• Proceedings of the KIEE Conference
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• 1997.11a
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• pp.576-580
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• 1997

This paper presents a path planning algorithm for biped walking robot in 3-D workspace. Since the biped walking robot can generate path on some 3-D obstacles that cannot generate path in case of mobile robot, we have to make a new path planning algorithms. A 3-D-to-2-D mapping algorithm is proposed and two kinds of path planning algorithms are also proposed. They make it easier to generate an efficient path for biped walking robot under given environment. Some simulation results are shown to prove the effectiveness of proposed algorithms.

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

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2006.05a
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• pp.701-705
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• 2006

This paper propose a method of mobile robot path planning for prevention of slip using potential field. The path planning minimizes robot slip for the potential field method to smooth a potential barrier. In order to verify the effectiveness of the proposed method, we performed simulations on path planning with C-obstacles in the workspace. The results show that the proposed method considerably improves on the performance of the general potential field method.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.896-899
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• 1996

A new algorithm for planning a collision free path is developed based on linear parametric curve. A collision-free path is viewed as a connected space curve in which the path consists of two straight curve connecting start to target point. A single intermediate connection point is considered in this paper and is used to manipulate the shape of path by organizing the control point in polar coordinate (.theta.,.rho.). The algorithm checks interference with obstacles, defined as GM (Geometry Mapping), and maps obstacles in Euclidean Space into images in CPS (Connection Point Space). The GM for all obstacles produces overlapping images of obstacle in CPS. The clear area of CPS that is not occupied by obstacle images represents collision-free paths in Euclidean Space. Any points from the clear area of CPS is a candidate for a collision-free path. A simulation of GM for number of cases are carried out and results are presented including mapped images of GM and performances of algorithm.

• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.10
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• pp.44-52
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• 1990

A collision-free trajectory planning for two robots with designated paths is considered. The proposed method is based on the concept of decomposing the planning problem into two steps: one is determining coordination of two robots, and the other is velocity planning with determined coordination. Dynamics and maximum allowable joint velocities are also taken into consideration in the whole planning process. The proposed algorithm is converted into numerical calculation version based on neural optimization network. To show the usefulness of proposed method, an example of trajectory planning for 2 SCARA type robot in common workspace is illustrated.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.4
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• pp.566-571
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• 2008

In this paper, we propose a footstep planning method of biped robot based on the Particle Swarm Optimization(PSO). We define configuration and locomotion primitives for biped robots in the 2 dimensional workspace. A footstep planning method is designed using learning process of PSO that is initialized with a population of random objects and searches for optima by updating generations. The footstep planner searches for a feasible sequence of locomotion primitives between a starting point and a goal, and generates a path that avoids the obstacles. We design a path optimization algorithm that optimizes the footstep number and planning cost based on the path generated in the PSO learning process. The proposed planning method is verified by simulation examples in cluttered environments.

• Proceedings of the Korea Information Processing Society Conference
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• 2015.10a
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• pp.1281-1284
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• 2015

Multi-day trip itinerary planning is complex and time consuming task, from selecting a list of worth visiting POIs to arranging them into an itinerary with various constraints and requirements. In this paper, we present CYTRIP, a multi-day trip itinerary planning system that engages human computation (i.e. crowd recommendation) to collaboratively recommend POIs by providing a shared workspace. CYTRIP takes input the collective intelligence of crowd (i.e. recommended POIs) to build a multi-day trip itinerary taking into account user's preferences, various time constraints and locations. Furthermore, we explain how we engage crowd in our system. The planning problem and domain are formulated as AI planning using PDDL3. The preliminary empirical experiments show that our domain formulation is applicable to both single-day and multi-day trip planning.

• Journal of Nuclear Fuel Cycle and Waste Technology(JNFCWT)
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• v.1 no.1
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• pp.55-64
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• 2003

In this study, the maintenance process by the servo manipulator has been developed for the parts of the equipment, which we unable to reach out by the Master-Slave Manipulator(MSM) in a hot cell. To do this, a virtual mock-up is implemented using the iか prototyping technology. Using this mock-up, the workspace of the manipulators in the hot cell and the operator's view through the wall-mounted lead glass have been analyzed. In addition, the path planning of the servo manipulator using the collision detection function of the virtual mock-up has been established. From these, the maintenance process for the parts of the equipment, which are located at the outside of the MSM's workspace using the servo manipulator has been proposed and verified through the graphic simulation. It is revealed that the proposed remote maintenance process of the equipment can effectively be used in the real hot cell operation. It is also believed that the implemented virtual mock-up of the hot cell can effectively be applied in analyzing the various hot cell operation and enhancing the reliability and safety in a hot cell remote handling for the spent fuel management.

• Proceedings of the Korean Radioactive Waste Society Conference
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• 2003.11a
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• pp.337-344
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• 2003

In this study, the maintenance process by the servo manipulator for the parts of the equipment that cannot be reached by MSM in the hot cell was developed. To do this, the virtual mock up is implemented using virtual prototyping technology. And, Using this mock-up, the workspace of the manipulators In the hot cell and the operator's view through the wall-mounted lead glass are analyzed. And the path planning of the servo manipulator using the collision detection of the virtual mockup is established. Also, the maintenance process for the parts of the equipment that are located out area of the MSM's workspace by the servo manipulator is proposed and verified through the graphic simulation. The proposed remote maintenance process of the equipment can be effectively used in the real hot cell operation. Also, the implemented virtual mock-up of the hot cell can be effectively used in analyzing the various hot cell operation and in enhancing the reliability and safety of the spent fuel management.

• Journal of Conservation Science
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• v.11 no.1 s.14
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• pp.52-57
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• 2002

Although a conservation laboratory is a kind of hospital for cultural assets, it is often planned on the standard of ordinary offices. In this study, things and conditions to be considered for a new conservation laboratory were discussed and suggested briefly, for the sections of architecture, electricity and lightning, air condition, fire protection, machinery and tools. As methods of creating a workspace adequate to conservation work, the method of dividing workspace on the basis of workstand and the method of placing machinery and tools on the basis of water supply and sewage systems were explained., Because a conservation laboratory varies in its duties and functions, it seems difficult that all the standards and conditions suggested in this study be fulfilled in every case. But understanding general standards and conditions and choosing ones adequate to special functions of each laboratory will be helpful to planning a new conservation laboratory.