• IEMEK Journal of Embedded Systems and Applications
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• v.13 no.2
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• pp.65-71
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• 2018

In order to make the underwater vehicle carry out the mission in a submarine environment, it is needed to plan a safe and efficient route to a given destination and prevent the autonomous submersible from colliding with obstacles while moving along the planned route. The function of collision avoidance makes the travel distance of the autonomous submersible longer. Moreover, it should move slowly near to obstacles against their moving disturbance. As a result, this invokes the degradation of the navigation efficiency in the process of collision avoidance. The side effect of the collision avoidance is not ignorable in the case of high congested environments such as the coast with many obstacles. In this paper, we suggest a path planning method which provides the route with minimum travel time considering collision avoidance in congested environment. For the purpose, we define environmental congestion map related to geometric information and obstacles. And we propose a method to consider the moving cost in the RRT scheme that provides the existing minimum distance path. We verified that the efficiency of our algorithm with simulation experiments.

• Journal of the Korean Institute of Landscape Architecture
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• v.27 no.5
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• pp.25-37
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• 2000

The purpose of this case study is to provide the basic knowledge and the rationale for establishing the professional personnel position of Landscape Architecture(LA) in local Government of Korea o the basis of the characteristics and adoption system of professional personnel organization in comparison with the cases of Japan, the United States of America, and Germany. I have analyzed the case of Chonju City, Chollabuk-Do, recruited professional personnel of LA by using informal career position, to justify the needs and the division of professional Landscaping works of the city and to figure out drawbacks of the current adoption system of professional personnel in South Korea. In have found the following results that 1) City Mayor in Korean local Governments do not have the proper authorizing rights of recruiting the special personnels for performing urban policy, which is under controls of the Official Appointment Regulations, 2) because of no official position status for specialist in the fields of LA, the Chonju City had been recruited them as Urban Planner status through an informal process, 3) the section of Park and Urban Forestry was established under the control of Department of Culture and multimedia Industry, 4) the fields of specialized works of LA are defined as the work of ecopolis design and planning, biotope networking, ecological bridge and ecological restorations, and 5) the professional positions for LA should be established in Official Appointment Regulation for the urgent needs of local Government sin South Korea.

• Journal of the Korea Institute of Building Construction
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• v.8 no.3
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• pp.101-109
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• 2008

As the number of high-rise building construction projects grows up, the subject of the transportation planning has become one of the grave issue. however important decision making are made by the experience of the a planner without the rational plans for information sharing. therefore, the purpose of this study is to suggest a plan of prefect information management not only for describing drafting process for transportation planning but also for systematizing information used in the procurement, transportation and construction phase to achieve these objectives, this study 1)analyzes the prior theory about transportation planning, 2)performs a case study of actual project to embody the problems of site management by analyzing the results of interviewing experts. In conclusion, the following factors are systematized : 1)the structure of drafting process for transportation planning, 2)the contents of information used in the procurement, transportation and construction phase, 3)the actual condition of code breakdown structure in transportation Planning phase. It is anticipated that the proposed methodology would be able to improve information management among the related engineers and accumulated data that might be used in similar construction projects in Korea.

• Journal of the Korea Society for Simulation
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• v.15 no.1
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• pp.43-50
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• 2006

The major objective of this paper is to propose a hybrid simulation environment for autonomous UAV system by integrating the continuous-time model with discrete-event model. Proposed system is able to support high autonomous behavior by combining the planner, recognizer, and controller model to deal with the HL20 AIRPLANE model. Thus, the high level decision may be efficiently issued even upon the unexpected circumstance. The proposed system model has been successfully verified by several simulation test performed on the DEVS simulation S/W environment.

• Journal of Korea Port Economic Association
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• v.21 no.3
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• pp.19-34
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• 2005

The purpose of this paper is to introduce the new way of location choice for free trade zone in Busan area by using Obata and Ishii(2003) model of preference discrimination score. And also, this paper investigates the result of Choi, Bong-ho(200l) that deals with the choice of tariff free area in Busan area. Empirical main results are as follows: First, the North Port(Sinsundae)and the New Busan Port are efficient. Final winer of location choice for free trade zone is the North Port(Sinsundae). Second, the ranking result of this paper for 10 potential sites of free trade zone shows the almost similar to that of Choi, Bong-ho(200l). Policy planner for location choice of free trade zone should introduce the preference discrimination score method by Obata and Ishii(2003), because this method shows the very positive empirical results like questionaire method by expert groups and common people in Busan which should cause the much time and much money.

• Journal of the Semiconductor & Display Technology
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• v.4 no.2 s.11
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• pp.25-32
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• 2005

This paper proposes a method for the intelligent load distribution of two cooperating robots(TCRs) using fuzzy logic. The proposed scheme requires the knowledge of the robots' dynamics, which in turn depend upon the characteristics of large flat panel displays(LFPDs) carried by the TCRs. However, the dynamic properties of the LFPD are not known exactly, so that the dynamics of the robots, and hence the required Joint torque, must be calculated for nominal set of the LFPD characteristics. The force of the TCRs is an important factor in carrying the LFPD. It is divided into external force and internal force. In general, the effects of the internal force of the TCRs are not considered in performing the load distribution in terms of optimal time, but they are essential in optimal trajectory planning; if they are not taken into consideration, the optimal scheme is no longer fitting. To alleviate this deficiency, we present an algorithm for finding the internal-force (actors for the TCRs in terms of optimal time. The effectiveness of the proposed system is demonstrated by computer simulations using two three-joint planner robot manipulators.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.5
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• pp.429-435
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• 2011

This paper presents a sensor fusion-based estimation of heading and a Bezier curve-based motion planning for unmanned ground vehicle. For the vehicle to drive itself autonomously and safely, it should estimate its pose with sufficient accuracy in reasonable processing time. The vehicle should also have a path planning algorithm that enables to adapt to various situations on the road, especially at intersections. First, we address a sensor fusion-based estimation of the heading of the vehicle. Based on extended Kalman filter, the algorithm estimates the heading using the GPS, IMU, and wheel encoders considering the reliability of each sensor measurement. Then, we propose a Bezier curve-based path planner that creates several number of path candidates which are described as Bezier curves with adaptive control points, and selects the best path among them that has the maximum probability of passing through waypoints or arriving at target points. Experiments under various outdoor conditions including at intersections, verify the reliability of our algorithm.

• 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.

• Journal of the Korean Institute of Educational Facilities
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• v.6 no.3
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• pp.36-46
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• 1999

This paper seeks to show the factors, such as area and building conditions, exterior spatial conditions, and educational equipment, which affect student learning and rest activities in the school facilities. It also develops the order for the factors related to the activities. It collected available data at Shangyoung and Bongsoa Middle Schools in Chunan Chungnam, Korea. Using a t-test and multiple regression analyses, it found the factors affecting activities in different schools. It found that the facility and equipment conditions of the two schools are different. It also found that the planning objectives such as the adaptability of the facilities and equipment, information technology of the equipment, student supervision, and convenience of use of the facilities, in order, are important for planning for new buildings in urban area. And the planning objectives such as the adaptability of the facilities and equipment, the safety of the building, the convenience of use of the facilities, aesthetics, information technology of the equipment, the degree of health benefits are important in order to plan for the renovation of school buildings in urban areas. Thus, it asserts that, considering the planning objectivies developed above, a planner can construct planning objectives for new constuction or renovation of school buildings.

• Korean System Dynamics Review
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• v.6 no.1
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• pp.99-123
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• 2005

Although the generation market is competitive, the power market is easily exercised the market power by one generator due to its special futures such as a limited supplier, large investment cost, transmission constraints and loss. Specially, as Korea Electric industry restructuring is similar US competitive wholesale electricity market structure which discovered the several evidences of market power abuse, when restructuring is completed the possibility that market power will be exercised is big. Market power interferes with market competitions and efficiency of system. The goal of this study is to investigate the market price effects of the potential market power and the proposed market power mitigation strategy in Korean market using the forecasting wholesale electricity market model. This modeling is developed based on the system dynamics approach. it can analyze the dynamic behaviors of wholesale prices in Korean market. And then it is expanded to include the effect of market condition changed by 'strategic behavior' and 'real time pricing.' This model can generate the overall insights regarding the dynamic impact of output withholding by old gas fire power plant bon as a marginal plant in Korean market at the macro level. Also it will give the energy planner the opportunity to create different scenarios for the future for deregulated wholesales market in Korea.