• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.285-292
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• 2019

Path planning is an important problem to solve in robotics and there has been many related studies so far. In the previous research, we proposed the Heterogeneous-Ants-Based Path Planner (HAB-PP) for the global path planning of mobile robots. The conventional path planners using grid map had discrete state transitions that constrain the only movement of an agent to multiples of 45 degrees. The HAB-PP provided the smoother path using the heterogeneous ants unlike the conventional path planners based on Ant Colony Optimization (ACO) algorithm. The planner, however, has the problem that the optimization of the path once found is fast but it takes a lot of time to find the first path to the goal point. Also, the HAB-PP often falls into a local optimum solution. To solve these problems, this paper proposes an improved ant-inspired path planner using the Rapidly-exploring Random Tree-star ($RRT^*$). The key ideas are to use $RRT^*$ as the characteristic of another heterogeneous ant and to share the information for the found path through the pheromone field. The comparative simulations with several scenarios verify the performance of the improved HAB-PP.

• The Research Journal of the Costume Culture
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• v.27 no.4
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• pp.323-335
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• 2019

Identifying the selection criteria of wedding planners, who are the main human resource that contribute to the overall satisfaction level of a wedding's preparation, can produce important data for the wedding industry as it faces a transition period. To develop a scale for wedding planner selection criteria, preliminary items were prepared based on in-depth interviews with an experienced wedding planner group and a comprehensive review of previous studies, such as studies on selection criteria in the wedding industry and service work similar to wedding planners and wedding planner selection criteria. The preliminary items were tested for content validity using a focus group interview, comprising people in the wedding industry, and were refined accordingly. Then, the definitive quantitative questionnaire items were developed after conducting a preliminary survey. The main survey for this study was conducted using the responses of 295 consumers taking an Internet questionnaire. Exploratory factor analysis, Cronbach's alpha, and confirmatory factor analysis were adopted to develop the scale, which was tested for convergent validity and discriminant validity. This study is academically significant in that it developed a selection criteria scale tailored to wedding planners to address an area that has not been covered in previous studies. It is recommended that future studies conduct empirical analyses using the selection criteria developed in this study to compare influential variables that could affect behavior intention.

• Journal of the Korea Computer Industry Society
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• v.3 no.9
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• pp.1207-1214
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• 2002

This study has developed Web-based, Automated Lesson Planner System for teachers to make out and make use of lesson plans using ICT(Information ＆ Communication Technology). First, web-based lesson planner system has been developed to make teachers possible to make and use lesson plans on the web. Second, the database of electronic lesson planner system has been designed and established according to Korean curriculum and form of teaching-loaming lesson plan using ICT. Third, the system embodied making out a lesson plan easily and operating all ICT materials together. Last, the system was applied to the real elementary school fields and the efficiency and improvements were analyzed. This lesson planner system made database of all ICT materials and lesson plans, so that it can manage and control all lesson plans systematically. Also, the lesson plans and ICT materials are connected together, so the database can be a dynamic content storage. The construction of this system established maximization of share, use and storage of teaching-learning lesson plans. It will be popularize in real education fields and made a contribution to the school informatization.

• Korean Journal of Construction Engineering and Management
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• v.6 no.6 s.28
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• pp.152-159
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• 2005

Since Lean Construction has been introduced as a new management approach to improve productivity in the construction industry, much research is in progress to develop lean concepts and principles for better implementation and to get results of the successful adaptation of lean ideas from manufacturing for application in the construction industry. Currently, Lean Construction Institute developed Last Planner System to achieve better workflow and effective planning management. Domestic construction companies are also getting interested in the Lean Construction. However, there are no detailed guidelines how to implement lean system. Thus, this study will provide a guideline for deployment of last planner system, a prototype lean implementation control checklist, and all project participants roles based on the case studies in USA. This study should provide a framework to apply lean construction to domestic construction sites.

• Journal of Korea Society of Industrial Information Systems
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• v.14 no.4
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• pp.37-48
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• 2009

Household service robots should be able to provide their users with a variety of temporal reasoning services. In this paper, we propose an effective way of developing such temporal reasoning services using a domain-independent AI planner. Developing temporal reasoning services with a domain-independent AI planner, we have to address both the knowledge engineering problem of how to represent various real-world temporal constraints in a planning domain definition language, and the system design problem of how to realize the interface between the AI planner and the service consumer. In this paper, we introduce an example scenario and a set of typical temporal constraints for a household service robot, and then present how to represent them in the standard planning domain definition language. We also explain how to implement a service agent based on an AI planner in order to develop and provide new services efficiently.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2007.04a
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• pp.7-10
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• 2007

This paper presents a fuzzy footstep planner for humanoid robots in complex environments. First, we define locomotion primitives for humanoid robots. A global planner finds a global path from a navigation map that is generated based on a combination of 2.5 dimensional maps of the 3D workspace. A local planner searches for an optimal sequence of locomotion primitives along the global path by using fuzzy footstep 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.

• Korean Journal of Construction Engineering and Management
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• v.3 no.4 s.12
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• pp.139-144
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• 2002

Management of today's dynamic projects requires a shift of focus from product to process. The purpose of traditional project controls is to conform performance to plan. The purpose of lean project controls is to make the best possible choices at each point in time during the course of the project, as well as contributing knowledge to the parent organizations so they can learn from project experience. The Lean Construction Institute(LCI) proposed the Last Planner System(LPS) capable of accomplishing that purpose, principally through controlling the quality of planning and of management processes themselves, as distinct from concentrating exclusively on project performance. The case project was a pilot project for the implementation of the Last Planner. Consequently, the coordination of the work on this project was extremely successful. The project had its share of challenges. The coordination did not prevent design problems, or supplier errors, but helped the team deal with the problems effectively while maintaining the work flow. The last planner helped the contractors know: a) who will be doing what and where, b) what each one needs from the others, and c) what are the project priorities. The system itself created a more collaborative environment, because it 'demands' that the subcontractors address these issues.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.10 no.3
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• pp.33-38
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• 2011

A cubic spline trajectory planner with arc-length parameter is formulated with estimation by summing up to the 3rd order in Taylor's expansion. The PVAJT motion planning is presented to reduce trajectory calculation time at every cycle time of servo control loop so that it is able to generate cubic spline trajectory in real time. This method can be used to more complex spline trajectory. Several case studies are executed with different values of cycle time and sampling time, and showed the advantages of the PVAJT motion planner. A DSP-based motion controller is designed to implement the PVAJT motion planning.

• International Journal of Aeronautical and Space Sciences
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• v.18 no.4
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• pp.767-779
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• 2017

Automated mission planning for unmanned aerial vehicles (UAVs) is difficult because of the propagation of several sources of error into the solution, as for any large scale autonomous system. To ensure reliable system performance, we quantify all sources of error and their propagation through a mission planner for operation of UAVs in an obstacle rich environment we developed in prior work. In this sequel to that work, we show that the mission planner developed before can be made robust to errors arising from the mapping, sensing, actuation, and environmental disturbances through creating systematic buffers around obstacles using the calculations of uncertainty propagation. This robustness makes the mission planner truly autonomous and scalable to many UAVs without human intervention. We illustrate with simulation results for trajectory generation of multiple UAVs in a surveillance problem in an urban environment while optimizing for either maximal flight time or minimal fuel consumption. Our solution methods are suitable for any well-mapped region, and the final collision free paths are obtained through offline sub-optimal solution of an mTSP (multiple traveling salesman problem).

• Proceedings of the KIEE Conference
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• 1992.07a
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• pp.93-95
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• 1992

A planner have to consider many uncertain factors in best generation mix problem. To solve those problems, fuzzy theory is applied in this paper. Using fuzzy measure and Sugeno's fuzzy integral, the planner can choose the best alternative. By applying the proposed algorithm to KEPCO data, the validity of the proposed method is verified.