• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2001년도 춘계학술대회 논문집(한국공작기계학회)
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• pp.244-249
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• 2001

Collision free task planning for dual-arm robot which perform many subtasks in a common work space can be achieved in two steps : path planning and trajectory planning. Path planning finds the order of tasks for each robot to minimize path lengths as well as to avoid collision with static obstacles. A trajectory planning strategy is to let each robot move along its path as fast as possible and delay one robot at its initial position or reduce speed at the middle of its path to avoid collision with the other robot.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 추계학술대회논문집 - 한국공작기계학회
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• pp.113-118
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• 2000

Collision free task planning for dual-arm robot which perform many subtasks in a common work space can be achieved in two steps : path planning and trajectory planning. Path planning finds the order of tasks for each robot to minimize path lengths as well as to avoid collision with static obstacles. A trajectory planning strategy is to let each robot move along its path as fast as possible and delay one robot at its initial position or reduce speed at the middle of its path to avoid collision with the other robot.

• 반도체디스플레이기술학회지
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• 제10권4호
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• pp.21-23
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• 2011

Uniformity of plasma etching processes critically depends on the wafer temperature and its distribution. The wafer temperature is affected by plasma, chucking force, He back side pressure and the surface temperature of ESC(electrostatic chuck). In this work, 3D mathematical modeling is used to investigate the influence of the geometry of coolant path and the temperature distribution of the ESC surface. The model that has the coolant path with less change of the cross-sectional area and the curvature shows low standard deviation of the ESC surface temperature distribution than the model with the coolant path of the larger surface area and more geometric change.

• Journal of Information Processing Systems
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• 제13권1호
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• pp.104-113
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• 2017

In this paper, we present an approach to transmit data from the source to the destination through a minimal path (least-cost path) in a computer network of n nodes. The motivation behind our approach is to address the problem of finding a minimal path between the source and destination. From the work we have studied, we found that a Steiner tree with bounded Steiner vertices offers a good solution. A novel algorithm to construct a Steiner tree with vertices and bounded Steiner vertices is proposed in this paper. The algorithm finds a path from each source to each destination at a minimum cost and minimum number of Steiner vertices. We propose both the sequential and parallel versions. We also conducted a comparative study of sequential and parallel versions based on time complexity, which proved that parallel implementation is more efficient than sequential.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 1996년도 International Conference on Agricultural Machinery Engineering Proceedings
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• pp.638-647
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• 1996

Robot manipulators for harvesting fruits must be controlled to track the desired path of end-effector to avoid obstacles under the consideration of collision free area and safety path. This paper presents a robot path control algorithm to secure a collision free area with the recognition of work environments. The flexible space, which does not damage fruits or branches of tree due to their flexibility and physical properties , extends the workspace. Now the task is to control robot path in the extended workspace with the consideration of collision avoidance and velocity limitation at the time of collision concurrently. The feasibility and effectiveness of the new algorithm for redundant manipulators were tested through simulations of a redundant manipulator for different joint velocities.

• Nuclear Engineering and Technology
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• 제53권11호
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• pp.3505-3516
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• 2021

During nuclear facility decommissioning, workers are continuously exposed to high-level radiation. Hence, adequate path planning is critical to protect workers from unnecessary radiation exposure. This work discusses recent development in radioactive path planning and the algorithms recommended for the task. Specifically, we review the conventional methods for nuclear decommissioning path planning, analyze the techniques utilized in developing algorithms, and enumerate the decision factors that should be considered to optimize path planning algorithms. As a major contribution, we present the quantitative performance comparison of different algorithms utilized in solving path planning problems in nuclear decommissioning and highlight their merits and drawbacks. Also, we discuss techniques and critical consideration necessary for efficient application of robots and robotic path planning algorithms in nuclear facility decommissioning. Moreover, we analyze the influence of obstacles and the environmental/radioactive source dynamics on algorithms' efficiency. Finally, we recommend future research focus and highlight critical improvements required for the existing approaches towards a safer and cost-effective nuclear-decommissioning project.

• 한국정보과학회논문지:데이타베이스
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• 제28권3호
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• pp.449-457
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• 2001

최근에 XML이 웹 상에서 문서 교환의 표준으로 등장하면서 XML로 표현된 데이터에 대한 질의 처리 분야가 주목받고 있다. 이때 XML 질의는 그래프로 표현된 데이터 그래프에서 특정 정규식으로 도달되는 객체를 찾는 정규 경로 질의 (regular path query)를 기반으로 한다. 그런데 사용자의 다양한 형태의 질의를 처리하기 위해서는 질의에 하나 이상의 정규 식을 가지는 질의의 처리가 필요함에도 기존의 연구 즉, 비정형 데이터 모델 하에서의 부를 이용한 질의 변환(query rewriting)이나, 질의 최적화 기법에서는 주로 단일 정규식으로 이 루어진 질의를 다루었다. 본 논문에서는 이러한 다중 정규식을 가지는 질의의 처리에서 1. 뷰의 몸체에서 질의 몸체로의 변수 매핑을 통한 질의 변환과정과 2. 변환된 질의의 각 조각 (conjunct)의 질의 결과를 효율적으로 구하고 결과를 조합하는 두 단계로 이루어진 효율적 인 질의 처리 기법을 제안한다. 제안하는 질의 변환 알고리즘이 안전성(soundness)을 가짐 을 보이고, 질의 처리 기법이 기존 질의 처리 방식에 비하여 효율적임을 보인다.

• 드라이브 ㆍ 컨트롤
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• 제19권4호
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• pp.19-28
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• 2022

This paper introduces an automatic steering system for straight traveling capable of being mounted on drivable agricultural machinery which user can handle it such as a tractor, a transplant, etc. The modular automatic steering device proposed in the paper is composed of RTK GNSS, IMU, HMI, hydraulic valve, and wheel sensor. The path generation method of the automatic steering system is obtained from two location information(latitude and longitude on each point) measured by GNSS in advance. From HMI, a straight path(AB line) can be created by connecting latitude and longitude on each point and the device makes the machine able to follow the path. During traveling along the reference path, it acquires the real time position data every sample time(0.1s), compares the reference with them and calculates the lateral deviation. The values of deviation are used to control the steering angle of the machine using hydraulic valve mounted on the axle of front wheel. In this paper, Pure Pursuit algorithm is applied used in autonomous vehicles frequently. For the analysis of traveling characteristics, field tests were executed about these conditions: velocity of 2, 3, 4km/h which is applied to general agricultural work and ground surface of solid(asphalt) and weak condition(soil) such as farmland. In the case of weak ground state, two experiments were executed about no-load(without work) and load(with work such as plowing). The maximum average deviations were presented 2.44cm, 7.32cm, and 11.34cm during traveling on three ground conditions : asphalt, soil without load and with load(plowing).

• 한국융합학회논문지
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• 제9권10호
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• pp.477-485
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• 2018

본 연구는 외국인 근로자의 일과 삶의 균형에 영향을 미치는 요인을 파악하고 일과 삶의 균형을 증진하기 위한 전략을 제공하기 위해 수행되었다. 제4차 근로환경조사를 이용하여 총 179명의 외국인 근로자를 대상으로 일과 삶의 균형에 영향을 미치는 요인 및 경로를 규명하였고, 자료는 SPSS 22와 AMOS 22.프로그램을 이용하여 분석하였다. 연구 결과, 가설경로모형은 적합한 것으로 판정되었으며, 건강상태, 근로시간, 직무만족은 일과 삶의 균형에 직접적인 영향을, 사회적 지지, 건강상태, 근로시간은 직무만족을 매개로 하여 간접 영향을 미쳤다. 이 모형은 외국인 근로자의 일과 삶의 균형을 24.9% 설명하였다. 본 연구는 외국인 근로자의 일과 삶의 균형에 대한 예측인자를 제시하였으며, 이러한 요인들은 외국인 근로자의 일과 삶의 균형을 증진시키기 위한 중재 프로그램의 개발 시 고려되어져야 할 것이다.

• 대한안전경영과학회지
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• 제17권3호
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• pp.247-263
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• 2015

This study seeks to identify effects derived from emotional labor in the distribution industry, and draw ways to systematically manage the employees by exploring effects of the emotion work on performance. For the purpose, literature reviews and empirical experiments were conducted to find out effects of emotional labor and false face acting on emotion work and organizational performance and effects of social support and job autonomy on the relationship between emotion work and organizational performance. To verify the hypothesis, we conducted a hierarchical regression analysis and structural equation model analysis using SPSS 20 and AMOS19. The result of the verification in this study is as follows: First, effects of emotional labor on burnout was found to be statistically significant, second, as for the path-coefficient for "emotional labor ${\rightarrow}$ emotion work" and "emotional labor ${\rightarrow}$ job satisfaction" was not statistically significant, while the path-coefficient for "emotional labor ${\rightarrow}$ service level" was found to be statistically significant. Third, effects of emotion work on job satisfaction was found statistically significant, fourth, emotion work on the service level was found statistically significant, fifth, effects of false face acting on emotion work was found statistically significant, sixth, effects of false face acting on burnout was statistically significant, seventh, moderating were found statistically significant and lastly, moderating effects of the relationship between emotion work from job autonomy and organization performance was not verified in job satisfaction, while emotion work, job autonomy, and interaction variable in service level were statistically significant.