• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.337-345
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• 2023

In this paper, we propose a 3D LiDAR sensor-based costmap generation and path planning algorithm using it for reliable autonomous flight in complex indoor environments. 3D path planning is essential for reliable operation of UAVs. However, existing grid search-based or random sampling-based path planning algorithms in 3D space require a large amount of computation, and UAVs with weight constraints require reliable path planning results in real time. To solve this problem, we propose a method that divides a 3D space into several 2D spaces and a path planning algorithm that considers the distance to obstacles within each space. Among the paths generated in each space, the final path (Best path) that the UAV will follow is determined through the proposed objective function, and for this purpose, we consider the rotation angle of the 2D space, the path length, and the previous best path information. The proposed methods have been verified through autonomous flight of UAVs in real environments, and shows reliable obstacle avoidance performance in various complex environments.

• The Journal of Asian Finance, Economics and Business
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• v.8 no.1
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• pp.479-486
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• 2021

This study aims to explore the relationships between strategic planning, strategic maneuverability, and firm performance in the current dynamic business environment. It employs a quantitative research method and reports on a survey, using a questionnaire, of service companies in Indonesia's oil and gas industry. Of the 337 companies selected by simple random sampling from a vendor database, responses were received from 70 companies. The analysis was performed using Partial Least Square Structural Equation Modeling and SmartPLS software. The analysis consisted of descriptive statistics, evaluation of the measurement model, evaluation of the structural model, and hypotheses testing. The results show that both strategic planning and strategic maneuverability have a positive relationship with firm performance. In addition, there is a positive relationship between strategic planning and firm performance through the mediating role of strategic maneuverability. The findings suggest that the organizational agility, organizational flexibility, and organizational responsiveness that constitute strategic maneuverability have a positive direct and indirect effect on firm performance, namely financial performance, customer performance, internal process performance, and learning and growth. This study contributes to the strategic management literature and the theory of maneuvers by providing empirical evidence on the relationship between strategic planning, strategic maneuverability, and firm performance.

• The Journal of Asian Finance, Economics and Business
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• v.8 no.4
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• pp.381-389
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• 2021

This study aims to examine the effect of strategic planning, human resource management, and asset management on increasing the productivity of the rural economy. This research is a quantitative approach. The research sample was carried out by simple random sampling and data collection using a questionnaire so that 129 respondents were determined. The research test was conducted using multiple linear regression with the OLS (Ordinary Least Square model. The results obtained were that strategic planning, human resource management, and asset management had a significant positive effect on increasing the productivity of the rural economy. This shows that strategic planning is the most important thing in industry, companies, or organizations as a guideline to achieve optimal performance. In addition, human resource management and asset management are positive supports for increasing the economic productivity of rural communities to achieve welfare goals. This research proves that strategic planning must be carried out by considering the existing potential, both sources. natural resources, human resources, and economic resources Meanwhile, human resource management and asset management are mandatory to support the sustainability of an organization or company so that the benefits of the study as study material in strategic decision making, both in business and public policy.

• Journal of Practical Engineering Education
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• v.13 no.2
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• pp.393-403
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• 2021

The purpose of this study is to propose a method of designing a systematic panel survey at the institutional level to lay the foundation for data-based decision-making using vocational training teachers and instructors as the population. In this study, the target population and sampling frame, which are the main elements necessary for planning a panel survey, are proposed. Also based on expert advice and empirical data analysis, the sampling unit and sampling method taking into account the outer and inner variables are presented, comprehensively considering the representativeness of data, the efficiency and sustainability of data collection. As a result of the study, with the unit of the panel as a vocational training institution, a two-stage stratified proportional sampling plan is proposed so that the institution selected as the panel and the vocational training teachers and instructors belonging to the institution can participate in the survey. Based on this, implications for the panel survey sample design are presented.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.12 no.5
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• pp.15-23
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• 2003

A feature-based inspection planning system is proposed in this research to develop more efficient measuring methodology for the OMM(On-Machine Measurement) or CMM(coordinate Measuring Machine) for complicated workpiece having many primitive form features. This paper is proposed solution that optimum inspection sequence of the objective features. The sequences are determined by analyzing the feature information such as the nearest relationship and the possible probe-approach direction(PAD) of the features, and forming feature groups. A series of heuristic rules are developed to accomplish it. Also, each feature is decomposed into its constituent geometric elements for inspection process, and then the number of sampling points, location of the measuring points, optimum probing path are determined.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.10a
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• pp.353-358
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• 2002

A feature-based inspection planning system is proposed in this research to develop more efficient measuring methodology for the OMM (On-machine measurement) for complicated workpiece having many primitive form features. This paper focuses on the development of the CAIP (computer-aided inspection system) methodologies. The optimum inspection sequences for the features are determined by analyzing the feature information such as the nested relations and the possible probe approaching directions of the features, and forming feature groups. A series of heuristic rules are developed to accomplish it. Also, each feature is decomposed into its constituent geometric elements, and then the number of sampling points, the locations of the measuring point, the optimum probing path are determined by applying the fuzzy logic, Hammersley's method, and the TSP algorithm. To verify the proposed methodologies, simulations are carried out and the results are analyzed.

• Water for future
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• v.23 no.1
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• pp.109-118
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• 1990

In this study, the effectiveness of existing streamflow data collection networks in the Han and the Nakdong River Basin is evaluated for various gaging plans of 5, 10, 15 and 20years planning horizons by the nonlinear integer programming method, and also a technique for adjustment and planning of the existing network is provided for the purpose of increasing the efficiency of the network in terms of ecomony. The objective function is minimization of the average sampling mean square error of regional regression model with regression parameters estimated by generalized least squares method.

• The Journal of Korea Robotics Society
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• v.17 no.3
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• pp.359-364
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• 2022

This study presents a nonlinear model predictive control (NMPC)-based obstacle avoidance and whole-body motion planning method for the mobile manipulators. For the whole-body motion control, the mobile manipulator with an omnidirectional mobile base was modeled as a nine degrees-of-freedom (DoFs) serial open chain with the PPR (base) plus 6R (arm) joints, and a swept sphere volume (SSV) was applied to define a convex hull for collision avoidance. The proposed receding horizon control scheme can generate a trajectory to track the end-effector pose while avoiding the self-collision and obstacle in the task space. The proposed method could be calculated using an interior-point (IP) method solver with 100[ms] sampling time and ten samples of horizon size, and the validation of the method was conducted in the environment of Pybullet simulation.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.50 no.11
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• pp.809-817
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• 2022

The development of unmanned robots and UAVs has increased the need for path planning methods such as RRT^* algorithm. It mostly works well in various environments and is utilized in many fields. A lot of research has been conducted to obtain a better path in terms of efficiency through various modifications to the RRT^* algorithm, and the performance of the algorithm is continuously improved thanks to these efforts. In this study, a method using the limitation of sampling range is proposed as an extension of these efforts. Based on the idea that a path passing close to obstacles is similar to the optimal path in obstacle environments, nodes are produced around the obstacle. Also, rewiring algorithm is modified to quickly obtain the path. The performance of the proposed algorithm is validated by comparative analysis of the previous basic algorithm and the generated path is tracked by a UAV's kinematic model for further verification.

• KIEAE Journal
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• v.8 no.6
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• pp.11-20
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• 2008

Modern society is an era that demands higher standards of living, and accordingly healthier living conditions due to fast economic growth. This society is being confronted by the necessity to find strategies to promote and manage health condition in everyday living environment. The current 'wellbeing' trend which pursues holistic health including physical, psychological and social health has accelerated the demand for healthy environment. In this context, this study intended to identify health friendly planning features based on consumer's demand. Web survey technique was used as main research methodology. Stratified random sampling was used with age being used as the strata valuable. Two hundred and eleven data were analyzed using SPSS statistical package. As results, awareness about health housing and hierarchy of important planning features were empirically identified. Furthermore, significant differences in some planning features according to the age were scrutinized. Major health friendly features demanded by consumers were found ventilation, non-toxic material, view of nature, space in which family can gather, protection of their privacy. Consumers' recognitions and demands varied according to age. The older the resident was, the higher the demands appeared. The results are expected to be used as a reference to explore and develop strategies for future healthy housing.