the industrial injury patients. The concrete purpose of this study is: First, observe the difference of stressor experience and experience degree between the experimental group and the comparative group. Second, observe the difference of stress of the experimental group and the comparative group. Third, find out how the stress affects the support degree and satisfaction degree. Fourth, present the improvement plan of case management model, which can promote the psychosocial rehabilitation of the industrial injury patient based on the research results. The outline of the main research results identified in this study is as follows. The stressors the industrial injury patients perceived are health problems, family matters, the problems concerning hospital recuperation (hospital staff and environmental problems), economical problems, problems of coming back to society, problems with companies, problems with Korea labour Welfare Co. and other problems. And the experience of stressor was prominently lower in experimental group than comparative group in the whole problem, health problem, problems with Korea Labour-Welfare Co. and other problems. The stressor experience degree was conspicuously lower in experimental group in the whole problem experience degree, health problem experience degree, problem with Korea Labour Co. experience degree and other problem experience degree. Besides whether or not the case management is applied is having a prominent affect on the primary factor affecting the stressor experience degree, therefore the patients applied with case management has less stressor than the patient who didn't. The difference of degree of tension experienced by the stressor in both groups, the degree of stress, was not conspicuous in statistics so it shows that the application of case management in this research has not affected the degree of tension. The field which had been the most help was emotional support in help level the experimental group perceived through applying case management about industrial accident patients and recuperation, compensation problem, medical treatment problem, family matters has been helpful in this order. The help level of the whole problem was in higher level than the middle value. The stress factor which affects the case management problem settlement is the whole body of stress. The satisfaction level of help through applying case management was highest in emotional support and family matters, recuperation problem, company problem, compensation problem, and medical treatment problem was the next highest. The satisfaction level of the whole problem was higher than the middle value. The stress factor affecting the satisfaction level of help is the whole body of stress. Therefore to reduce the stress level of industrial accident patients and for them to come back to local societies, we need to reinforce the continuance and responsibility of case management model, increase staff, reinforce the role of counsel and medical treatment, intervene in the patient's plan of leaving the hospital, develop social support system and the need to establish After Care Center.

• Journal of the Korean Institute of Intelligent Systems
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• v.10 no.2
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• pp.152-160
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• 2000

This paper addresses the analysis and design of fuzzy-model-based controller for nonlinear systems using extended PDC and optimal pole-placement schemes. In the design procedure, we represent the nonlinear system using a Takagi-Sugeno fkzy model and formulate the controller rules by using the extended parallel distributed compensator (EPDC) and construct an overall fuzzy logic controller by blending all local state feedback controllers with an optimal pole-placement scheme. Unlike the commonly used parallel distributed compensation technique, by blending a newly extended parallel distributed compensator and the optimal poleplacement schemes, we can design not only a local stable k z y controller but also an overall stable fuzzy controller to perform the tacking control objective. Furthermore, a stability analysis is carried out not only for the fuzzy model but also for a real nonlinear system. Finally. the effectiveness and feasibility of the proposed fizzy model-based controller design method has been shown through a simulation example.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.5
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• pp.477-482
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• 2015

Linear regressions and evolutionary nonlinear regression based compensation techniques for the short-range prediction of wind speed are investigated. Development of an efficient MOS(Model Output Statistics) is necessary to correct systematic errors of the model, but a linear regression based MOS is hard to manage an irregular nature of weather prediction. In order to solve the problem, a nonlinear and symbolic regression method using GP(Genetic Programming) is suggested for a development of MOS for wind speed prediction. The proposed method is compared to various linear regression methods for prediction of wind speed. Also, statistical analysis of distribution for UM elements for each method is executed. experiments are performed for KLAPS(Korea Local Analysis and Prediction System) re-analysis data from 2007 to 2013 year for Jeju Island and Busan area in South Korea.

• Journal of Distribution Science
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• v.9 no.2
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• pp.97-109
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• 2011

As a marketing vehicle to survive in intensified retailing competition, retailer brand development has been adopted by retailers in Korea. As evidence, the retailer brand share of a major retailer, Tesco Korea, has grown from 20% in 2007 to 22.8% in the first half of 2008. It means that retailers have provided more and more retailer brand foods for customers. With the growing accessibility to retailer brand foods, it would be expected that the number of retailer brand food claims will increase. Customers have increasingly exposed to a variety of marketing activities conducted by retailers. When buying the retailer brand foods, customers tend to be affected by marketing activities of retailers. Despite the fact that customers trust retailers and then, buy their brand foods, in case of food accidents caused by production process, customers have to seek compensation from a retailer brand supplier. Of course, a retailer tends to shift its responsibility to its suppliers. Accordingly, it is not easy for customers to solve food claims. The research, therefore, aims at exploring the relationship between the buying-decision processes of retailer brand customers and which side takes legal responsibility for food claims. To effectively achieve the research aim, the author adopted a quantitative and a qualitative research technique, in order to supplement the disadvantages of each method. Before field research, based on the developed research model, the author pre-tested questionnaire with 10 samples, amended, and handed out to 400 samples. Amongst them, 316 questionnaires are available. For a focus group interview, 9 participants were recruited, who are students, housewives, and full-time workers, aged from 20s to 40s. Through the focus group interview as well as the questionnaire results, it was found that most customers were influenced by a retailer or store image in a customer's mind, retailer reputation and promotional activities. Surprisingly, customers think that the name of a retailer is a more important factor than who produces retailer brand foods, even though many customers check a retailer brand supplier, when making a buying-decision. Rather than retailer brand suppliers, customers trust retailers. That is why they purchase retailer brands. Nevertheless, production-related food claims is not involved with retailers. In fact, it would be difficult for customers to distinguish whether a food claim is related to selling or manufacturing processes. Based on research results, from a customer perspective, the research suggests that the government should require retailers to take the whole responsibility for retailer brand food claims, preventing retailers from passing the buck to retailer brand suppliers. In case of food claims, in order for customers to easily get the compensation, it is necessary to reconsider the current system. If so, retailers have to fully get involved in retailer brand production stage, and further, the customer awareness of retailer brands will be improved than ever before. Retailers cannot help taking care of the whole processes of retailer brand development, because of responsibility. As a result, the process to seek compensation for food claims might become easier, and further, the protection of customer right might be improved.

• Management & Information Systems Review
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• v.37 no.3
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• pp.115-130
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• 2018

The purpose of this study is to clarify the relationship between organizational characteristics and information systems characteristics or job satisfaction, attempts to examine the regulatory effects brought about by the adjustment of social capital theory. So far, The results of this study are based on the analysis of individual models from the perspectives of each functional organization such as HR, organization, finance, operation, and MIS. Therefore, this paper attempted a comprehensive analysis of factors affecting job satisfaction and firm performance by presenting an integrated research model of organizational perspectives in addition to the approach of MIS perspective. The characteristics of information system were promptness, CEO support, and compensation. And the organizational characteristics were multiple regression analysis using innovation, trust, and preferential factors. The analysis data is based on sixth data from the HCCP of Korea Productivity Center. According to the analysis results, all the variables had a significant influence on satisfaction, especially CEO support and trust. The analysis of the moderating effect between innovation and job satisfaction was moderated by vision sharing. Only the logistic regression analysis of the satisfaction with the average salary of the members among the demographic variables was statistically significant. Therefore, this study can be concluded that the overall satisfaction level will be improved by recognizing appropriate compensation as sufficient compensation.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.1
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• pp.1155-1161
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• 2001

We propose an adaptive nonlinear control algorithm for high precision tracking and stabilization of LOS(Line-of-Sight). The friction parameters of the LOS gimbal are estimated by off-line evolutionary strategy and the friction is compensated by estimated friction compensator. Especially, as the nonlinear control input in a small tracking error zone is enlarged by the nonlinear function, the steady state error is significantly reduced. The proposed algorithm is a direct adaptive control method based on the Lyapunov stability theory, and its convergence is guaranteed under the limited modeling error or torque disturbance. The performance of the pro-posed algorithm is verified by computer simulation on the LOS gimbal model of a moving vehicle.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1888-1893
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• 1991

Systematic design of a controller for a water temperature system was considered, with the intention of devising an accurate control experiment. The results of an experiment using a water temperature system based on the pole placement regulator showed water temperature oscillation and steady state error. This paper proposed a. method for eliminating both the oscillation and the steady state error. The oscillation was eliminated by a drive delay compensation technique, in which a future state value of the system was predicted through a real time computer simulation. The steady state error was eliminated by an steady state error correction technique, in which an actual steady state heatrate in the system model was replaced by an imaginary heatrate. By combining these two techniques, we obtained an experimental result for water temperature control of 0.01 (.deg. C) accuracy. Furthermore, the proposed method was evaluated relatively by comparing the experimental results using several other methods and proved to be the most accurate and convenient control method for the delay system.

• Journal of the Korean Institute of Intelligent Systems
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• v.12 no.6
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• pp.559-564
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• 2002

This Paper Proposes a design method of a fuzzy output feedback controller for the nonlinear systems with the unknown time- delay. Recently, Cao et ai. proposed a stabilization method for the nonlinear time-delay systems using a fuzzy controller when the time-delay is known. However, the time-delay is likely to be unknown in practical. We represent the nonlinear systems with the unknown time-delay by Takagi-Sugeno (T-5) fuzzy model and design the fuzzy observer and the parallel distributed compensation (PDC) law based on this observer. By applying Lyapunov-Krasovskii theorem to the closed-loop system, the sufficient condition for the asymptotic stability of the equilibrium Point is derived and converted into the linear matrix inequality (LMI) Problem.

• Journal of the Korea Institute of Military Science and Technology
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• v.4 no.1
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• pp.225-233
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• 2001

This paper deals with the transfer alignment problem of SDINS(StrapDown Inertial Navigation System) subjected to roll and pitch motions of the ship. Specifically, to reduce alignment errors induced by measurement time-delay and ship body flexure, an error compensation method is suggested based on delay state augmentation and DCM(Direction Cosine Matrix) partial matching. A linearized error model for the velocity and attitude matching transfer alignment system is first derived by linearizing the nonlinear measurement equation with respect to its time delay and augmenting the delay state into the conventional linear state equations. And then DCM partial matching is properly combined to reduce effects of a ship's Y axis flexure. The simulation results show that the suggested method is effective enough resulting in considerably less azimuth alignment errors.