• Journal of the Korean Society for Precision Engineering
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• v.19 no.11
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• pp.54-64
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• 2002

This paper deals with the problem of synthesis of stable and optimal grasps with unknown objects by 3-finger hand. Previous robot grasp research has mainly analyzed with either unknown objects 2-dimensionally by vision sensor or known objects, such as cylindrical objects, 3-dimensionally. As extending the previous work, in this study we propose an algorithm to analyze grasp of unknown objects 3-dimensionally by using vision sensor. This is archived by two steps. The first step is to make a 3-dimensional geometrical model for unknown objects by using stereo matching. The second step is to find the optimal grasping points. In this step, we choose the 3-finger hand which has the characteristic of multi-finger hand and is easy to model. To find the optimal grasping points, genetic algorithm is employed and objective function minimizes the admissible force of finger tip applied to the objects. The algorithm is verified by computer simulation by which optimal grasping points of known objects with different angle are checked.

• Water for future
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• v.17 no.3
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• pp.168-180
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• 1984

• Journal of the Korean Operations Research and Management Science Society
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• v.34 no.2
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• pp.77-90
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• 2009

Total profit level Increases if a company increase the cost for achieving R&D related goals of equipment productivity enhancement, production cost saving, or for achieving equipment scale target, sales volume goal. But how much money should be invested to achieve a certain level of profit? We formulated the model to set the optimal goal levels to minimize the investment cost under the constraint that certain level of total profit should be guaranteed. This model derived from a case of P steel company. We found that this should be considered in relation with the production sales planning (known as optimal product mix problem) to guarantee the profit. We suggested a nonlinear programming model, 3 valiant form of the p+roduct mix problem. We can find the optimal Investment level for the R&D related goals or sales volume goal, equipment scale target for the P steel company using the model.

• The Journal of Korea Robotics Society
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• v.4 no.3
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• pp.233-242
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• 2009

This paper briefly reviews the path planning methods that are applicable to the autonomous mobile robots for the military. Two distinct path search algorithms, $A^*$ and $D^*$ that are most popular and flexible in public applications, among those reviewed are coded and analyzed in terms of combat environment assessment factors called METT+TC for the area of operations. The results imply that it is important to consider the characteristics of defense acquisition process and the specific requirements of defense operation so that the successful technology development of the Robot products is directly linked to the defense procurement of Robot products.

• Journal of Dental Anesthesia and Pain Medicine
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• v.21 no.3
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• pp.253-260
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• 2021

Therapeutic injections into the craniofacial region can be a complex procedure because of the nature of its anatomical structure. This technical note demonstrates a process for creating an extra-oral template to inject therapeutic substances into the temporomandibular joint and the lateral pterygoid muscle. The described process involves merging cone-beam computed tomography data and extra-oral facial scans obtained using a mobile device to establish a correlated data set for virtual planning. Virtual injection points were simulated using existing dental implant planning software to assist clinicians in precisely targeting specific anatomical structures. A template was designed and then 3D printed. The printed template showed adequate surface fit. This innovative process demonstrates a potential new clinical technique. However, further validation and in vivo trials are necessary to assess its full potential.

• Advanced Composite Materials
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• v.17 no.1
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• pp.1-23
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• 2008

Robotized filament winding technology involves a robot that winds a roving impregnated by resin on a die along the directions of stresses to which the work-piece is submitted in applications. The robot moves a deposition head along a winding trajectory in order to deposit roving. The trajectory planning is a very critical aspect of robotized filament winding technology, since it is responsible for both the tension constancy and the winding time. The present work shows two original rules to plan the winding trajectory of structural parts, whose shape is obtained by sweeping a full section around a 3D curve that must be closed and not crossing in order to assure a continuous winding. The first rule plans the winding trajectory by approximating the part 3D shape with straight lines; it is called the discretized rule. The second rule defines the winding trajectory simply by offsetting a 3D curve that reproduces the part 3D shape, of a defined distance; it is called the offset rule. The two rules have been compared in terms of roving tension and winding time. The present work shows how the offset rule enables achievement of both the required aims: to manufacture parts of high structural performances by keeping the tension on the roving near to the nominal value and to markedly decrease the winding time. This is the first step towards the optimization of the robotized filament winding technology.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.35 no.4
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• pp.48-54
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• 2012

In this paper, quantitative and systematic procedures for establishing Key Performance Indicators (KPI's) of R&D departments are presented. The proposed methodology is composed of 4 steps : 1) identification of critical success factors, 2) identification of potential KPI's, 3) determination of KPI's and 4) monitoring and execution. A Strategy Map has been presented to better align KPI's with a company's competitive strategies. Also, Analytical Hierarchy Planning (AHP) is used to determine weights of KPI's and Data Envelopment Analysis (DEA) is used to analyze the effectiveness of R&D departments. To demonstrate its validity of the proposed method, it has been applied to the R&D divisions of a semiconductor company.

• Journal of the Korean Institute of Educational Facilities
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• v.18 no.1
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• pp.3-10
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• 2011

Recently, an active relation between the University and city has become an issue of increasing importance in the field of campus planning. Campus master plan is known as long range development plan, and is not simply an abstract drawing work but definite scaling work procedure. The purpose of this paper is to examine the planning process and relation between university and the region through master plan of master plan of D University and K University which located in Seoul city. From the research which sees master plan of D universities which are presented in existing an instance and K universities master plan did the service blueprint with base and investigated. And both university currently analyzed the situation which is being placed and grasps a problem point, presented that alternative with what kind of method.

• Proceedings of the Korean Institute Of Construction Engineering and Management
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• 2008.11a
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• pp.170-175
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• 2008

The research team for the virtual construction development was established with the support of Korea Ministry of Construction and Transportation, and KICTEP (Korea Institute of Construction and Transportation Technology Evaluation and Planning). Its aims are to develop system that is to improve productivity & quality, to create a higher value-added business, and to cultivate international competitiveness in the construction industry. The virtual construction system is a design, engineering, and construction management information system that allows the project participants to effectively share the information throughout the construction life cycle with the support of 3D and design information. To achieve this, the research team focuses on developing several systems. First, the team focuses on developing for the pre-planning, the structural engineering, MEP, and the 3D based estimation system. Second, they focus on developing a simulation system for the construction process planning and feasibility study with help of the virtual reality technologies. Third, they focus on developing the CPLM (Construction Project Life-cycle Management) system for managing construction project data, and the decision support system that makes the collaboration among the project participants based on 3D technologies and information. We also focus on developing the SDAI (Standard Data Access Interface), the localized guideline for 3D design, and a training program. In addition, we focus on developing the undeveloped area of the commercial system and building an environment that can support the communication and collaboration in the construction life-cycle rather than developing the existing and commercialized system.

• Journal of the Korea Institute of Building Construction
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• v.7 no.3
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• pp.91-98
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• 2007

Recently a construction industry introduces information that brings about many advantages in the early planning phase, design phase and construction phase. Especially it replaces 2D, 3D systems(usually using explanation of drawing information) ai 4D CAD(offering a sort of 4D-having relation of construction schedule and 3D drawing information). Nevertheless a 4D has these benefits, it has limits which are not only usually using 3D modeling but also limit of making full use of practical affairs because of a lack of connecting varietals of progress of work. To solve these uppermost limits, this research is presenting unified systems to use in risk management which are efficient management of space and non-space information, space analysis, making full use of data base, introducing GIS system of easy interaction.