• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 1999.10a
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• pp.141-152
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• 1999

This study aims at advancing waterfront planning and development of North Harbor of Pusan and attempting to establish an identity through the analysis and case studies of waterfront development of foreign countries. This study is based on Pusan urban harbor plan and the case study which was investigated the relational port with an urban area to find a model of development method and procedure of urban waterfront renewal, The approach of this study is to classify diversified cases and to suggest elements after reviewing successful cases. The point in the waterfront development plan of North Harbor of Pusan is how to secure an amenity on the edge and provides a comprehensive theoretical base such as skyline, coastline, green area, accessibility, scenery, landmark, open space, and so on. The result of this study is useful for the planner to develop more and systematic approaches which could utilize waterfront. Waterfront development will be a new chance of urban development for Pusan.

• Aerospace Engineering and Technology
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• v.7 no.1
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• pp.223-228
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• 2008

In order to acquire the images requested by users, it is very important to calculate mission schedule parameters such as imaging execution time and attitude tilt angle accurately. These parameters are based on orbit prediction. This paper describes the accuracy of orbit propagation for image planning. The orbit prediction data from PSS and MAPS has a certain discrepancy due to different orbit propagator. It is necessary for mission planner to confirm this value during mission planning phase. The pointing error which means the difference between target center and real image received is calculated and analyzed using KOMPSAT-2 image data.

• Proceedings of the Korean Society Of Semiconductor Equipment Technology
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• 2005.09a
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• pp.110-123
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• 2005

This paper proposes an intelligent method for the optimal 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 factors 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 the Architectural Institute of Korea Planning & Design
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• v.35 no.5
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• pp.11-20
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• 2019

Recently, our society is increasingly aware of the strengthening of 'publicness'. In particular, it is urgent to improve safety in that public spaces are used by an unspecified number of people. Therefore, the purpose of this study is to derive an indicators for evaluating crime safety in outdoor public spaces and to present the relative weights of each evaluation indicator. For this purpose, this study investigated the relative importance of crime safety evaluation indicators for outdoor public spaces to experts and conducted AHP analysis based on this. The result of this study is as follows. First, it was confirmed that similar tendency was observed among experts group (researcher, public officials, planner) related to outdoor public space. Therefore, the results of this study will be a certain reference point in the future social consensus on the issue. Second, the experts related to physical environment evaluation showed that the priority of environmental planning related to 'Natural surveillance' is highly evaluated in order to increase crime safety of outdoor public space. Next, it was recognized that 'Mechanical surveillance' and 'Legibility reinforcement' were needed.

• Journal of Information Processing Systems
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• v.16 no.6
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• pp.1324-1342
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• 2020

Various modified algorithms of rapidly-exploring random tree (RRT) have been previously proposed. However, compared to the RRT algorithm for collision avoidance with global and static obstacles, it is not easy to find a collision avoidance and local path re-planning algorithm for dynamic obstacles based on the RRT algorithm. In this study, we propose boundary-RRT*, a novel-algorithm that can be applied to aerial vehicles for collision avoidance and path re-planning in a three-dimensional environment. The algorithm not only bounds the configuration space, but it also includes an implicit bias for the bounded configuration space. Therefore, it can create a path with a natural curvature without defining a bias function. Furthermore, the exploring space is reduced to a half-torus by combining it with simple right-of-way rules. When defining the distance as a cost, the proposed algorithm through numerical analysis shows that the standard deviation (σ) approaches 0 as the number of samples per unit time increases and the length of epsilon ε (maximum length of an edge in the tree) decreases. This means that a stable waypoint list can be generated using the proposed algorithm. Therefore, by increasing real-time performance through simple calculation and the boundary of the configuration space, the algorithm proved to be suitable for collision avoidance of aerial vehicles and replanning of local paths.

• International Journal of Computer Science & Network Security
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• v.22 no.5
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• pp.220-224
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• 2022

The teacher is considered the cornerstone of the educational process; the quality of education is linked mainly to teachers who perform such a necessary process. The shift in pedagogical thinking has led to progress in looking at the teacher's roles; he is no longer transferring knowledge to learners, but instead, he has become a mentor, a mediator, a planner, an intellect, and a leader. If we analyze these missions from the perspective of mental habits, we will see that they require the teacher to develop the skills of perseverance, listening comprehension, thinking flexibly, controlling emotions, self-confidence, communication skills, and other essential skills. The current research verifies the effectiveness of an instructional program based on web quests in developing habits of the mind of English language students. The study employed a quasi-experimental design. The sample consisted of 46 male students representing two classes. They were assigned randomly into an experimental group (n=24) and a control group (n=22). They were undergraduate students majoring in the English language. The findings showed a statistically significant difference in the mean scores of the experimental and control groups favoring the experimental group. The study concludes with some recommendations to differentiate teaching techniques in EFL classrooms.

• The Journal of Korea Robotics Society
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• v.17 no.1
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• pp.8-15
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• 2022

In this paper, we proposed the method of virtual reality-based surgical navigation to reproduce the pre-planned position and angle of the pedicle screw in spinal fusion surgery. The goal of the proposed method is to quantitatively save the surgical plan by applying a virtual guide coordinate system and reproduce it in the surgical process through virtual reality. In the surgical planning step, the insertion position and angle of the pedicle screw are planned and stored based on the virtual guide coordinate system. To implement the virtual reality-based surgical navigation, a vision tracking system is applied to set the patient coordinate system and paired point-based patient-to-image registration is performed. In the surgical navigation step, the surgical plan is reproduced by quantitatively visualizing the pre-planned insertion position and angle of the pedicle screw using a virtual guide coordinate system. We conducted phantom experiment to verify the error between the surgical plan and the surgical navigation, the experimental result showed that target registration error was average 1.47 ± 0.64 mm when using the proposed method. We believe that our method can be used to accurately reproduce a pre-established surgical plan in spinal fusion surgery.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.50 no.9
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• pp.639-646
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• 2022

Landing site searching algorithms are developed for a quadrotor using a depth map in unknown environment. Guidance and control system of Unmanned Aerial Vehicle (UAV) consists of a trajectory planner, a position and an attitude controller. Landing site is selected based on the information of the depth map which is acquired by a stereo vision sensor attached on the gimbal system pointing downwards. Flatness information is obtained by the maximum depth difference of a predefined depth map region, and the distance from the UAV is also considered. This study proposes three landing methods and compares their performance using various indices such as UAV travel distance, map accuracy, obstacle response time etc.

• Journal of Platform Technology
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• v.10 no.4
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• pp.56-61
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• 2022

Various convergence technologies discovered through the 4th industrial revolution are permeating the industry. Drones are being used in industries such as construction, transportation, and national defense based on convergence technology. Quart-copter drone control is being used in a wide range of fields from the visual field of operation with the naked eye to the remote field of view using GCS. If we classify those who operate industrial drones, there are general pilots who directly use drones, instructors who train drone pilots, and mechanics who check the status of drones and use them for a long time. Depending on the shape of the screen of the drone GCS, a user's quick response or key data can be acquired. Accordingly, in this study, GUI characteristics were analyzed for the mission planner GCS and a screen composition method according to the user was proposed.

• International conference on construction engineering and project management
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• 2009.05a
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• pp.393-399
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• 2009

This paper introduces an automated tool named Advanced Stochastic Schedule Simulation System (AS4). The system automatically integrates CPM schedule data exported from Primavera Project Planner (P3) and historical activity duration data obtained from a project data warehouse, computes the best fit probability distribution functions (PDFs) of historical activity durations, assigns the PDFs identified to respective activities, computes the optimum number of simulation runs, simulates the schedule network for the optimum number of simulation runs, and estimates the best fit PDF of project completion times (PCTs). AS4 improves the reliability of simulation-based scheduling by effectively dealing with the uncertainties of the activities' durations, increases the usability of the schedule data obtained from commercial CPM software, and effectively handles the variability of the PCTs by finding the best fit PDF of PCTs. It is designed as an easy-to-use computer tool programmed in MATLAB. AS4 encourages the use of simulation-based scheduling because it is simple to use, it simplifies the tedious and burdensome process involved in finding the PDFs of the many activities' durations and in assigning the PDFs to the many activities of a new network under modeling, and it does away with the normality assumptions used by most simulation-based scheduling systems in modeling PCTs.