• 전자공학회논문지S
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• 제34S권12호
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• pp.19-29
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• 1997

This paper presents stable kinematic modeling and path planning and path tracking algorithms for the poisition control of 4-wheeled 2-d.o.f(degree of freedom) mobile robot. We drived the actuated inverse and sensed forward solution for the calculation of actuator velocity and robot velocities. the deal-reckoning algorithm is introduced to calculate the position of WMR in real time. The gaussian functions are applied to control and to design the smooth orientation angle of WMR and the path planning algorithm for obstacle avoidance is prosed. We composed feedback control system to compensate for error because of uncertainty kinematic modeling and measurement noise. The simulation resutls show that the proposed kinematkc modeling and path planning and feedback control algorithms are useful.

• 한국BIM학회 논문집
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• 제5권4호
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• pp.47-52
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• 2015

This paper presents a case study using Building Information Modeling (BIM) for planning, simulating, and implementing complex site logistics in a headquarter office building construction project in Silver Spring, MD. As part of the project a prefabricated 92ft structural tube steel pedestrian connector bridge was installed between two adjacent buildings in the city of Silver Spring, MD. There were multiple significant challenges to deliver, offload, prepare, and install the connector bridge safely, on time, and with the minimum disturbances to the neighbors. BIM was of the foremost importance to visualize, simulate, analyze, improve, and communicate the site logistics plan from delivery to installation of the connector bridge. As a result of the effort, GC of the project was able to prepare a highly detailed plan, communicate it effectively to all stakeholders, and flawlessly execute the work as planned. This case study would provide a useful reference for contractors who are seeking a better planning method that enables generation of more accurate, implementable, optimized plans for complex site logistics.

• 한국CDE학회논문집
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• 제9권4호
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• pp.325-333
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• 2004

To ensure competitiveness in the modern automotive market, material arrangements and information managements should be performed concurrently with new car developments. In automotive general assembly shops, thus, new business workflow and supporting environments are inevitable to reduce the manufacturing preparation time in developing a new car in the manner of concurrent and collaborative engineering. Since complete material arrangements for a whole general assembly system is a huge and complex job, several planners should execute their planning jobs and share information. Therefore, each planner should provide others with his/her results with continuous on-line communication and cooperation. Digital automotive general assembly factory is useful the performing concurrent and collaborative engineering and is essential for material arrangements and information managements systems. In this research, we constructed a sophisticated digital factory of an automotive general assembly shop by measuring and modeling through the parametric 3-D CAD, and a web-based system for concurrent and collaborative material arrangements for automotive general assembly via 3D mock-up is developed. By the digital general assembly shop and developed web-based system, savings in time and colt of manufacturing preparation activities are possible, and the reliability of the planning result Is greatly improved.

• 대한토목학회논문집
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• 제28권3D호
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• pp.371-381
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• 2008

국내 하천시설물 건설공사는 도로 등의 다른 토목시설공사에 비해서 사업의 금액규모가 상대적으로 작다는 등의 특성으로 인해 사업의 기획 및 계획단계에서의 개략적인 공사비용을 예측하는 기준 단가가 정립되어 있지 않으며, 시설물의 특성을 고려한 합리적이고 체계적인 견적 방법론 또한 존재하지 않는다는 문제점을 가지고 있다. 본 연구는 하천시설물 건설공사의 실적자료를 수집하고 분석하여, 4단계로 이루어진 하천 제방공사 실적정보 구성 체계를 제시하고, 공사비에 영향을 끼치는 인자들을 주요 공종별로 도출하여, 하천시설물 공사의 기획단계에서 적정한 개략공사비를 산정하는 체계적인 방법론을 제시한다.

• 전자공학회논문지
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• 제54권4호
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• pp.115-121
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• 2017

본 논문에서는 실제 공장환경에서 상용화되고 있는 AGV 시스템의 효과적이고 지능적인 경로설정을 위한 스테레오 카메라 시스템 기반의 지능형 시각 시스템을 제안하였다. 즉, 평행식 스테레오 카메라를 이용하여 좌, 우 입력 영상간의 시차지도와 깊이정보를 검출하고, AGV 시스템과 장애물간의 거리와 위치좌표인 2차원 경로좌표를 산출하여 장애물과 다른 물체들과의 상대 거리를 산출하였다. 산출된 2차원 경로좌표를 토대로 AGV 시스템의 효과적이고 지능적인 경로설정에 따라 자율적으로 주행하게 된다. 실 시간적으로 입력되는 스테레오 영상을 사용하여 실험한 결과 AGV 시스템과 전방에 존재하는 장애물까지의 거리 오차가 평균 2% 이하로 유지됨으로써 AGV 시스템의 실제 상용화 가능성을 제시하였다.

• 한국의학물리학회지:의학물리
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• 제10권2호
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• pp.103-114
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• 1999

본 연구에서는 외부조사 광자선에 대한 3차원 선량계산 알고리즘 모델을 개발하기 위한 기초 연구로서 기존의 2D 선량 계산 알고리즘을 확장시켜 비동일 평면 조사가 가능한 2.5D 선량계산 모델을 개발하였다. 이를 위해 3차원 치료계획 및 선량계산에 적합하도록 환자 및 조사빔에 대한 3차원 좌표계 시스템을 정의하고, 이들 간의 좌표변환식을 유도하였다. 선량계산 알고리즘으로는 "Clarkson-Cunningham" 의 2D 광자선량 계산 알고리즘을 3차원으로 확장시켜 정형 조사면 및 비정형 조사면에 대한 선량계산과 wedge filter에 대한 선량계산이 가능하도록 하였고, Batho 방식을 적용하여 비 균질 보정을 구현하였다. 선량계산의 정확도를 평가하기 위해, AAPM TG #23 에 제시된 절차에 따라 자료에 제시된 4MV 광자선에 대한 실험 값과 본 연구에서 계산된 결과를 비교한 결과, 정형조 사면에 대한 PDD(percent depth dose)는 buildup 영역을 제외하면 $\pm$1% 이내, 비정형 조사면의 경우 $\pm$3% 이내에서 실험값과 일치하였다. 또한, wedge filter에 대한 PDD 및 profile은 $\pm$3% 이내, 45$^{\circ}$ oblique 입사빔에 대한 선량은 $\pm$4% 이내에서 실험값과 일치하였다. 비균질 보정의 경우 Lung/water 경계에서 7% 과소 평가되었고, Bone/water 경계에서 3% 과대 평가되는 것으로 나타났다. 이들 결과를 종합해 볼 때, 비균질 보정을 제외하고는 비교적 정확하게 선량을 계산하는 것으로 평가되었다. 추후 대부분의 상용 2.5D 치료계획시스템 (radiation treatment planning system; RTP)들이 비균질 보정 방법으로 사용하고 있는 Equivalent TAR(tissue-air ratio) 방식을 구현시키고자 하며, 본 연구에서 구현된 선량계산 모듈을 교육 및 연구용으로 활용할 수 있을 것으로 기대 한다.것으로 기대 한다.

• 농촌계획
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• 제19권4호
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• pp.177-189
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• 2013

3D modeling and rendering technologies are getting more attention from landscape planners and architects because the virtual reality based on 3D graphic technology could give more realistic experience to landscape simulation users and boost promotional effects. The 3D landscape simulation, however, not only requires a lot of cost and time in production, but also demands efforts to distribute to consumers due to various computing environment of them. The purpose of this study is to suggest a process for developing an interactive 3D landscape simulator with low-cost, which can support multi-platform functionality in high quality through reviewing related current software and web services. We select GIMP for 2D image texturing, SketchUpfor 3D modeling, Unity for real-time rendering, and Google Earth for terrain modeling considering price and workability and apply the developed process for Windows, Web, and Android versions to test the applicability for Sangji-ri, Gosam-myeon, Gyeonggi-do, Korea.

• 한국산업융합학회 논문집
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• 제19권4호
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• pp.167-175
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• 2016

We present a method for improving adaptability of Learning from Demonstration (LfD) strategy by combining the LfD and Particle Swarm Optimization (PSO). A trajectory generated from an LfD is modified with PSO by minimizing a fitness function that considers constraints. Finally, the final trajectory is suitable for a task and adapted for constraints. The effectiveness of the method is shown with a target reaching task with a manipulator in three-dimensional space.

• 한국의학물리학회지:의학물리
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• 제30권4호
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• pp.94-103
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• 2019

Purpose: To evaluate the clinical feasibility of knowledge-based planning (KBP) for volumetric-modulated arc radiotherapy (VMAT) in spine stereotactic body radiotherapy (SBRT). Methods: Forty-eight VMAT plans for spine SBRT was studied. Two planning target volumes (PTVs) were defined for simultaneous integrated boost: PTV for boost (PTV-B: 27 Gy/3fractions) and PTV elective (PTV-E: 24 Gy/3fractions). The expert VMAT plans were manually generated by experienced planners. Twenty-six plans were used to train the KBP model using Varian RapidPlan. With the trained KBP model each KBP plan was automatically generated by an individual with little experience and compared with the expert plan (closed-loop validation). Twenty-two plans that had not been used for KBP model training were also compared with the KBP results (open-loop validation). Results: Although the minimal dose of PTV-B and PTV-E was lower and the maximal dose was higher than those of the expert plan, the difference was no larger than 0.7 Gy. In the closed-loop validation, D_1.2cc, D_0.35cc, and D_mean of the spinal cord was decreased by 0.9 Gy, 0.6 Gy, and 0.9 Gy, respectively, in the KBP plans (P<0.05). In the open-loop validation, only D_mean of the spinal cord was significantly decreased, by 0.5 Gy (P<0.05). Conclusions: The dose coverage and uniformity for PTV was slightly worse in the KBP for spine SBRT while the dose to the spinal cord was reduced, but the differences were small. Thus, inexperienced planners could easily generate a clinically feasible plan for spine SBRT by using KBP.

• Journal of Korean Neurosurgical Society
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• 제65권4호
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• pp.489-498
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• 2022

Spatial insight into intracranial pathology and structure is important for neurosurgeons to perform safe and successful surgeries. Three-dimensional (3D) printing technology in the medical field has made it possible to produce intuitive models that can help with spatial perception. Recent advances in 3D-printed disease models have removed barriers to entering the clinical field and medical market, such as precision and texture reality, speed of production, and cost. The 3D-printed disease model is now ready to be actively applied to daily clinical practice in neurosurgical planning, simulation, and training. In this review, the development of 3D-printed neurosurgical disease models and their application are summarized and discussed.