• Journal of information and communication convergence engineering
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• v.12 no.2
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• pp.116-121
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• 2014

This paper discusses computer-generated heuristics for motion planning. Planning with many degrees of freedom is a challenging task, because the complexity of most planning algorithms grows exponentially with the number of dimensions of the problem. A well-designed heuristic may greatly improve the performance of a planning algorithm in terms of the computation time. However, in recent years, with increasingly challenging high-dimensional planning problems, the design of good heuristics has itself become a complicated task. In this paper, we present an approach to algorithmically develop a heuristic for motion planning, which increases the efficiency of a planner in similar environments. To implement the idea, we generalize modern motion planning algorithms to an extent, where a heuristic is represented as a set of random variables. Distributions of the variables are then analyzed with computer learning methods. The analysis results are then utilized to generate a heuristic. During the experiments, the proposed approach is applied to several planning tasks with different algorithms and is shown to improve performance.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.497-502
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• 1992

In this paper, a new design technique called Task Based Design (TBD) is proposed to design an optimal robot manipulator for a given task. Optimal design of a manipulator is difficult because it involves implicit and highly nonlinear functions of many design variables for a complex task. TBD designs an optimal manipulator which performs a given task best, by using a framework called Progressive Design which decomposes the complexity of the task into three steps: kinematic design, planning and kinematic control. An example of TBD is presented to demonstrate the efficiency and effectiveness of our framework.

• 한국방재학회:학술대회논문집
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• 2008.02a
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• pp.609-612
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• 2008

Since most of the industries have adopted automation system, the industrial disaster has been declined sharply. Also automation system has offered many benefits such as productivity and assured quality. However, the construction industry is still relying on man power and because of this there are many victims occurring due to the industrial disaster. Construction industry has to overcome uncertainty of incidents and changing natural surroundings to actualize automation. Therefore, the efficient working plan and intelligent decision making process are needed to run more developed techniques and automations. Specially to decline the rate of industrial accidents occurred in basic construction in earth work, the automation via excavator is necessary and also the development of planning process system is too. This research is to establish Task Planning System to prevent disaster which is used for planning automated earth work.

• Korean Journal of Community Nutrition
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• v.15 no.1
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• pp.124-136
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• 2010

The purposes of this study were to investigate importance level and performance frequency of the dietitians' duties and task elements, to examine the actual condition of education and need for education, to analyze the interrelation between their tasks and education, and to provide the direction of education for the contracted Business & Industry (B & I) foodservice dietitians. The task elements of receiving, ordering, HACCP management and directing serving process were done almost every day. In terms of the importance of tasks, food sanitation management, personnel sanitation management, receiving and ordering were high. Meanwhile, the computerization of their works was being carried out on the whole, showing a higher frequency in all the details of procurement management and accounting management, as well as task elements such as menu planning, leftover and food waste management, HACCP management and human resource management. In the past three years, HACCP management, cost management, planning work schedule and allotting a task, general business and sale bond management were increased most and rapidly. For the actual condition of education, dietitians got more education for the duty of sanitation, safe and facility/utility management than any other duty, while they did less education of procurement management and office management than others. Meanwhile, the education for sanitation, safe and facility/utility management and accounting management were very much required. For the relationships of frequency of duty and the necessity of education, seven task elements including food sanitation management were correlated positively. Eighteen tasks besides menu planning had a significant positive correlation between the importance of duties and the necessity of education.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.7
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• pp.656-662
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• 2008

A cost-function based on manipulability and compatibility is designed to determine assembly motions of two cooperating manipulators. Assembly motions are planned along the direction maximizing performance indices to improve control performance of the two manipulators. This paper proposes bimanual task compatibility by defining cost functions. The proposed cost functions are applied and compared to the bimanual assembly task. The problem is formulated as a constrained optimization considering assembly constraints, position of the workpieces, and kinematics and redundancy of the bimanual robot. The proposed approach is evaluated with simulation of a peg-in-hole assembly with an L-shaped peg and two 3-dof manipulators.

• Journal of Engineering Education Research
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• v.17 no.1
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• pp.3-11
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• 2014

The purpose of this study was to verity the effect of project method on the task performance ability in development of a solar-tracking-control-system of specialized high school. In order to carry out this study, 2 classes of technical high school in Jeonbuk are chosen as experimental and control groups. The experimental group was taught by project method and the control group was taught by traditional instruction. Project method was designed by 4 stages-selection of goal, planning, implementation and evaluation. According to these stages, experimental group's students carried out the project that developing solar tracking control system in solar generation. The results of this study are as follows; the project method was more effective than the traditional instruction in planning ability for task performance and implementation ability, subordinates of task performance ability. However, information gathering ability and evaluation ability on task performance, others in subordinates, it is not clear that the project method is more effective.

• Proceedings of the KIEE Conference
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• 1989.11a
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• pp.445-449
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• 1989

Achievement of a straight line motion in the Cartesian space has a matter of great importance. Minimization of task execution time with linear interpolation in the joint space, accomplishing of a approximation of straight line motion in the Cartesian coordinate is considered as the prespecified task. Such determination yields minimum time joint-trajectory subject to input torque constraints. The applications of these results for joint-trajectory planning of a two-link manipulator with revolute joints are demonstrated by computer simulations.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1039-1043
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• 2005

Despite the many significant advances made in robot architecture, the basic approaches are deliberative and reactive methods. They are quite different in recognizing outer environment and inner operating mechanism. For this reason, they have almost opposite characteristics. Later, researchers integrate these two approaches into hybrid architecture. In such architecture, Reactive module also called low-level motion control module have advantage in real-time reacting and sensing outer environment; Deliberative module also called high-level task planning module is good at planning task using world knowledge, reasoning and intelligent computing. This paper presents a framework of the integrated planning and control for mobile robot navigation. Unlike the existing hybrid architecture, it learns topological map from the world map by using MST (Minimum Spanning Tree)-based SOFM (Self-Organizing Feature Map) algorithm. High-level planning module plans simple tasks to low-level control module and low-level control module feedbacks the environment information to high-level planning module. This method allows for a tight integration between high-level and low-level modules, which provide real-time performance and strong adaptability and reactivity to outer environment and its unforeseen changes. This proposed framework is verified by simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.10
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• pp.972-976
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• 2015

The objective of this research is to verify the quantitative efficiency of a bimanual robotic task. Bimanual robots can realize dexterous and complicated motions using two cooperating arms. However, its motion planning and control method are not simple for implementing flexible tasks such as assembly. In this paper, the proposed motion planning method is used to find an optimal solution satisfying a designed cost function and constraints with regard to the kinematics and redundancy of the bimanual robot. The simulation results show that the lifetime of the manipulator can be changed by the proposed cost function consisting of angular velocity and angular acceleration of each joint in the same assembly task.

• 전기의세계
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• v.27 no.1
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• pp.49-55
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• 1978

This paper describes a computer method for power system planning. Power system planning was usually studied through individual programs. Because of the laborious work involved in data preparation, the increase of task for power system planning and the time required for the detailed analysis of results, the available time for assessment and decision making has been sacrificed. In order to improve the above situation, the use of data base techniques an the simplified evaluation of the presented programs were newly developed. This program has been used successfully for the routine of power system planning in Korea Electric Company. In addition, this paper describes some results of analysis and evaluation of power system planning in KECO.