• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.10 no.3
• /
• pp.203-209
• /
• 2010

This paper presents a hierarchical fuzzy motion planner for humanoid robots in 3D uneven environments. First, we define both motion primitives and locomotion primitives of humanoid robots. A high-level planner finds a global path from a global navigation map that is generated based on a combination of 2.5 dimensional maps of the workspace. We use a passage map, an obstacle map and a gradient map of obstacles to distinguish obstacles. A mid-level planner creates subgoals that help the robot efficiently cope with various obstacles using only a small set of locomotion primitives that are useful for stable navigation of the robot. We use a local obstacle map to find the subgoals along the global path. A low-level planner searches for an optimal sequence of locomotion primitives between subgoals by using fuzzy motion planning. We verify our approach on a virtual humanoid robot in a simulated environment. Simulation results show a reduction in planning time and the feasibility of the proposed method.

• Journal of the Korean Society of Industry Convergence
• /
• v.25 no.6_1
• /
• pp.941-952
• /
• 2022

In this study, additive manufacturing technology was applied to restore a planner miller that was unusable due to aging. The drive spur gear of the planner miller was inoperable due to many defects in the teeth. The shape of the defective gear teeth was restored by deposition of the defective teeth using the DED method. However, as the location of the deposition head and the location of the set origin became farther, the deposition shape was different from the modeling shape. Nonetheless, since the modeling of the deposition part was designed to be larger than the tooth shape of the original gear, it was possible to completely restore all gear teeth through post-processing. The arrangement interval of the flow lines of the deposition part was narrower than that of the substrate. The hardness of the substrate was 172 HV, and that of the deposition part was 345 HV, which was twice as high as that of the substrate.

• Journal of the Korean Society for Precision Engineering
• /
• v.14 no.4
• /
• pp.126-135
• /
• 1997

A sensorless motion planner which succeeds in grasping a polygonal part firmly into a desired orientation has been developed through the dynamic analysis. The analytical results on the impact process with friction are used for modeling the contact motionduring the parallel-jaw grasp operation, which is com- posed of the pushing and the squeezing process. The developed planner succeeds in grasping a part into a specified orientation in the face of uncertainties of initial position and orientation of the part, motion direction of the finger, and the physical parameters such as the coefficients of friction and restitution. The motion planner has been fully implemented into a viable package on the computer system, and verified experimentally. The motion of parts is recorded using a high-speed video camera, and then compared to the results of the planner and the graphic simulation results that illustrate the simulated motion of the grasp operation.

• The Journal of the Korea Contents Association
• /
• v.16 no.7
• /
• pp.190-206
• /
• 2016

This study explores the meaning of life insurance planner's job experiences achieving job security, high performance and high income. After 6 of life insurance planners working in the field were chosen as the study participants, we use narrative approach to studying the meaning of their job experiences. The study shows that perception about job competency of planners depends on the level of experience: candidates who had no experience at all feel that anyone can perform planner's job, new employees after introduction training program see planners can do with product knowledge and consulting competency, and experienced people admit they can perform successfully only when they have good attitude towards customers and do all their work in a conscientious manner. Also, the meaning of planner's job experiences is identified as awareness of work value and serving customers with their commitment. The anticipated factors that make planner's job performed successfully are playing a role as a teacher, doctor, and angel, being regarded as happiness preacher for economic stability of individuals and families, and displaying their performance as experts.

• Korean Journal of Construction Engineering and Management
• /
• v.7 no.4 s.32
• /
• pp.146-153
• /
• 2006

The Last Planner(LP), of which the goal is to improve work-flow reliability, has recently been introduced in Korea. It is found that some contractors have made efforts on applying the Last Planner to their projects. However, they face difficulties for a variety of reasons. This paper presents the case study results on Korean heavy civil projects, along with descriptions of the ways that the Last Planner was applied, and how the work flow reliability was improved. It also discusses the prerequisites and barriers to implementation of the Last Planner in applying heavy civil construction projects in Korea. The results can be used as a reference for companies to improve their work flow reliability for future projects.

• The Journal of the Korea Contents Association
• /
• v.13 no.7
• /
• pp.417-431
• /
• 2013

During the development process of mega-project, individual buildings including skyscrapers are built following the master plan. It is not a difficult thing to see the gap of standpoint between the urban planners and architects on the project. This study aims to analyze the difference between architect and urban planner's point of view in evaluating international design competition works which the internationally distinguished honorable design companies(SOM, Jerde Partnership, Studio Daniel Libeskind, Foster+Partners and Asymptote Architecture) submitted as the ideas of Yongsan International Business District Design. Furthermore, we made an attempt to quantify the weight of each factors of urban design by each group. Architect and urban planner's viewpoint were revealed with seven architects and seven urban planners evaluating the international design competition works through AHP(Analytical Hierarchy Process). AHP structure was made of two step hierarchy in terms of Master Plan and Landmark Tower. Eight evaluation criteria were set up such as the concept, land use, transportation, feasibility of Master Plan and the concept, location, functional efficiency and aesthetic beauty of Landmark Tower. Results show that Architect have different point of view from that of urban planner. While the architect's weight of evaluation criteria is on the Landmark Tower(0.505), urban planner's weight is on Master Plan(0.642). Feasibility, the location of Landmark Tower and land-use are very important evaluation criteria to architect and urban planner in common. Functional efficiency of Landmark Tower is in architect's favour and transportation is in urban planner.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.74-79
• /
• 2005

In this paper, we propose a novel approach to decentralized motion planning and conflict-resolution for multiple mobile agents working in an environment with unexpected moving obstacles. Our proposed motion planner has two characteristics. One is a real-time collision prognosis based on modified collision map. Collision map is a famous centralized motion planner with low computation load, and the collision prognosis hands over these characteristics. And the collision prognosis is based on current robots status, maximum robot speeds, maximum robot accelerations, and path information produced from off-line path planning procedure, so it is applicable to motion planner for multiple agents in a dynamic environment. The other characteristic is that motion controller architecture is based on potential field method, which is capable of integrating robot guidance to the goals with collision avoidance. For the architecture, we define virtual obstacles making delay time for collision avoidance from the real-time collision prognosis. Finally the results obtained from realistic simulation of a multi-robot environment with unknown moving obstacles demonstrate safety and efficiency of the proposed method.

• Journal of Construction Engineering and Project Management
• /
• v.3 no.4
• /
• pp.5-11
• /
• 2013

Construction industry is overwhelmed by delay and often has suffered cost and time overrun. In this context, Last Planner System (LPS) has been considered as a very useful tool for the management of the construction process. Many previous studies have reported its effectiveness in construction performance. This study aims to evaluate the level of importance of the Last Planner processes in the Vietnam construction industry (VCI), and analyze the existing barriers when implementing these processes in construction management. These barriers were collected based on previous studies from International Group for Lean Construction (IGLC). A survey was carried out through questionnaire. The respondents are been experienced people in construction project management. There are four processes of LPS that were investigated including master schedule, phase schedule, lookahead plan, and weekly work plan. The results showed that master schedule is the most important item when performing a construction project in the VCI. The highest degree of agreement belongs to 'owner - contractor' pair with 77.1% importance indices; whereas the lowest belongs to 'consultants - contractors' pair with 63.8% importance indices. Eventually, three barrier factors were extracted from factor analysis technique with 62.2% of variance explained.

• The Journal of Korea Robotics Society
• /
• v.2 no.3
• /
• pp.275-281
• /
• 2007

This paper presents a motion planning strategy for legged robots using locomotion primitives in the complex 3D environments. First, we define configuration, motion primitives and locomotion primitives for legged robots. A hierarchical motion planning method based on a combination of 2.5 dimensional maps of the 3D workspace is proposed. A global navigation map is obtained using 2.5 dimensional maps such as an obstacle height map, a passage map, and a gradient map of obstacles to distinguish obstacles. A high-level path planner finds a global path from a 2D navigation map. A mid-level planner creates sub-goals that help the legged robot efficiently cope with various obstacles using only a small set of locomotion primitives that are useful for stable navigation of the robot. A local obstacle map that describes the edge or border of the obstacles is used to find the sub-goals along the global path. A low-level planner searches for a feasible sequence of locomotion primitives between sub-goals. We use heuristic algorithm in local motion planner. The proposed planning method is verified by both locomotion and soccer experiments on a small biped robot in a cluttered environment. Experiment results show an improvement in motion stability.

• Culinary science and hospitality research
• /
• v.10 no.1
• /
• pp.96-115
• /
• 2004

Though the foodservice industry in Korea has developed in the aspect of quantity, it has left behind in the aspect of quality compared with other foreign countries. Previous researches has just indicated that the menu should be built through mutual consent between a menu planner and a menu-book designer without defining the concept of menu. Therefore, it is necessary to establish a theoretical basis about the menu-book, showing quality of the foodservice industry in Korea. First of all, a menu planner's understanding to the menu-book should be changed and also a menu designer should understand positively the foodservice industry. Therefore the utility of menu-book can be maximized as a communication and marketing method breaking from simplicity and aesthetic. Both food items and design have a common feature to explain emotion, history and culture of a people. Menu planner and menu-book designer should undertake a role of solving one of the most important human desire by distinction and creativity. And they should play a role as a cultural creator through designing the menu-book which can spread out traditional food culture to the world.