• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2013.05a
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• pp.460-463
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• 2013

스마트 기기의 보급 활성화로 최근 주목받고 있는 스마트교육은 다양한 영역을 포함하고 있지만 주로 스마트 디바이스를 활용한 학습방법과 교육콘텐츠 개발 등 학습역량을 높이는데 집중되어 있다. 그러나 성공적인 교육을 위해서는 무엇보다도 학교생활 전반에 걸쳐 학습자와의 소통과 교감이 우선되어야 한다. 이를 위해서 대학과 일선 학과에서는 학생들과 소통을 위해 오프라인 기반 게시판이나 홈페이지를 활용해왔지만 더 이상 스마트 기기에 익숙해져 있는 학생들과 효과적으로 소통을 할 수 있는 수단이 되지 못하고 있다. 본 논문에서는 이러한 문제를 해결하기 위해서 모바일 웹앱기반 학생용 스마트 플래너 시스템을 제안한다. 제안하는 시스템은 학과의 프로그램 공지와 같은 단순 정보 전달에 국한되지 않고 학생이 스스로 학사일정을 체크하면서 자기 관리를 할 수 있는 수단을 제공해준다. 또한 다양한 학과 프로그램에 학생들이 자발적으로 참여할 수 있도록 유도하기 위한 인센티브 시스템 운영, SNS를 활용한 상호 커뮤니케이션을 포함하고 있다.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.7
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• pp.1-10
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• 1996

There are many challenging problems in mobile robot navigation. As an example, a mobile robot may wander around in local minimum and may wiggle when it moves through a narrow corridor. In addition, the real time obstacle avoidance and the posture control of mobile robot are also very improtant problems. To address these problems, a navigation algorithm which is composed o freal time obstacle avoidance algorithm and a global path planner (GPP) that genrates the shortest path is presented. In this paper, the global path planner reduce the calculation time by reducing the dta to be handled. Also it can make a real time obstacle avoidance by using the fuzzy logic inference. So the presented algorithm provide a stable navigastion for the mobile robot when it fall into the unstable navigation.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.267-274
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• 2012

We proposed the KPP (Korea university Path Planner) in our previous works. The KPP is the path planning scheme of a car-like mobile robot in parking environment. The objective of this paper is to investigate the advantage of the KPP through the quantitative and qualitative analysis compared with conventional RRT. For comparison, we proposed travel time for performance index. This paper shows that the KPP shows outstanding performances from the viewpoint of travel time and computational efficiency compared with RRT.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2417-2419
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• 2003

이동성에 nonholonomic 제약을 받는 차륜 구동 이동 로봇의 불확실한 환경에서의 자율 주행 제어기를 제안하였다. 전체 시스템은 on-line으로 지역경로 계획을 하는 planner 부분과 차륜 구동 이동 로봇의 nonholonomic 제약을 극복하면서 계획된 지역 경로를 충실히 추종하기 위한 제어기 부분의 두 부분으로 구성하였다. Planner는 빠른 응답을 생성하고, 전역적인 정보를 사용하지 않기 위하여 반사적인 제어 방식에 의한 경로 생성 방식을 채택하였고, 제어기 부분은 비선형 posture feedback stabilizer로 설계하였다. 제안된 시스템은 단순한 형태의 제어 방식으로 완전한 자율적인 판단에 의한 장애물 회피와 목표 지점으로의 수렴 능력을 보여 준다. 본 시스템의 단순하면서도 효과적인 자율주행 능력은 반사제어 방식의 장점과 feedback 제어기의 증명된 안정성에서 기인한다. 시뮬레이션과 자체 구현한 차륜 구동 이동 로봇인 "MARI"로 실제 환경에서의 실험을 실시하여 제안된 제어기의 유효성을 검증하였다.

• ETRI Journal
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• v.43 no.4
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• pp.580-593
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• 2021

When operating in confined spaces or near obstacles, collision-free path planning is an essential requirement for autonomous exploration in unknown environments. This study presents an autonomous exploration technique using a carefully designed collision-free local planner. Using LiDAR range measurements, a local end-point selection method is designed, and the path is generated from the current position to the selected end-point. The generated path showed the consistent collision-free path in real-time by adopting the Euclidean signed distance field-based grid-search method. The results consistently demonstrated the safety and reliability of the proposed path-planning method. Real-world experiments are conducted in three different mines, demonstrating successful autonomous exploration flights in environment with various structural conditions. The results showed the high capability of the proposed flight autonomy framework for lightweight aerial robot systems. In addition, our drone performed an autonomous mission in the tunnel circuit competition (Phase 1) of the DARPA Subterranean Challenge.

• International conference on construction engineering and project management
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• 2005.10a
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• pp.377-382
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• 2005

The tools, methods and measures used for project control reflect underlying theories of management. Management theory has been neglected in the construction industry, which has rather focused on tools and neglected theory. This paper contributes to the theory of project management by introducing and developing two fundamental and competing conceptualizations of management: MBM (Managing-by-Means) and MBR (Managing-by-results). Current project control and performance measurement practice is based on MBR. However, project control based on MBR may not be appropriate for managing dynamic projects. The paper present the Last Planner^TM System (LPS) and Process Variance Control (PVC) as examples of methods reflecting the MBM view. It is argued first that the MBM view is appropriate for managing uncertain, complex and quick projects. The paper also explores how MBR tools and techniques may be appropriately used within an MBM framework.

• Proceedings of the KSMRM Conference
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• 1996.10a
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• pp.14-14
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• 1996

• 전자공학회논문지 IE
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• v.47 no.2
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• pp.66-72
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• 2010

In an autonomous multi-mobile robot environment, optimal path planning without collision which connects the beginning and ending point is essential and primary important. Many mobile robots should move autonomously without prior or given information about obstacles which are stationary or dynamic. Collision free optimal path planning for multi mobile robots is proposed in this paper. The proposed approach is based on a potential field method and fuzzy logic system. First, a global path planner using potential field method selects the shortest path from each robot to its own target. Then, a local path planner modifies the path and orientation from the global planner to avoid collisions with static and dynamic obstacles using a fuzzy logic system. To verify performance of this method, several simulation-based experimental are done and their results are discussed. These results show that the path planning and collision avoidance strategies are effective and useful for multi-mobile robot systems.

• Proceedings of the Korean Institute Of Construction Engineering and Management
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• 2006.11a
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• pp.722-726
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• 2006

Last Planner System (LPS) developed by Lean Construction Institute consists of four steps: Master Schedule, Phase Schedule, Lookahead Planning and Weekly Work Plan. This paper focuses on the process of measuring Percent of Plan Completed (PPC) at the Weekly Work Plan stage. PPC means the percentage of weekly assignments completed. According to the results of the researches that deal with PPC from many other countries, we can assure the benefits of using PPC. However, the concept of PPC is unfamiliar in Korea construction industry. This paper analyzes the cases in which PPC is applied in other countries and compares them with the production control system in Korean construction industry. The results of this research will provide the time management system for using PPC in Korea.

• Korean Journal of Construction Engineering and Management
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• v.8 no.3
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• pp.57-65
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• 2007

Last Planner System (LPS) developed by Lean Construction Institute consists of four steps: Master Schedule, Phase Schedule, Lookahead Planning and Weekly Work Plan. This paper focuses on the process of measuring Percent of Plan Completed (PPC) at the weekly Work Plan stage. PPC means the percentage of weekly assignments completed. According to the results of the researches that deal with PPC from many other countries, we can assure the benefits or using PPC. However the concept of PPC is unfamiliar in Korea construction industry. This paper analyzes the cases in which PPC is applied in other countries and compares them with the production control system in Korean construction industry. The results of this research will provide the time management system for using PPC in Korea.