• The Journal of Korea Robotics Society
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• v.18 no.1
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• pp.1-9
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• 2023

This paper presents an optimal path planning strategy for aerial searching and surveying of a user-designated area using multiple Unmanned Aerial Vehicles (UAVs). The method is designed to deal with a single unseparated polygonal area, regardless of polygonal convexity. By defining the search area into a set of grids, the algorithm enables UAVs to completely search without leaving unsearched space. The presented strategy consists of two main algorithmic steps: cellular decomposition and path planning stages. The cellular decomposition method divides the area to designate a conflict-free subsearch-space to an individual UAV, while accounting the assigned flight velocity, take-off and landing positions. Then, the path planning strategy forms paths based on every point located in end of each grid row. The first waypoint is chosen as the closest point from the vehicle-starting position, and it recursively updates the nearest endpoint set to generate the shortest path. The path planning policy produces four path candidates by alternating the starting point (left or right edge), and the travel direction (vertical or horizontal). The optimal-selection policy is enforced to maximize the search efficiency, which is time dependent; the policy imposes the total path-length and turning number criteria per candidate. The results demonstrate that the proposed cellular decomposition method improves the search-time efficiency. In addition, the candidate selection enhances the algorithmic efficacy toward further mission time-duration reduction. The method shows robustness against both convex and non-convex shaped search area.

• Journal of the Korea Institute of Military Science and Technology
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• v.17 no.6
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• pp.711-717
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• 2014

Global path planning for autonomous driving of unmanned ground vehicle is essential. When setting global path planning, its accuracy and effectiveness is increased if useful information such as terrain type of driving route has been reflected on global path planning. As a method to reflect the terrain type, there is a method to perform global path planning by applying the weight to each terrain type. At this time, how to assign appropriate weights corresponding to the terrain type is more important than anything. In this paper, we proposed a method to determine the weight for terrain type that may affect the results of global path planning. Moreover, we presented effective operation method and design results(GUI) to check the possibility of the use of the proposed method.

• Journal of the Korean Institute of Landscape Architecture
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• v.32 no.1
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• pp.139-156
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• 2004

All Papers on Ecological Landscape Degign in KILA from 1973 to 2003 are listed herein for finding research issues and trends. The emerging field of Ecological studies of landscape design is based on Landscape Ecology and Watershed Ecology, the Principles of which can be applied to surveying and evaluation, Planning and design, construction and management focusing preservation of wildlife habitat and niche. This field can be classified into six categories: 1. Sustainable site planning and index, 2. Ecological planning process and regulation, 3. landscape ecology and biotope map, 4. Watershed and eco corridor project, 5. Urban forestry and environment, and 6. artificial ground and restoration ecology. The following is the summary of the findings from Paper review: 1. Sustainable index shall be studied about more specified sites. Water recycling facilities, and reservation wet land need to be studied. 2. Policy and legislation research on Ecological design shall be researched by expanding of the application field. Nature park planning and management fields shall be considered as the main theme of green networking Parts. 3. Landscape Ecological studies should be connected to practical surveying data, e.g. the eco-maps published by Environment Ministry. Traditional culture and science should be joined with the modem science. 4. Eco-corridor planning will go with the scenarios and theories of watershed ecology. 5. Urban forestry shall be studied with the wildlife's behavior and habitat. 6. Restoration engineering techniques should be reconsidered with the wildlife's existence and environmental affiliation.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1039-1043
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• 2005

Despite the many significant advances made in robot architecture, the basic approaches are deliberative and reactive methods. They are quite different in recognizing outer environment and inner operating mechanism. For this reason, they have almost opposite characteristics. Later, researchers integrate these two approaches into hybrid architecture. In such architecture, Reactive module also called low-level motion control module have advantage in real-time reacting and sensing outer environment; Deliberative module also called high-level task planning module is good at planning task using world knowledge, reasoning and intelligent computing. This paper presents a framework of the integrated planning and control for mobile robot navigation. Unlike the existing hybrid architecture, it learns topological map from the world map by using MST (Minimum Spanning Tree)-based SOFM (Self-Organizing Feature Map) algorithm. High-level planning module plans simple tasks to low-level control module and low-level control module feedbacks the environment information to high-level planning module. This method allows for a tight integration between high-level and low-level modules, which provide real-time performance and strong adaptability and reactivity to outer environment and its unforeseen changes. This proposed framework is verified by simulation.

• Journal of Urban Science
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• v.11 no.1
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• pp.37-47
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• 2022

Even if Korea has established various legal guidelines as well as plans for the purpose of systematic management of urban citycapes, various problems have been pointed out, such as a decrease in operational efficiency because the legal framework is not clearly defined and the guidelines do not fully reflect regional characteristics. In the midst of this, Singapore is being mentioned as a representative example of enhancing international competitiveness by forming an outstanding urban cityscape through successful urban planning and operating system. Therefore, this study aims to suggest a direction for the improvement of Korea's urban planning and design guidelines by investigating and analyzing the characteristics of Singapore's urban planning system and design guidelines. As a result of the research and analysis, it was concluded that Singapore's urban planning system was based on the unified planning and management system. In particular, the Singapore Urban Design Guidelines provide differentiated guidelines to maintain and strengthen regional characteristics based on linkage with higher-level plans as detailed practical guidelines, and were operated as flexible guidelines reflecting the changes of the times and the needs of members of society. It also provides a direction for the improvement of the Korean urban design system, such as to increase the executionablity of the plan and the efficiency of operation by utilizing various guidance and support policies, rational and simplified deliberation procedures, and allow a platform that enhances the accessibility and convenience of related information.

• Journal of the Korean Operations Research and Management Science Society
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• v.19 no.3
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• pp.63-79
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• 1994

Many vehicle fleet planning systems have been suggested to minimize the routing distances of vehicles or reduce the transportation cost. But the more considerations the method takes, the higher complexites are involved in a large number of practical situations. The purpose of this paper is to vehicle fleet planning system. This paper is considered multi-objective optimization. The vehicle fleet planning system developed by this study involves such complicated and restricted conditions as one depot, multiple nodes (demand points), multiple vehicle types, multipel order items, and other many restrictions for operating vehicles. The proposed algorithm is compared with the nearest neighbor heuristic (NNH) and the savings heuristic (SAH) algorithm in terms of total logistics cost and driving time. This method constructs a route with a minimum number of vehicles for a given demand. This method can be used to any companys which vehicle fleet planning system under circumstances considered in this paper.

• Journal of Astronomy and Space Sciences
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• v.21 no.3
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• pp.209-220
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• 2004

Some methods have been presented to get optimal formation trajectories in the step of configuration or reconfiguration, which subject to constraints of collision avoidance and final configuration. In this study, a method for optimal formation trajectory-planning is introduced in view of fuel/time minimization using parameter optimization technique which has not been applied to optimal trajectory-planning for satellite formation flying. New constraints of nonlinear equality are derived for final configuration and constraints of nonlinear inequality are used for collision avoidance. The final configuration constraints are that three or more satellites should be placed in an equilateral polygon of the circular horizontal plane orbit. Several examples are given to get optimal trajectories based on the parameter optimization problem which subjects to constraints of collision avoidance and final configuration. They show that the introduced method for trajectory-planning is well suited to trajectory design problems of formation flying missions.

• Journal of the Korean Operations Research and Management Science Society
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• v.24 no.4
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• pp.13-26
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• 1999

When we try to design a production planning system for a manufacturing company, it is a time consuming task to analyze various planning activities and identify inter-relationship among a lot of decisions made for the production planning. Most of the research efforts have been concentrated to well-organized independent decision-making problems that may usually be identified only after analyzing the characteristics of the decision-making process as a whole. In this paper, a methodology is suggested to characterize the whole process of the production planning for a manufacturing company and reduce the complexity of decision-making problems. The methodology is based on an experience of developing a production planning software for an automobile component manufacturer in korea. First, it is explained how to identify and represent the dependency among various decision-making variables. And a methodology is proposed to analyze the identified dependency among decision variables and identify decision-making process. Lastly, a practical example is provided to illustrate the analysis procedure in this paper.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 1996.04a
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• pp.709-712
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• 1996

Generating a project network of a specific construction project is very time consuming and difficult task in the field. To effectiviely automate and support the planning process, we design a case-based project planning expert system inspired by the fact a human expert project planner uses previous cases for planning a new project. A construction project case consist of its specific characteristics and the corresponding project network (i.e. project plan). Using frame based representation. we represent the project features affecting the progress network and the entities composing the project plan such as the buildings, construction methods, WBS (work breakdown structure), activities, and resources. The project planning process runs through most similar case retrieval, case adaptation, and user requirement satisfaction. We represent the construction domain knowledge for each procedure using constraints and rules. We develop the methodology for constraint-based case adaption. Case adaptation process mainly consist of activity generation/deletion and predecence constraint satisfaction, for which we develop the dynamic constraint generation method and connect user-level requirement representation the system-level network modification knowledge. The methodology is being applied to the prototype for apartment construction project planning.

• Korean Management Science Review
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• v.32 no.4
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• pp.19-28
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• 2015

This study presents a mathematical programming model to develop production planning in the manufacturing processes for photovoltaic silicon ingots and wafers. The model is formulated as a linear programming model that maximizes total growth margin, which is composed of production cost, inventory cost, shortage cost, and sales profit while considering the constraints associated with the production environments of photovoltaic materials. In order to demonstrate the utility of the model for production planning, we run operations for a planning horizon of a year for a case study. When the primary results of this mathematical programming are compared with the historical records, the model could have resulted in the considerable increase of the total growth margin by effectively reducing inventory cost if a decision maker had employed the model as a decision support system with perfect information for sales demand.