• 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.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.10 no.3
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• pp.203-209
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• 2010

This paper presents a hierarchical fuzzy motion planner for humanoid robots in 3D uneven environments. First, we define both motion primitives and locomotion primitives of humanoid robots. A high-level planner finds a global path from a global navigation map that is generated based on a combination of 2.5 dimensional maps of the workspace. We use a passage map, an obstacle map and a gradient map of obstacles to distinguish obstacles. A mid-level planner creates subgoals that help the robot efficiently cope with various obstacles using only a small set of locomotion primitives that are useful for stable navigation of the robot. We use a local obstacle map to find the subgoals along the global path. A low-level planner searches for an optimal sequence of locomotion primitives between subgoals by using fuzzy motion planning. We verify our approach on a virtual humanoid robot in a simulated environment. Simulation results show a reduction in planning time and the feasibility of the proposed method.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2007.04a
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• pp.7-10
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• 2007

This paper presents a fuzzy footstep planner for humanoid robots in complex environments. First, we define locomotion primitives for humanoid robots. A global planner finds a global path from a navigation map that is generated based on a combination of 2.5 dimensional maps of the 3D workspace. A local planner searches for an optimal sequence of locomotion primitives along the global path by using fuzzy footstep planning. We verify our approach on a virtual humanoid robot in a simulated environment. Simulation results show a reduction in planning time and the feasibility of the proposed method.

• Journal of Advanced Navigation Technology
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• v.24 no.5
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• pp.382-392
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• 2020

The use of unmanned aerial vehicle (UAV) have been regarded as a promising technique in both military and civilian applications. Nevertheless, due to the lack of relevant and regulations and laws, the misuse of illegal drones poses a serious threat to social security. In this paper, aiming at deriving the three-dimension optimal surveillance trajectories for group monitoring drones, we develop a group trajectory planner based on the particle swarm optimization and updating mechanism. Together, to evaluate the trajectories generated by proposed trajectory planner, we propose a group-objectives fitness function in accordance with energy consumption, flight risk. The simulation results validate that the group trajectories generated by proposed trajectory planner can preferentially visit important areas while obtaining low energy consumption and minimum flying risk value in various practical situations.

• Journal of the Korean Society of Industry Convergence
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• v.25 no.4_2
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• pp.699-706
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• 2022

In this study, Directed energy deposition (DED) among additive manufacturing is applied to repair damaged spindle key parts of planner miller. The material of the spindle key is SCM415, and the P21 Powder is used. In order to find the optimal deposition conditions for DED equipment, a single-line deposition experiment is conducted to analysis five parameters. The laser power affects the width, and the height is a parameter affected by coaxial gas and powder gas. In addition, laser power, powder feed rate, coaxial gas, and powder gas are parameters that affect dilution. Otimal deposition is that 400 W of laser power, 4.0 g/min of powder feed rate, 6.5 L/min of coaxial gas, 3.0 L/min of powder gas and 4.5 L/min of shield gas. By setting the optimum conditions, a uniform deposition cross section in the form of an ellipse can be obtained. Damage recovery process of spindle key consists of 3D shape design of the base and deposition parts, deposition path creation and deposition process, and post-processing. The hardness of deposited area with P21 powder on the SCM415 spindle key is 336 HV for the surface of the deposition, 260 HV for the boundary area, and 165 HV for the base material.

• Journal of Korean Home Economics Education Association
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• v.32 no.2
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• pp.59-76
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• 2020

The purpose of this study was to develop and evaluate the teaching/learning process plan of 'housing culture and practical space use' for home economics in middle school according to the problem based learning(PBL) model. The plan consisting of 4-lessons has been developed and implemented following the steps of ADDIE model. Various activity materials (4 scenarios, 6 individual activity sheets, 10 reading texts, and 5 working resources) and visual materials (4 sets of ppt and 4 moving pictures) as well as questionnaire were developed for the 4-session lessons. The plans were implemented to a single class of 21 junior students at H middle school in rural area, Kyeongnam, from 1^st to 12^th of April, 2019. Students highly enjoyed and were satisfied with the whole 4-lessons in aspects such as understanding of the contents, adequacy of materials and activities, and usefulness in one's own daily life. Additionally, they have more actively participated in the lessons than usual and even interested in learning more of such lessons. Students also reported that they highly accomplished the goal of each lesson as well as overall objectives. They showed interest in the major part of PBL lesson such as scenario and group activities. And they engaged themselves in drawing the share housing space plan with '5D planner' web program which they described as the best part of the lessons. The teaching/learning process plan developed in this study may be used as a theme of maker education, which is emerging these days. It can be concluded that the PBL teaching/learning process plans for 'housing values and practical space use' would contribute to improving students' attitude on living with others and ability to manage one's individual life.

• Journal of the Korea Computer Industry Society
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• v.7 no.5
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• pp.573-582
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• 2006

The game is in progress according to the game story with the text, graphic, animation, motion picture, music, etc. Also the result of the game varies depending on the strategy and tactics of the player. For the development of the game, this paper describes the task of the game planner, game programmer, and game graphic designer. Game graphic designers are classified into 4 parts such as the art director, original picture designer, 2D designer, and 3D designer. Among these, the 3D designer makes the 3D game characters with the use of 3D tools. This paper presents the method that 3D designers and beginners can develop 3D characters easily and quickly, Also, this paper shows the method for making preparations of SourceModel which includes 150 polygons. The SourceModel is made up of between five life size and eight life size. In addition, Character Primitives Interface is made to use SourceModel in MaxScript. Accordingly 3D designers have the free use of SourceModel and they will be able to save time.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.30 no.6D
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• pp.631-639
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• 2010

The layout of haul routes within a construction site of large complex projects needs to be carefully determined as the productivity of earthwork activity heavily depends on the efficiency of the layout and the routes are not likely to change once they are settled. This paper aims to provide a construction planner with a reliable framework to create an efficient layout of haul routes within a large complex construction site. To construct the framework, five factors affecting haul route layout and the productivity of earthwork activity are described along with the associated rules of thumb recommended by design and field experts. In addition, a methodology based on spatial analysis using raster format in GIS is proposed to further increase haul route efficiency. The proposed planning framework enables a construction planner to easily find a more reliable route layout by thoroughly considering the key factors prior to setting up an earthmoving plan.

• Radiation Oncology Journal
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• v.20 no.1
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• pp.1-16
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• 2002

Purpose : Three dimensional conformal radiotherapy planning is being used widely for the treatment of patients with brain tumor. However, it takes much time to develop an optimal treatment plan, therefore, it is difficult to apply this technique to all patients. To increase the efficiency of this technique, we need to develop standard radiotherapy plant for each site of the brain. Therefore we developed several 3 dimensional conformal radiotherapy plans (3D plans) for tumors at each site of brain, compared them with each other, and with 2 dimensional radiotherapy plans. Finally model plans for each site of the brain were decide. Materials and Methods : Imaginary tumors, with sizes commonly observed in the clinic, were designed for each site of the brain and drawn on CT images. The planning target volumes (PTVs) were as follows; temporal $tumor-5.7\times8.2\times7.6\;cm$, suprasellar $tumor-3\times4\times4.1\;cm$, thalamic $tumor-3.1\times5.9\times3.7\;cm$, frontoparietal $tumor-5.5\times7\times5.5\;cm$, and occipitoparietal $tumor-5\times5.5\times5\;cm$. Plans using paralled opposed 2 portals and/or 3 portals including fronto-vertex and 2 lateral fields were developed manually as the conventional 2D plans, and 3D noncoplanar conformal plans were developed using beam's eye view and the automatic block drawing tool. Total tumor dose was 54 Gy for a suprasellar tumor, 59.4 Gy and 72 Gy for the other tumors. All dose plans (including 2D plans) were calculated using 3D plan software. Developed plans were compared with each other using dose-volume histograms (DVH), normal tissue complication probabilities (NTCP) and variable dose statistic values (minimum, maximum and mean dose, D5, V83, V85 and V95). Finally a best radiotherapy plan for each site of brain was selected. Results : 1) Temporal tumor; NTCPs and DVHs of the normal tissue of all 3D plans were superior to 2D plans and this trend was more definite when total dose was escalated to 72 Gy (NTCPs of normal brain 2D $plans:27\%,\;8\%\rightarrow\;3D\;plans:1\%,\;1\%$). Various dose statistic values did not show any consistent trend. A 3D plan using 3 noncoplanar portals was selected as a model radiotherapy plan. 2) Suprasellar tumor; NTCPs of all 3D plans and 2D plans did not show significant difference because the total dose of this tumor was only 54 Gy. DVHs of normal brain and brainstem were significantly different for different plans. D5, V85, V95 and mean values showed some consistent trend that was compatible with DVH. All 3D plans were superior to 2D plans even when 3 portals (fronto-vertex and 2 lateral fields) were used for 2D plans. A 3D plan using 7 portals was worse than plans using fewer portals. A 3D plan using 5 noncoplanar portals was selected as a model plan. 3) Thalamic tumor; NTCPs of all 3D plans were lower than the 2D plans when the total dose was elevated to 72 Gy. DVHs of normal tissues showed similar results. V83, V85, V95 showed some consistent differences between plans but not between 3D plans. 3D plans using 5 noncoplanar portals were selected as a model plan. 4) Parietal (fronto- and occipito-) tumors; all NTCPs of the normal brain in 3D plans were lower than in 2D plans. DVH also showed the same results. V83, V85, V95 showed consistent trends with NTCP and DVH. 3D plans using 5 portals for frontoparietal tumor and 6 portals for occipitoparietal tumor were selected as model plans. Conclusion : NTCP and DVH showed reasonable differences between plans and were through to be useful for comparing plans. All 3D plans were superior to 2D plans. Best 3D plans were selected for tumors in each site of brain using NTCP, DVH and finally by the planner's decision.

• Journal of Environmental Science International
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• v.12 no.4
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• pp.503-510
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• 2003

How to plan the energy system is one of the keys f3r constructing the Environment -Friendly City. for this reason, a great number of surveys for utilizing unused energy have conducted by a planner. In regard to unused energy, the heat from incineration plants classify as a unused energy having high-exergy-energy. From this point of view, It is studied about the plant systems providing heat to district heating & cooling(D.H.C) and producing electric power. It is divided four system models as system I (10K [kgf/cm$^2$) vapor as outlet of boiler, supply far 10K vapor and return to 60$^{\circ}C$ as supply condition of district heating), system II (30 K vapor as outlet of boiler, supply for 5t vapor and return to 60f as supply condition of district heating), system 111 (30 K vapor as outlet of boiler, supply for 85$^{\circ}C$ hot water and return to 60$^{\circ}C$ as supply condition of district heating), system IV (30 K vapor as outlet of boiler, supply for 47$^{\circ}C$ hot water and return to 40t as supply condition of district heating). The results from the upper condition of four system, System II got a proper on economical benefits and system IV calculated as benefiting on energy saving effects, and suggest indifference curve as the total evaluation method of both economical benefits and energy saving.