• 한국실내디자인학회논문집
• /
• 제24권1호
• /
• pp.160-168
• /
• 2015

The subject of this research is to analyze the design characteristics of outdoor spaces in Good Design awarded apartment complexes in the past decade. The results are as follows. First, the overall outdoor space design theme, one of the conceptual elements, is focused on both 'nature' and 'story of various subject' that are similar to each other. Second, the case study object with the visual openness, which is secured between apartment blocks, is shown frequently in case box-shaped apartment blocks are arranged in a row. However, in case of Y-shaped block arrangement, the visual openness secured within an apartment complex is considered more important. Third, according to the result of circulation/ inner path element, the most frequently appeared inner path form is a grid pattern with straight path emphasis. While apartment complexes with the parking lot on the ground are only 3 out of 18 cases, it with circulation path for vehicle on the ground level are over 61%. Fourthly, the design characteristic of social space of physical outdoor design appears to be 'central link facility type'. In this case, the central community facilities are more likely to be combined with various functions, such as green, water, and social connection. Fifthly, in case of natural space, most of the apartment cases are shown over 45% green area ratio with wide green and water space provision. Especially, the differentiation is to provide the space where can stimulate a resident's participation.

• 제어로봇시스템학회논문지
• /
• 제12권3호
• /
• pp.248-254
• /
• 2006

It is necessary to improve the exactness and adaptation of the working environment for the intelligent robot system. The vision sensor have been studied for a long time at this points. However, it has many processes and difficulties for the real usages. This paper proposes a visual servoing in the virtual environment to support OLP(Off-Line-Programming) path compensation and supplement the problem of complexity of the old kinematical calibration. Initial robot path could be compensated by pixel differences between real and virtual image. This method removes the varies calibrations and 3D reconstruction process in real working space. To show the validity of the proposed approach, virtual space servoing with stereo camera is carried out with WTK and openGL library for a KUKA-6R manipulator and updated real robot path.

• International Journal of Ocean System Engineering
• /
• 제2권3호
• /
• pp.139-150
• /
• 2012

This paper presents an improved guidance algorithm for autonomous underwater vehicles (AUV) in 3D space for generating smoother vehicle turn during the course change at the way-points. The way-point guidance by the line-of-sight (LOS) method has been modified for correcting the reference angles to achieve minimal calculation and smoother transition at the way-points. The algorithm has two phases in which the first phase brings the vehicle to converge to a distance threshold point on the line segment connecting the first two way-points and the next phase generates an angular path with smoother transition at the way-points. Then the desired angles are calculated from the reference and correction angles. The path points are regularly parameterized in the spherical coordinates and mapped to the Cartesian coordinates. The proposed algorithm is found to be simple and can be used for real time implementation. The details of the algorithm and simulation results are presented.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.1189-1192
• /
• 1996

Navigation is a science of directing a mobile robot as traversing the environment. The purpose of navigation is to reach a destination without getting lost or crashing into any obstacles. In this paper, we use a genetic algorithm for navigation. Genetic algorithm searches for path in the entire, continuous free space and unifies global path planning and local path planning. It is the efficient and effective method when compared with navigators using traditional approaches.

• 한국공작기계학회:학술대회논문집
• /
• 한국공작기계학회 2000년도 춘계학술대회논문집 - 한국공작기계학회
• /
• pp.176-181
• /
• 2000

Collision free task planning for dual-arm robot which perform many subtasks in a common work space can be achieved in two steps : path planning and trajectory planning. path planning finds the order of tasks for each robot to minimize path lengths as well as to avoid collision with static obstacles. A trajectory planning strategy is to let each robot move along its path as fast as possible and delay one robot at its initial position or reduce speed at the middle of its path to avoid collision with the other robot.

• 한국CDE학회논문집
• /
• 제6권3호
• /
• pp.169-173
• /
• 2001

Presented in this paper is a CPO tool-path linking procedure optimizing technological objectives, such as dealing with islands (positive and negative) and minimizing tool retractions, drilling holes and slotting. Main features of the proposed algorithm are as follows; 1) a data structure, called a 'TPE-net', is devised to provide information on the parent/child relationships among the tool-path-elements, 2) the number of tool retractions is minimized by a 'tool-path-element linking algorithm'fading a tour through the TPE-net, and 3) the number of drilling holes is minimized by making use of the concept of the 'free space'.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1998년도 하계학술대회 논문집 G
• /
• pp.2318-2320
• /
• 1998

A genetic algorithm for global and local path planning and collision avoidance of mobil robot in unstructured workspace is proposed. The genetic algorithm searches for a path in the entire and continuous free space and unifies global path planning and local path planning. The simulation shows the proposed method is an efficient and effective method when compared with the traditional collision avoidance algorithms.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1999년도 하계학술대회 논문집 G
• /
• pp.3098-3100
• /
• 1999

A genetic algorithm for global and local path planning and collision avoidance of mobile robot in dynamic working environment is proposed. The genetic algorithm searches for a path in the entire and continuous free space and unifies global path planning and local path planning. The simulation shows the proposed method is an efficient and effective method when compared with the traditional collision avoidance algorithms.

• 호남수학학술지
• /
• 제31권3호
• /
• pp.267-278
• /
• 2009

As a survey-type article, the paper reviews the recent results on a (generalized) universal covering space in digital covering theory. The recent paper [19] established the generalized universal (2, k)-covering property which improves the universal (2, k)-covering property of [3]. In algebraic topology it is well-known that a simply connected and locally path connected covering space is a universal covering space. Unlike this property, in digital covering theory we can propose that a generalized universal covering space has its intrinsic feature. This property can be useful in classifying digital covering spaces and in studying a shortest k-path problem in data structure.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1988년도 한국자동제어학술회의논문집(국내학술편); 한국전력공사연수원, 서울; 21-22 Oct. 1988
• /
• pp.63-66
• /
• 1988

In the control of the robotic manipulators, the variable structure control method for the get Point Regualation has a advantage of the insensitivity about parameter variations and disturbances. When the robotic manipulators are controlled by a point-to-point scheme, no path constraint is considered. Thus, the variable structure control method will be effectively applied only if the trajectory of the robot hand is estimated precisely. In this paper, the joint trajectories in the joint space and the hand trajectory in the cartesian space are calculated by the variable structure control method, and an algorithm is suggested to elaborate the deviation error of the robot hand from a straight line path. The result of this study will become a base of the effective path planning about robotic manipulators with the variable structure control concept.