• Journal of the Korean Society of Industry Convergence
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• v.17 no.2
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• pp.35-41
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• 2014

This paper describes the obstacle avoidance architecture to walk safely around in factory and home environment, and presents methods for path planning and obstacle avoidance for the humanoid robot. Solving the problem of obstacle avoidance for a humanoid robot in an unstructured environment is a big challenge, because the robot can easily lose its stability or fall down if it hits or steps on an obstacle. We briefly overview the general software architecture composed of perception, short and long term memory, behavior control, and motion control, and emphasize on our methods for obstacle detection by plane extraction, occupancy grid mapping, and path planning. A main technological target is to autonomously explore and wander around in home environments as well as to communicate with humans.

• Journal of the Korean Institute of Telematics and Electronics
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• v.24 no.6
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• pp.1068-1073
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• 1987

Traditional circuit partitioning algorithm using the cluster development method, which is suitable for such applications as single chip floor planning or multiple layer PCB system placement, where the clusters are formed so that inter-cluster nets are localized within the I/O connector pins, may not be appropriate for the functiona block placement in truly 3-D electronic modules. 3-D hybrid IC is one such example where the inter-layer routing as well as the intra-layer routing can be maximally incorporated to reduce the overall circuit size, cooling requirements and to improve the speed performance. In this paper, we propose a new algorithm called MBE(Minimum Box Embedding) for the layer assignment of each functional block in 3-D hybrid IC design. The sequence of MBE is as follows` i) force-directed relaxation in 3-D space, ii) exhaustive search for the optimal orientation of the slicing plane and iii) layer assignment. The algorithm is first explaines for a 2-D reduced problem, and then extended for 3-D applications. An example result for a circuit consisting of 80 blocks has been shown.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2013.05a
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• pp.171-172
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• 2013

An operation planning of lift car is crucial in tall building construction especially it's arrangement plans, because it is related with transportation distance of finishing materials affecting construction productivity. Since tall building construction, composed of complicating and huge plane have complex traffic lines of finishing materials, to determine the position of lift car empirically or intuitively has limits. Therefore this paper suggest an optimum layout model of lift car minimizing the transportation distance both at site-level and floor-level using Graph theory and Dijkstra algorithm.

• Journal of Korean Physical Therapy Science
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• v.1 no.2
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• pp.355-365
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• 1994

Ilizarov limb lengthening has been the new method to deal with a variety of orthopaedic problems. Ilizarov apparatus consists of stainless steel rings that surround the limb and are interconnected by threaded rods. Tensioned wires pierce the bone in the plane of each ring and are tightly attached to the ring. Ilizarov has reported distraction osteogenesis with the use of the typical fixator that allows functional loading. The purpose of this commentary is to introduce a four-stage rehabilitation protocol currently used by the authors in the physical therapy management of a post -limb lengthening. Each treament stage corresponds to a medical stage in the lengthening process. Treatment goals for each of the physical therapy treatment stage are presented to guide treatment planning. Two case examples are presented to illustrate the use of the management goals in treatment planning.

• Magazine of the Korean Society of Agricultural Engineers
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• v.36 no.3
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• pp.135-143
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• 1994

The actural condition of rural house polts, houses and their attached facilities was surveyed in CHUNGCHEONGBUK-DO in order to find out existing residential problems. From the data collected, general influencing factors, housing/residential environmental qualities, and farmer's opinion on them were analyzed or obtained as the basic design criteria for future projects. The structural shape of rural housing should be developed on the basis of our traditional one. The materials of wall should be made from soil sourced one. Kitchin room and rest room should be improved in view of the Western style. Residential space should be harmonized our traditional one(reception of a guest preferred) with westernized living space(nuclear family life preferred). The plane planning of 'ㄷ' type would be generally preferred in the block planning of rural housing and attached facilities. Livestock pens and compost houses would be seperated from, while storehouses would be coexisted with a living space.

• Proceedings of the Korean Institute of Interior Design Conference
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• 2002.04a
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• pp.77-81
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• 2002

Today, local museums as well as international museums are varied with scale, foundation purpose and function. Children's museum is particularly designed for special viewers. Therefore, the expression design factors such as plane, cubic side, illuminator, line of flow, color, material and the characteristics of viewers should be considered in planning. A couple of sample museums are selected for this study in order to study the characteristics of viewers. I hope the result of this study will be the basic information for the display design of children's museum.

• Radiation Oncology Journal
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• v.3 no.1
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• pp.59-64
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• 1985

Computation of three dimensional dose distribution using CT image and RT plan was applied to a case of pituitary adenoma. Algorithm was based on two dimensional Tissue Maximun Ratio model extended to the third dimension. The resulting isodose curve of transeverse, coronal and sagittal section was demonstrated. This RT plan allows computation of dose distribution in any arbitarily defined plane in addition to conventional cross sectional view.

• Journal of the Korean Institute of Educational Facilities
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• v.19 no.2
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• pp.3-12
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• 2012

This study is carried out to analyze transition about educational facilities of elementary schools with the change of policy and to find out a developmental direction for qualitative improvement. An analysis of blueprints is done to 34 elementary schools representing periodic characteristics after the 1960's. As a result, various cases were shown in arrangement type, unit space, block planning and plane planning of the schools after a abolition of law about the standardization of educational facilities on 1997, however, they were showing a tendency to simplify after the introduction of BTL on 2005. Spatial composition factors were very various in the schools planned from the middle of 1990's to the early of 2000's. Meanwhile, nearly fifty percent of occupying ratio about learning space in the schools of standard type was gradually decreased by modernization planning on 1990's. However, it was increased a little again after the BTL. In case of living area, the occupying ratio was comparatively high in the schools having characteristics of 1990's and it also tends to increase after the introduction of BTL.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1939-1944
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• 2003

This paper presents a global path planning algorithm based on a visibility graph method, and applies additionally various constraints for constructing the reduced visibility graph. The modification algorithm for generating the rounded path is applied to the globally shortest path of the visibility graph using the robot size constraint in order to avoid the obstacle. In order to check the visibility in given 3D map data, 3D CAD data with VRML format is projected to the 2D plane of the mobile robot, and the projected map is converted into an image for easy map analysis. The image processing are applied to this grid map for extracting the obstacles and the free space. Generally, the tree size of visibility graph is proportional to the factorial of the number of the corner points. In order to reduce the tree size and search the shortest path efficiently, the various constraints are proposed. After short paths that crosses the corner points of obstacles lists up, the shortest path among these paths is selected and it is modified to the combination of the line path and the arc path for the mobile robot to avoid the obstacles and follow the rounded path in the environment. The proposed path planning algorithm is applied to the mobile robot LCAR-III.

• Journal of Korean Institute of Industrial Engineers
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• v.11 no.1
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• pp.21-32
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• 1985

Presented in this paper is a procedure of developing graphical simulation software for planning robot welding processes. Welding is by far the highest application area for industrial robots, and it has been in great need of such a simulator in designing robot work cells, in justifying the economics of robot welding and in planning robotized welding operations. The model of a robot welding cell consists of four components: They are an welding structure which is a collection of plates to be welded, a positioner to hold the welding structure, a robot with a weld torch, and a set of welding lines (in case of arc welding). Welding structure is modeled by using the reference plane concept and is represented as boundary file which is widely used in solid modeling. Robot itself is modeled as a kinematic linkage system. Also included in the model are such technical constraints as weaving patterns and inclination allowances for each weld joint type. An interactive means is provided to input the welding structure and welding lines on a graphics terminal. Upon completion of input, the program displays the welding structure and welding lines and calculates the center of mass which is used in determining positioner configurations. For a given positioner and robot configuration, the welding line segments that can be covered by the robot are identified, enabling to calculate the robot weld ratio and cycle time. The program is written in FORTRAN for a VAX computer with a Tektronix 4114 graphic terminal.