• The KIPS Transactions:PartD
• /
• v.12D no.7 s.103
• /
• pp.1049-1064
• /
• 2005

The demands of increasingly complicated software have led to the proliferation of object-oriented design methodologies in embedded systems. To execute a system designed with objects in target hardware, a task set should be derived from the objects, representing how many tasks reside in the system and which task processes which event arriving at an object. The derived task set greatly influences the responsiveness of the system. Nevertheless, it is very difficult to derive an optimal task set due to the discrepancy between objects and tasks. Therefore, the common method currently used by developers is to repetitively try various task sets. This paper proposes Scenario-based Implementation Synthesis Architecture (SISA) to solve this problem. SISA encompasses a method for deriving a task set from a system designed with objects as well as its supporting development tools and run-time system architecture. A system designed with SISA not only consists of the smallest possible number of tasks, but also guarantees that the response time for each event in the system is minimized. We have fully implemented SISA by extending the ResoRT development tool and applied it to an existing industrial PBX system. The experimental results show that maximum response times were reduced $30.3\%$ on average compared to when the task set was derived by the best known existing methods.

• The Journal of Korean Academy of Sensory Integration
• /
• v.19 no.2
• /
• pp.36-45
• /
• 2021

Purpose : This study aims to identify changes in the visuomotor coordination and fine motor coordination functions caused by the use of a task-oriented intervention in a child with developmental delay. Methods : The participant, who was a 6-year-old girl, was not diagnosed but showed a developmental delay in overall function. The study period was February 5, 2021, to June 4, 2021, and a single-subject A-B study design was used. The baseline (A) was initially evaluated in the first three sessions to identify the child's functions. In the intervention period, 12 session (B), task-oriented intervention was applied; the child engaged in many of the activities in kindergarten, such as painting, writing, making, and cutting with scissors. Visuomotor coordination and fine motor coordination were equally measured during the baseline and intervention periods. Visuomotor coordination was measured via drawing of an oval according to the Korean Developmental Test of Visual Perception 3 (K-DTVP-3), and fine motor coordination was assessed using the finger-nose touching item of the Clinical Observation of Motor and Postural Skills (COMPS). Results : The mean of the baseline of the K-DTVP-3 oval drawing was 23, and the mean of the intervention period was 39.66. The mean of the baseline of the COMPS finger-nose touching was 0, and the mean of the intervention period was 5.08. Conclusion : Task-oriented intervention seems to have a positive effect on the visuomotor coordination and fine motor coordination abilities of children with developmental delay.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.1631-1634
• /
• 1997

Since surgery is usually a difficult task because of physiological tremor, eye strain, and tremor, contagious and radioactive hazard, it is necessary to develop micro-surgery telerobotic system using improved tools suitable for their specific tasks. Nowadays the growth of interest on microsurgery and medical applications of robotics has been so rapid. But the medical robots are only practical applications of the industrial robots. This paper identifies five general areas of advanced microsurgery based on the current technological background and expertise, and analyzes the motion, tool and accuracy with respect to microsurgery task, and proposed the criteria to evaluate micro-surgical manipulator. The analysis of microusrgery can be heplful to clarify some basic concept and design of micro-surgical manipulators. With these data we will alos propose an efficient in-parallel-platform manipulator having special kinematic structrue structure suitable for microsurgery.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.180-185
• /
• 2003

In order to enhance dexterity in execution of robot tasks, a redundant number of degrees-of-freedom (DOF) is adopted for design of robotic mechanisms like robot arms and multi-fingered robot hands. Associated with such redundancy in the number of DOFs relative to the number of physical variables necessary and sufficient for description of a given task, an extra performance index is introduced for controlling such a redundant robot in order to avoid arising of an ill-posed problem of inverse kinematics from the task space to the joint space. This paper shows that such an ill-posedness of DOF redundancy can be resolved in a natural way by using a novel concept named “stability on a manifold”. To show this, two illustrative robot tasks 1) robotic handwriting and 2) control of an object posture via rolling contact by a multi-DOF finger are analyzed in details.

• Journal of Korean Institute of Industrial Engineers
• /
• v.8 no.1
• /
• pp.13-21
• /
• 1982

Experiments on the eye movement behavior were performed using Vidicon Eye Camera. Factorial design ( $3{\times}3$) was used to evaluate the validity of the eye movement as a performance measure in vigilance task. Eye movement data were recorded in video tapes, then the data were converted to digital signals, which were reduced to quantitative fixation and saccadic movement data by a microcomputer. To compare with existing vigilance performance measures, response time and the number of false alarms were also recorded. The results showed that the saccadic movement is a good measure of the performance in vigilance task : 1. Both the response time and the saccadic movement increased significantly during the initial two time blocks. 2. High correlations were shown between the response time and the saccadic movement. 3. The locational uncertainty affects the saccadic movement, the number of fixations, the response time but doesn't affect the duration of eye fixations.

• Proceedings of the Korean Information Science Society Conference
• /
• 2004.04a
• /
• pp.700-702
• /
• 2004

본 논문에서는 내용 기반의 화상 검색 시스템을 위한 화상 특징 추출을 고속으로 수행하기 위하여 TCP/IP 프로토콜을 사용하는 LAN 환경에서 유휴(Idle) PC들을 사용한 PC 클러스터에 관해 연구하였다. 실험에 사용한 화상 특징(Image feature)으로서는 칼라의 응집도를 사용하는 CCV(Color Coherence Vector), 화상의 엔트로피를 정량화한 PIM(Picture Information Measure), Gaussian-Laplacian 에지 검출 연산을 사용한 SEV(Spatial Edge Histogram Vector)로서 이들을 추출하기 위한 Task를 Master rude에서 Slave rude들로 전송하고, 연산에 사용 될 화상 데이터를 전송한 후 연산을 수행하고 결과를 다시 Master node로 전송하는 전통적인 Task-Farming형태의 PC Cluster를 구성하였다. 연산에 참여하는 클러스터 노드의 개수를 증가시키며 Task와 화상데이터를 전송하여 이에 따른 연산시간을 측정하고 비교하였다. 실험 결과는 유휴 PC들로 구성된 PC클러스터를 이용한 효율적인 내용기반의 화상 검색 시스템을 구성하기 위해 활용이 가능하다.

• Proceedings of the KIEE Conference
• /
• 2006.07a
• /
• pp.141-142
• /
• 2006

In this paper, DSPOCS(Digital Switchgear Panel Operation and Control Solution) is designed, which is the intelligent inference operation and control solution of substation based on IED. DSPOCS is designed as a scheduled monitoring and control task and a real-time alarm inference task, and is interlinked with BRES in the required case. The intelligent alarm inference task consists of the alarm knowledge generation part and the real-time pattern matching part The alarm knowledge generation part generates automatically alarm knowledge from DB and saves it in alarm KB. On the other hand, the pattern matching part inferences the real-time event by comparing the real-time event information furnished from IEDs of substation with the patterns of the saved alarm knowledge base.

• Journal of the Korean Operations Research and Management Science Society
• /
• v.18 no.2
• /
• pp.1-22
• /
• 1993

This paper deals with the problem of mixed model assembly line balancing. In mixed model assembly lines, tsks should be assigned to stations in such a manner that all stations have approximately the same amount of work on a production cycle basis. Further in balancing assembly lines, the related tasks, the performing task side and the team tasks should be considered to improve work methods, to give more job satisfaction to workers, and to allow greater flexibility in the design of assembly lines. In this paper, the heuristic dispatch assignment rule is developed to assign evenly tasks of each model to all stations. The heuristic method based on the assignment rule developed is presented for mixed model assembly line balancing with the considerations of the related tasks, the performing task side, and the team tasks. The proposed method is analyzed, and compared with other methods for line balancing.

• Transactions of the Korean Society of Machine Tool Engineers
• /
• v.16 no.6
• /
• pp.187-192
• /
• 2007

In this paper we present a 3-DOF manipulator of which task is to unload the product from a micro factory. The micro factory developed by KITECH presses sheet metal to produce a micro valve that is used for micro pump. Our research is focused on the development of a small-sized unloading manipulator which works in the narrow workspace between the dies. We have implemented pick-and-place task with vacuum pressure and 3-DOF motion with stepping motors. We present the design procedures and analysis required in each module.

• Journal of Institute of Control, Robotics and Systems
• /
• v.8 no.11
• /
• pp.963-969
• /
• 2002

Design method of a robust impedance control is proposed for the kinematically redundant manipulators. To achieve this objective, we first use the momentum feedback disturbance observer(MFDOB) scheme which can handle the nonlinear dynamics of a manipulator in Joint space. An extended task space formulation to describe the behaviors of task and null spaces of redundant manipulator is employed. Using the extended task space formulation and disturbance observer scheme, a robust impedance control method is designed. The performance of the proposed extended impedance controller is verified through experiments with a planar three links direct-drive manipulator.