• The Journal of Korea Robotics Society
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• v.2 no.3
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• pp.275-281
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• 2007

This paper presents a motion planning strategy for legged robots using locomotion primitives in the complex 3D environments. First, we define configuration, motion primitives and locomotion primitives for legged robots. A hierarchical motion planning method based on a combination of 2.5 dimensional maps of the 3D workspace is proposed. A global navigation map is obtained using 2.5 dimensional maps such as an obstacle height map, a passage map, and a gradient map of obstacles to distinguish obstacles. A high-level path planner finds a global path from a 2D navigation map. A mid-level planner creates sub-goals that help the legged robot efficiently cope with various obstacles using only a small set of locomotion primitives that are useful for stable navigation of the robot. A local obstacle map that describes the edge or border of the obstacles is used to find the sub-goals along the global path. A low-level planner searches for a feasible sequence of locomotion primitives between sub-goals. We use heuristic algorithm in local motion planner. The proposed planning method is verified by both locomotion and soccer experiments on a small biped robot in a cluttered environment. Experiment results show an improvement in motion stability.

• Proceedings of the KSRS Conference
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• 2007.10a
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• pp.548-551
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• 2007

Among components of digital topographic maps used officially in Korea, only contours have 3D values except buildings and trees that are demanded in landscape planning. This study presented a series of processes for 3Dreconstructing landscape features such as terrain, buildings and standing trees using LiDAR (Light Detection And Ranging) data and aerial digital photo graphs. The 3D reconstructing processes contain 1) building terrain model, 2) delineating outline of landscape features, 3) extracting height values, and 4) shaping and coloring landscape features using aerial photograph and 3-D virtual data base. LiDAR data and aerial photograph was taken in November 2006 for $50km^{2}$ area in Sorak National Park located in eastern part of Korea. The average scanning density of LiDAR pulse was 1.32 points per square meter, and the aerial photograph with RGB bands has $0.35m{\times}0.35m$ spatial resolution. Using reconstructed 3D landscape features, visibility with the growing trees with time and at different viewpoints was analyzed. Visible area from viewpoint could be effectively estimated considering 3D information of landscape features. This process could be applied for landscape planning like building scale with the consideration of surrounding landscape features.

• International conference on construction engineering and project management
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• 2009.05a
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• pp.928-934
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• 2009

Although the evolution and deployment of information technologies will undoubtedly play an important role in the current construction industry, many engineers are still unsure of the economic value of using these technologies. Especially for the planning of a construction project, a collaboration system to utilize the whole resources is a essential tool for the successful outcome. A detailed, authoritative, and readily accessible information model is needed to enable engineers to make cost-effective decisions among established and innovative plan alternatives. Most engineers rely on limited private experiences when they create solutions or design alternatives. Initial planning is crucial for the success of the construction project. Most construction projects are done through collaboration of engineers who have different specialized knowledge. Information technologies can dramatically enhance the performance of the collaboration. For the information delivery, we need a mediator between engineers. Object-based 3-D models are useful for the communication and decision assistance for the intelligent project design. In this paper, basic guidelines for the 3-D design according to different construction processes are suggested. Adequate interoperability of 3-D objects from any CAD system is essential for the collaboration. Basic architectures of geometry models and their information layer were established to enable interoperability for design checks, estimation and simulation. A typical international project for roadway was chosen for the pilot project. 3-D GIS model was created and bridge information models were created considering several requirements for planning and decision making of the project. From the pilot test, the integrated construction project planning using 3-D information models was discussed and several guidelines were suggested.

• Progress in Medical Physics
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• v.1 no.1
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• pp.23-29
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• 1990

In order to explane the stereotactic procedure, the three steps of the procedure (target localization, dose planning, and radiation treatment) must be examined separately. The ultimate accuracy of the full procedure is dependent on each of these steps and on the consistancy of the approach The concern in this article was about dose planning, which is a important factor to the success of radiation treatment. The major factor in dose planning is a dosimetry system to evaluate the dose delivered to the target and normal tissues in the patient, while it generates an optimal dose distribution that will satisfy a set of clinical criteria for the patient. A three-dimensional treatment planning program is a prerequisite for treatment plan optimization. It must cover 3-D methods for representing the patient, the dose distributions, and beam settings. The major problems and possible modelings about 3-D factors and optimization technique were discussed to simplify and solve the problems associatied with 3-D optimization, with relative ease and efficiency. These modification can simplify the optimization problem while saving time, and can be used to develop reference dose planning system to prepare standard guideline for the selection of optimum beam parameters, such as the target position, collimator size, arc spacing, the variation in arc length and weight. The method yields good results which can then be simulated and tailored to the individual case. The procedure needed for dose planning in stereotactic radiosurgery is shown in figure 1.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.4
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• pp.365-370
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• 2012

Most path planning algorithms for a marine robot in the ocean environment have been developed without considering the robot's heading angle. As a result, the robot has a difficulty in following the path correctly. In this paper, we propose a limit-cycle circle set that applies to the $Theta^*$ algorithm. The minimum turning radius of a marine robot is calculated using a limit-cycle circle set, and circles of this radius is used to generate a configuration space of an occupancy grid map. After applying $Theta^*$ to this configuration space, the limit-cycle circle set is also applied to the start and end nodes to find the appropriate path with specified heading angles. The benefit of this algorithm is its fast computation time compared to other 3-D ($x,y,{\theta}$) path planning algorithms, along with the fact that it can be applied to the 3-D kinematic state of the robot. We simulate the proposed algorithm and compare it with 3-D $A^*$ and 3-D $A^*$ with post smoothing algorithms.

• The Journal of Society for e-Business Studies
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• v.20 no.3
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• pp.29-46
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• 2015

Examined how it varied the knowledge network of the country along with R&D changes in planning policy for the research and development of government. Therefore, in this study, chronological Analysis analyzed separately the network between each entity of participate in the industry fusion source technology development business of industry trade and Energy. Planning policy of industrial fusion source technology development business, to change the starting point before and after 2012, before 2012 from selected planning issues at the center "planning committee" and in 2012 'PD' changes to a system for planning issues around. First of all, an attempt to analyze the R&D network based on the "planning committee" current situation of 2009~2011, from 2012 to analyze the variation of the R&D network with the introduction of the 'PD' system after it was analyzed by dividing the time in the current state of up to 2013. The results of the analysis, since the PD system was introduced, such as self-relationship (the form of planning user to run directly challenges the person was planning to challenge participants)is greatly improved, I was able to grasp the effect became clear. The more the self-relation, and the budding scholars considering that there is inequality of the planning, the introduction of the PD scheme, it can be seen to have resulted in a positive effect. These studies, quantitatively analyzed to improve the results to the effects associated with changes in the planning policy of the government, I think that there is a meaning in terms of presenting the future direction of R&D policy.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.32 no.6A
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• pp.511-518
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• 2007

One of the major issues that has to be carefully considered when upgrading current transport network capacity, is network scalability. A novel full-meshed connected ring expansion methodology and planning tool have been proposed. A 3 to 15 node expansion ring has been studied by demonstrating a dramatic system SNR improvement when the proposed planning tool was used. The results are that node output signal and optical SNR have been improved from -16dBm/10dB to +005dBm/21dB by NPOT.

• Korean Management Science Review
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• v.30 no.3
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• pp.71-79
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• 2013

This paper investigates and selects the areas that need to be improved in R&D and production management of small and medium size companies. The study on the capability of R&D and production management shows that the areas for evaluating of the R&D and production management levels are composed of 8 elements : R&D resource, R&D support and experience, long-term operations strategy, intermediate range planning, short-term planning, subcontractor management, logistics and inventory management, and quality management. The investigation of the gap between the importance of the areas and the capability of SMEs shows that the most important things are to consolidate supply chain, to improve product and process competitiveness using quality improvement, and to enhance production management through sophisticated short-term planning. The detailed analysis also shows that the areas that need to be improved depend on the size and sales of the company.

• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.6
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• pp.803-812
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• 2017

This paper proposes a local path planning method for stable autonomous driving in rough terrain. There are various path planning techniques such as candidate paths, star algorithm, and Rapidly-exploring Random Tree algorithms. However, such existing path planning has limitations to reflecting the stability of unmanned ground vehicles. This paper suggest a path planning algorithm that considering the stability of unmanned ground vehicles. The algorithm is based on the genetic algorithm and assumes to have probability based obstacle map and elevation map. The simulation result show that the proposed algorithm can be used for real-time local path planning in rough terrain.

• Journal of Trauma and Injury
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• v.19 no.1
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• pp.28-34
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• 2006

Purpose: In maxillofacial surgery, proper preoperative diagnosis is very important in achieving good postoperative results. Although conventional CT scans are useful for visual representations of fractures, they cannot provide direct guidance for reconstructing facial bone fractures. However, the recent technology of multislice scanning has brought many clinical benefits to CT images. Direct correlations can be made between preoperative imaging data and operative planning. The aim of the current study is to evaluate the differences between conventional CT and multidetective three-dimensional CT(3D MDCT) measurements in craniofacial deformities. Methods: From January 2005 to November 2005, MDCT scans of 41 patients were evaluated by comparing them with conventional CT scans. The 3D MDCT images were assessed and reviewed by using a simple scoring system. Results: The 3D MDCT scans offered easy interpretation, facilitated surgical planning, and clarified postoperative results in malar complex fractures, mandibular fractures, and extensive maxillofacial fractures and cranioplasty. However, 3D MDCT images were not superior to conventional CT scans in the diagnosis of blowout fractures. Conclusion: In spite of its limitations, the 3D MDCT provided additional and more comprehensive information than the conventional CT for preoperative assessment of craniofacial deformities. Therefore, the 3D MDCT can be a useful tool for diagnosis and systematic treatment planning in craniofacial skeletal deformities.