• KSII Transactions on Internet and Information Systems (TIIS)
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• 제17권12호
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• pp.3416-3435
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• 2023

Task offloading in vehicular networks is hot topic in the development of autonomous driving. In these scenarios, due to the role of vehicles and pedestrians, task characteristics are changing constantly. The classical deep learning algorithm always uses a pre-trained neural network to optimize task offloading, which leads to system performance degradation. Therefore, this paper proposes a neural network fine-tuning task offloading algorithm, combining with location prediction for pedestrians and vehicles by the Payne model of fluid dynamics and the car-following model, respectively. After the locations are predicted, characteristics of tasks can be obtained and the neural network will be fine-tuned. Finally, the proposed algorithm continuously predicts task characteristics and fine-tunes a neural network to maintain high system performance and meet low delay requirements. From the simulation results, compared with other algorithms, the proposed algorithm still guarantees a lower task offloading delay, especially when congestion occurs.

• 한국시스템다이내믹스연구
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• 제3권1호
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• pp.61-77
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• 2002

This paper reviews issues and methodological status of system dynamics and suggest some research agenda for its development in Korea. After reviewing some characteristics of system dynamics approach, including dynamic feedback perspective and endogenous point of view, the paper pointed out methodological characteristics of system dynamics. It seems to be the most notable characteristics of System Dynamics that it use both quantitative and qualitative approach in explaining and modelling reality. Besides, System Dynamicists rely more heavily on refutationism than instrumentalism and this allows System Dynamicists follow more strict way of scientific inquiry. For the development of System Dynamics in Korean academic circle, developing training program and curriculum, networking scattered System Dynamicist all over the country, would be the most important task.

• 지역연구
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• 제39권4호
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• pp.73-90
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• 2023

기술 진보는 미래의 일자리 구조를 어떻게 변화시키는가? 이 거대한 질문에 답하기 위한 노력의 하나로 이 연구는 로봇의 도입이 미국의 제조업 일자리의 동태에 미친 영향을 탐구한다. 연구는 과업 모형에 기초해 로봇 도입의 효과가 서로 다른 과업 특성을 가진 직종 사이에 차별적으로 작용할 것이라고 전재했다. 이에 기초하여 지역의 로봇 노출도가 과업 특성별로 구분된 직종 군집의 고용 변화에 미치는 영향을 분석하였다. 연구는 2012~2022년 사이 52개 미국 지역 제조업 부문의 관련 직종 307개의 고용 변화 추이를 성장곡선으로 모형화하고, 이를 직종별 고용 통계자료를 활용해 실증하는 방식으로 진행됐다. 분석 결과 손재주 역량을 요구하는 직종 군집에서 일자리 수가 빠르게 감소하는 경향을 확인할 수 있었지만, 지역의 로봇 사용 정도가 이러한 경향을 강화한다는 증거는 확인할 수 없었다. 이는 미국 제조업 부문의 일자리 변화가, 최근 대두된 로봇 기술에 영향을 받는다기보다, 과거부터 이어져 온 탈산업화와 기능적 특화의 경향에 의해 주도되고 있음을 함의한다.

• 제어로봇시스템학회논문지
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• 제10권10호
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• pp.930-939
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• 2004

In this paper, both dynamic constraints and kinematic constraints are considered for the analysis of manipulability of robotic systems comprised of multiple cooperating arms. Given bounds on the torques of each Joint actuator for every robot, the purpose of this study is to drive the bounds of task-space acceleration of object carried by the system. Bounds on each joint torque, described as a polytope, is transformed to the task-space acceleration through matrices related with robot dynamics, robot kinematics, object dynamics, grasp conditions, and contact conditions. A series of mathematical manipulations including the procedure calculating minimum infinite-norm solution of linear equation is applied to get the reachable acceleration bounds from given actuator dynamic constrains. Several examples including two robot systems as well as three robot system are shown with the assumptions of complete-constraint contact model(or' very soft contact') and insufficient or proper degree of freedom robot.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2008년도 춘계학술대회 논문집
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• pp.873-874
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• 2008

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2003년도 Proceedings of ACRS 2003 ISRS
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• pp.414-416
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• 2003

Pedestrian assemblage is now a normal phenomenon in modern cities. To maintain an unblocked traffic situation, protect the pedestrians' safety and make preparedness for any emergencies is an important task for police department. Modeling pedestrian dynamics and simulating evacuation process can provide useful information for make accurate decisions. In this paper, by virtue of geographic information technologies, the authors proposed a conceptual framework to simulate pedestrian dynamics and evacuation in an open urban environment.

• Transactions on Control, Automation and Systems Engineering
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• 제4권1호
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• pp.100-107
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• 2002

The advanced bilateral control algorithm, which can enlarge a reflected force by combining force reflection and compliance control, greatly enhances workability in teleoperation. In this scheme the maximum boundaries of a compliance controller and a force reflection gain guaranteeing stability and good task performance greatly depend upon characteristics of a slave arm, a master arm, and an environment. These characteristics, however, are generally unknown in teleoperation. It is, therefore, very difficult to determine such maximum boundary of the gain. The paper presented a novel method for design of an advanced bilateral controller. The factors affecting task performance and stability in the advanced bilateral controller were analyzed and a design guideline was presented. The neurofuzzy compliance model (NFCM)-based bilateral control proposed herein is an algorithm designed to automatically determine the suitable compliance for a given task or environment. The NFCM, composed of a fuzzy logic controller (FLC) and a rule-learning mechanism, is used as a compliance controller. The FLC generates compliant motions according to contact forces. The rule-learning mechanism, which is based upon the reinforcement learning algorithm, trains the rule-base of the FLC until the given task is done successfully. Since the scheme allows the use of large force reflection gain, it can assure good task performance. Moreover, the scheme does not require any priori knowledge on a slave arm dynamics, a slave arm controller and an environment, and thus, it can be easily applied to the control of any telerobot systems. Through a series of experiments effectiveness of the proposed algorithm has been verified.

• 한국운동역학회지
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• 제18권2호
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• pp.49-58
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• 2008

본 연구의 목적은 트레드밀 보행 시, gait dynamics 측면에서 보행의 속도 변화와 인지과제 수행 시 보행 변인의 가변성(variability)을 알아보고자 하는 것이다. 실험은 인지과제의 동시수행 유/무에 따른 5가지 속도(선호속도의 80%, 90%, 100%, 110% and 120%)에 의한 보행 실험으로 구성되었다. 인지과제의 종류는 학습기능이 없는 인지과제(2-back task)를 수행하였다. 인지과제는 피험자의 트레드밀 보행 시, 3m 앞에 놓여진 스크린에 주어지고 무선마우스를 통해 응답하는 형태로 구성되었다. 실험의 모든 과정은 3차원 동작분석기를 통해 동작데이터를 획득하였다. 이를 통해, 5가지 보행 시간 변인과 3가지 공간 변인을 추출하였다. gait dynamics 측면의 분석을 위해, 가변성의 크기를 살펴볼 수 있는 방법인 분산계수(coefficient of variance)와 변동량의 구조적 자기 유사성을 추론할 수 있는 detrended fluctuation analysis (DFA)를 사용하였다. 그 결과 보행 속도 변화에 따라 보행 변인의 평균값과 분산계수에서 통계적 유의한 차이가 발생하였고, 인지과제의 수행 유/무에 따라서는 DFA에서 통계적인 차이가 발생하였다. 이는 인지과제의 수행에 의해 보행의 발생과 조절 능력에 영향을 끼쳤다고 추론할 수 있다. 본 연구 결과를 명백히 하기 위해 더 많은 수의 피험자 실험과 추가 실험이 필요할 것이다.

• 제어로봇시스템학회논문지
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• 제8권11호
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• pp.963-969
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• 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.

• 전자공학회논문지B
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• 제29B권3호
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• pp.6-15
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• 1992

This paper proposes a method for the global optimization of redundancy over the whole task period for a kinematically redundant robot. The necessary conditions based on the calculus of variations for an integral type cost criterion result in a second-order differential equation. For a cyclic task, the periodic boundary conditions due to conservativity requirements are discussed. We refine the two-point boundary value problem to an initial value adjustment problem and suggest a numerical search method for providing the conservative global optimal solution using the gradient projection method. Since the initial joint velocity is parameterized with the number of the redundancy, we only search the parameter value in the space of as many dimensions as the number of degrees of redundancy. We show through numerical examples that multiple nonhomotopic extremal solutions and the generality of the proposed method by considering the dynamics of a robot.