• Journal of the Korea Institute of Information and Communication Engineering
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• v.6 no.1
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• pp.115-123
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• 2002

In this paper, we present two types of vision algorithm that mobile robot has CCD camera. for obstacle avoidance and path plan. One is simple algorithm that compare with grey level from input images. Also, The mobile robot depend on image processing and move command from PC host. we has been studied self controlled mobile robot system with CCD camera. This system consists of TMS320F240 digital signal processor, step motor, RF module and CCD camera. we used wireless RF module for movable command transmitting between robot and host PC. This robot go straight until 95 percent filled screen from input image. And the robot recognizes obstacle about 95 percent filled something, so it could avoid the obstacle and conclude new path plan. Another is complex algorithm that image preprocessing by edge detection, converting, thresholding and image processing by labeling, segmentation, pixel density calculation.

• Journal of the Korea Institute of Military Science and Technology
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• v.19 no.6
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• pp.779-788
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• 2016

In this paper, a global path replanning method is proposed in order to plan a global path minimizing the risk of the unmanned vehicle on the battlefield. We first introduce 4D environmental information consisting of mobility, visibility, kill, and hit attributes, and a unified threat map and a mobility map are defined by the four attributes. Using the mobility map, the unmanned vehicle can find the shortest path on the traversable area. And then taking into account the deterrent according to the type of the unmanned vehicle on the integrated threat map, the vehicle can generate a route to suppress or avoid the threat of enemy as well. Moreover, we present a waypoints bypassing method to exclude unnecessary waypoints rather than the mission point when planning paths for the multiple waypoints.

• Journal of Distribution Science
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• v.13 no.6
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• pp.11-15
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• 2015

Purpose - Robot path planning, a constrained optimization problem, has been an active research area with many methods developed to tackle it. This study proposes the use of a Rapidly-exploring Random Tree and Particle Swarm Optimizer algorithm for path planning. Research design, data, and methodology - The grid method is built to describe the working space of the mobile robot, then the Rapidly-exploring Random Tree algorithm is applied to obtain the global navigation path and the Particle Swarm Optimizer algorithm is adopted to obtain the best path. Results - Computer experiment results demonstrate that this novel algorithm can rapidly plan an optimal path in a cluttered environment. Successful obstacle avoidance is achieved, the model is robust, and performs reliably. The effectiveness and efficiency of the proposed algorithm is demonstrated through simulation studies. Conclusions - The findings could provide insights to the validity and practicability of the method. This method makes it is easy to build a model and meet real-time demand for mobile robot navigation with a simple algorithm, which results in a certain practical value for distribution environments.

• (The)Study of the Eastern Classic
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• no.71
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• pp.259-304
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• 2018

In this paper, we analyzed and analyzed the entry path and the capacity of translation competent personnel who participated in the translation project for the last 5 years. For this purpose, the entry path of the translation workforce is classified as 'employee', 'research course', 'vt', and 'external expert'. And the number of manpower and the amount of translated manuscripts were examined by year. In addition, the average amount of manpower for one translator was also examined. As a result of the research and analysis, the proportion of the total translation companies in the translation business was in the order of external experts - from the research course - from the qualification examination - from the staff. The proportion of manuscripts is in the order of from the research course - external expert - from the qualification examination - from the staff. In addition, we surveyed and analyzed the present status of each of the translators and discussed the characteristics and problems of each business sector. In the translation of historical documents, the proportion of manpower is the largest in the research process, but the proportion of manuscripts is the highest in the qualification test, and that of the experts in the translation and special classics is significant. In addition, it was judged that translation work of translator was proceeding inefficiently by analyzing average manpower quantity of translation worker. In order to solve these problems, three plans were proposed: 'Need to plan the use of translation personnel based on business plan', 'Improvement of qualification examination for cross-country and translation committee members', 'Training of translation experts in specialized fields and expansion of entry routes'. Each of these measures must be validated and validated through detailed analysis and research. However, it is hoped that the translator will help the translation project by establishing a more systematic and planned business plan and a plan to utilize the translation workforce.

• Journal of the Korean Institute of Rural Architecture
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• v.16 no.3
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• pp.37-44
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• 2014

This study is to clarify the actual conditions of the floor plan of middle and high schools in the rural area. Recently, many middle school and high school are remodeling the buildings and facilities based on the departmentalized classroom system. This study, through analyzing on 4 remodeling cases of middle and high schools in gyeongnam. This article discuses about the basic characteristics of the plan composition and the education programs of 4 schools. This study is showing the variation before and after remodeling and space organization types. The results of this study are summarized as follows; Home-room and home-base should be more faithfully. Various common space is needed to comfortable school life of students. In case of side corridor type plan, moving path is much needed. Sample schools took much more spaces of home base than before. This article discusses about the basic characteristics of the floor plan and the actual condition of the school facilities.

• Journal of Korean Academy of Nursing
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• v.29 no.1
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• pp.21-33
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• 1999

This study was designed to develop a basic plan for computerization of nursing records. The subjects were 7 nursing record forms, 58 charts, 23 nurses, 2 nurse managers, a nurse and computer specialist, 16 master course students and 3 professors. Data collection was conducted through questionnaire, observation and interview. The collected data were analyzed for problems, plan of improvement and needs for computerization. Based upon these results, it is recommended that nursing record computerization was needed a basic plan to integrate needs of nursing record computerization. The basic plan as fellows : 1. To illustrate a data flow path of nursing record and data dictionary that show nurse's work and record process. 2. To establish a system in order to use multi -tasking and graphic user interface. 3. To establish hardware and software in order to embody integrated management of computer based system through structured walkthrough. 4. To choose effective database management system and to achieve Log as record unit.

• Journal of the Korean Society for Railway
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• v.7 no.4
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• pp.326-331
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• 2004

A routing is the path that an actual trainset follows as it moves from one train to another train in a timetable. The number of routings is equivalent to the number of trainsets required to cover the timetable. The primary factors of rolling stock requirement plan include evaluating the minimum number of routings. This can be formulated as a set partitioning problem and solved using enumeration method or column generation method. In this paper we presents an enumeration algorithm which is useful to implement the enumeration method for the rolling stock requirement plan.

• 한국정보통신설비학회:학술대회논문집
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• 2008.08a
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• pp.233-236
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• 2008

There are several kinds of service standards for 3G($3^{rd}$-Generation) wireless communication as WCDMA, CDMA2000 and WiBro(Wireless Broadband Internet). Especially WiBro Wave2 system is a marked currnt issue. In this paper, we describe on the cell plan tool to desgin WiBro Wave2 network. For this, we treat from basic theory to practical substance to produce new(or modified) path loss prediction model for 2.3GHz. And we explain the method how to implement new technology MIMO(Multiple Input Multiple Output) deployed in Wave2 system. Also we emphasize on the importance of LOS(Line Of Sight) analysis in WiBro network design.

• The Journal of Korea Robotics Society
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• v.16 no.3
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• pp.250-259
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• 2021

Path planning is one of the important technologies for automated parking. It requires to plan a collision-free path considering the vehicle's kinematic constraints such as minimum turning radius or steering velocity. In a complex parking lot, Rapidly-exploring Random Tree^* (RRT^*) can be used for planning a parking path, and Reeds-Shepp or Hybrid Curvature can be applied as a tree-extension method to consider the vehicle's constraints. In this case, each of these methods may affect the computation time of planning the parking path, path-tracking error, and parking success rate. Therefore, in this study, we conduct comparative analysis of two tree-extension functions: Reeds-Shepp (RS) and Hybrid Curvature (HC), and show that HC is a more appropriate tree-extension function for parking path planning. The differences between the two functions are introduced, and their performances are compared by applying them with RRT^*. They are tested at various parking scenarios in simulation, and their advantages and disadvantages are discussed by computation time, cross-track error while tracking the path, parking success rate, and alignment error at the target parking spot. These results show that HC generates the parking path that an autonomous vehicle can track without collisions and HC allows the vehicle to park with lower alignment error than those of RS.

• Journal of Construction Engineering and Project Management
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• v.6 no.2
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• pp.30-39
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• 2016

This research presents the development of a self-governing mobile robot navigation system for indoor construction applications. This self-governing robot navigation system integrated robot control units, various positioning techniques including a dead-reckoning system, a UWB platform and motion sensors, with a BIM path planner solution. Various algorithms and error correction methods have been tested for all the employed sensors and other components to improve the positioning and navigation capability of the system. The research demonstrated that the path planner utilizing a BIM model as a navigation site map could effectively extract an efficient path for the robot, and could be executed in a real-time application for construction environments. Several navigation strategies with a mobile robot were tested with various combinations of localization sensors including wheel encoders, sonar/infrared/thermal proximity sensors, motion sensors, a digital compass, and UWB. The system successfully demonstrated the ability to plan an efficient path for robot's movement and properly navigate through the planned path to reach the specified destination in a complex indoor construction site. The findings can be adopted to several potential construction or manufacturing applications such as robotic material delivery, inspection, and onsite security.