• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.154-157
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• 2003

This paper presents an efficient real-time tool-path planning method for interpolation of NURBS surfaces in CNC machining. The proposed tool-path planning method is based on an improved iso-scallop strategy and can provide better precision than the existing methods. The proposed method is designed such that tool-path planning is easily managed in realtime. It proposed a new algorithm, for regulation of a scallop height, which can efficiently generate tool-paths and can save machining time compared with the existing method. Through computer simulations, the performance of the proposed method is analyzed and compared with the existing method in terms of feedrate. total machining time and a degree of constraint on the scallop height.

• Transactions of the Korean Society of Automotive Engineers
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• v.22 no.3
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• pp.241-249
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• 2014

This paper presents a path planning algorithm of an autonomous vehicle (ADAM III) for collision avoidance in the presence of multiple obstacles. Under the requirements that a low-cost GPS is used and its computation should be completed with a sampling time of sub-second, heading angle estimation is proposed to improve performance degradation of its measurement and a hierarchical structure for path planning is used. Once it is decided that obstacle avoidance is necessary, the path planning consists in three steps: waypoint generation, trajectory candidate generation, and trajectory selection. While the waypoints and the corresponding trajectory candidates are generated based on position of obstacles, the final desired trajectory is determined with considerations of kinematic constraints as well as an optimal condition in a term of lateral deviation. Finally the proposed algorithm was validated experimentally through field tests and its demonstration was performed in Autonomous Vehicle Competition (AVC) 2013.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2018.05a
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• pp.165-166
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• 2018

The main focus of this study is the analysis of the importance of the planning work of apartment housing projects. Group the detailed work of the facility into five major tasks, categorize each into five major categories, organize the construction plans (P1 through P 6), name the plans (C4), and analyze the quality of the environmental management plans (E1 through E 4) Finally, this study derived major planning tasks from the correlation between planning and cost metrics and from the T-test.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.1
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• pp.53-60
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• 2010

We propose a motion planning method for autonomous mobile robots. In order to minimize traveling time, a smooth path and a time optimal velocity profile should be generated under kinematic and dynamic constraints. In this paper, we develop an effective and practical method to generate a good solution with lower computation time. The initial path is obtained from voronoi diagram by Dijkstra's algorithm. Then the path is improved by changing the graph and path simultaneously. We apply the dynamic programming algorithm into the stage of improvement. Simulation results are presented to verify the performance of the proposed method.

• International Journal of Control, Automation, and Systems
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• v.6 no.2
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• pp.234-242
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• 2008

The purpose of this paper is to verify the practical effectiveness of an interphalangeal coordination-based joint motion planning method for humanoid finger operations. For the purpose, several experiments have been performed and comparative experimental results are shown. Through the experimental works, it is confirmed that according to the employed joint motion planning method, the joint configurations for a finger's trajectory can be planned stably or not, and consequently the actual joint torque command for controlling the finger can be made moderately or not. Finally, this paper analyzes that the interphalangeal coordination-based joint motion planning method is practically useful for implementing a stable finger manipulation. It is remarkably noted that the torque pattern by the method is well-balanced. Therefore, it is expected that the control performance of humanoid or prosthetic fingers can be enhanced by the method.

• Industrial Engineering and Management Systems
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• v.14 no.4
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• pp.401-412
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• 2015

In this paper, we present a modeling approach to production planning for an actual production line and a heuristic method. We also illustrate the successful implementation of the proposed method on the production line. A heuristic algorithm called the push-back algorithm was designed for a single machine earliness/tardiness production planning with distinct due date. It was developed by combining a minimum slack time rule and shortest processing time rule with a push-back procedure. The results of a numerical experiment on the heuristic's performance are presented in comparison with the results of IBM ILOG CPLEX. The proposed algorithm was applied to an actual case of production planning at Woongjin Chemical, a leading manufacturer of filter products in South Korea. The seven-month execution of our algorithm led to a 24.5% decrease in the company's inventory level, thus demonstrating its practicality and effectiveness.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.30.6-30
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• 2001

We build near minimum-time trajectory planning algorithm for Wheeled mobile robots (WMRs) With Piece-Wise Constant control voltages satisfying i) initial and final postures and velocities as well as ii) voltage constraints We consider trajectory planning problem for cornering motion with a path-deviation requirement for obstacle avoidance. We divide our trajectory planning algorithm for cornering motion into five ordered sections: translational, transient, rotational, transient, and translational sections. Transforming dynamics into uncorrelated form with respect to translational and rotational velocities, we can make controls for translation/rotational velocities to be independent. By planning each section with constant voltages, and integrating five sections with adjustment of numbers of steps, the overall trajectory is planned. The performance is very close to the minimum-time solution, which is validated via simulation studies.

• Journal of Navigation and Port Research
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• v.47 no.2
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• pp.66-74
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• 2023

With the increase of interest in developing Maritime Autonomous Surface Ships (MASS), an optimal ship route planning is gradually gaining popularity as one of the important subsystems for autonomy of modern marine vessels. In the present paper, an optimal ship route planning model for MASS is proposed using a nonlinear MPC approach together with a nonlinear MMG model. Results drawn from this study demonstrated that the optimization problem for the ship route was successfully solved with satisfaction of the nonlinear dynamics of the ship and all constraints for the state and manipulated variables using the nonlinear MPC approach. Given that a route generation system capable of accounting for nonlinear dynamics of the ship and equality/inequality constraints is essential for achieving fully autonomous navigation at sea, it is expected that this paper will contribute to the field of autonomous vehicles by demonstrating the performance of the proposed optimal ship route planning model.

• International Journal of Control, Automation, and Systems
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• v.5 no.6
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• pp.674-680
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• 2007

The probabilistic roadmap (PRM) method, which is a popular path planning scheme, for a manipulator, can find a collision-free path by connecting the start and goal poses through a roadmap constructed by drawing random nodes in the free configuration space. PRM exhibits robust performance for static environments, but its performance is poor for dynamic environments. On the other hand, reinforcement learning, a behavior-based control technique, can deal with uncertainties in the environment. The reinforcement learning agent can establish a policy that maximizes the sum of rewards by selecting the optimal actions in any state through iterative interactions with the environment. In this paper, we propose efficient real-time path planning by combining PRM and reinforcement learning to deal with uncertain dynamic environments and similar environments. A series of experiments demonstrate that the proposed hybrid path planner can generate a collision-free path even for dynamic environments in which objects block the pre-planned global path. It is also shown that the hybrid path planner can adapt to the similar, previously learned environments without significant additional learning.

• Journal of the Korean Institute of Rural Architecture
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• v.11 no.1
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• pp.1-8
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• 2009

The study performed literature survey and research on the actual condition of cultural facilities for planning a reasonal architectural plan of being prearranged Gwangcheon cultural art center erection at the old central district of Gwangcheon-Eup(town) in Hongseong-Gun(County), Chuncheongnam-Do(province). It was verified that the law and regulations related with cultural art facilities did not make clear statement of the concept of cultural art center and classified it as a public performing place of a kind of performance facilities. The types of cultual facilities could be classified as performance facilities, libraries, regional cultural welfare facilities, cultural promotion and instruction facilities and they were studied respectively. The main functions of cultural art center was studied with art enjoyment function and art creation function. Through the research on the actual condition of cultural facilities, it was found that there were 12 cultural welfare facilities in Hongseong-Gun(county) however there was no cultural facilities in Gwangcheon-Eup(town) except 1 libraries. So the building of Gwangchoen cultural art center is needed. The location Propriety analysis is conducted and proved appropriated. On the basis of the above studies, the direction of planning, conception of Plan and facilities program were conceived and finally the architectural plans were proposed.