• Proceedings of the Korean Institute Of Construction Engineering and Management
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• 2006.11a
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• pp.268-270
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• 2006

The purpose of this paper was to explore delay avoiding measures and strategies. The paper was based on previous work of authors on finding delay causes. Firstly, the paper has discussed about delay avoidance measures prescribed by the previous work. As the previous study identified five main causes of construction delays, various measures and strategies to overcome those delay problems have been discussed in sequence in the last sections. Major delay prevention strategies are: involving stakeholders in the project decisions, outreach program, realistic time and resource estimation, try to adjust the triple constraints of time, cost and scope, ensure fair and complete disclosure of information at an early stage of the construction project, contractor, itself should inquire about patent design errors prior to submitting its bid, owner should include in its contract with the consultant an indemnity (protection) clause etc.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.10B
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• pp.841-848
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• 2004

In case of failure in the IP network services should be provided via a backup path which fully meets QoS requirements. In this regard, we in this paper suggest simple-PFC(5-PFC) to restore single link failure, iterative-PFC(i-PFC) for multiple link failures, and fault_node Avoidance-PFC(a-PFC) for failures of nodes such as routers. Taking the minimum cost rerouting problem into account, we compare and analyze performance of those three mechanisms carrying out Direct_destination Rerouting(DR).

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.9B
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• pp.791-798
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• 2004

In case of failure in the IP network, services should be provided via a backup path which fully meets QoS requirements. In this regard, we in this paper suggest simple-PFC(s-PFC) to restore single link failure, iterative-PFC(i-PFC) for multiple link failures, and fault_node Avoidance-PFC(a-PFC) for failures of nodes such as routers. Taking the minimum cost rerouting problem into account, we compare and analyze performance of those three mechanisms carrying out Direct-destination Rerouting(DR).

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.4
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• pp.437-442
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• 2014

Recently, the needs for the development and application of the micro marine robot (MMR) which has the advantages in terms of size and cost are increasing. However, the basis is very short in the domestic. While the obstacle avoidance sonar (OAS) which was optimized in terms of size and performance and has the ability of 4-directional detection was developed for the obstacle avoidance of the micro surface robot (MSR) fortunately, the problem that the detection performance is degraded according to the shape of the obstacle because of using the fixed sonar-beam with the limited beam width and detection range exists. To solve this problem, the MSR mechanism that implements the rotating sonar-beam using the spur gear and the servo motor is proposed in this paper. To verify the performance of the proposed mechanism, the wall-tracking of the MSR is considered and the comparison and analysis in term of detection performance and actuation command is performed with conventional fixed sonar-beam. The test results show the validity of the proposed mechanism.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.10 no.4
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• pp.318-324
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• 2017

We introduced a stereo camera on the aircraft to detect flight objects and to estimate the 3D position of them. The Saliency map algorithm based on PCT was proposed to detect a small object between clouds, and then we processed a stereo matching algorithm to find out the disparity between the left and right camera. In order to extract accurate disparity, cost aggregation region was used as a variable region to adapt to detection object. In this paper, we use the detection result as the cost aggregation region. In order to extract more precise disparity, sub-pixel interpolation is used to extract float type-disparity at sub-pixel level. We also proposed a method to estimate the spatial position of an object by using camera parameters. It is expected that it can be applied to image - based object detection and collision avoidance system of autonomous aircraft in the future.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.811-814
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• 1997

In this paper, the torque optimization of a kinematically redundant manipulator for minimizing the torque demands is discussed. The minimum torque solution based on a local optimization has been known to encounter the instability problem and then the global torque optimization was suggested as one of the alternatives. Herein, by adopting the infinity-norm rather than the 2-norm for the magnitude of torques, we are to propose a new cost function more advantageous to the avoidance of torque limits. By the way, a solution to the global torque optimization formulated with the new cost function can not be obtained by the previous methods due to their difficulties such as inability to treat discontinuous cost functions and various constraints on the joint variables. Thus, to overcome those deficiencies, we are developing a new approach using the dynamic programming. The effectiveness of the proposed method is shown through simulation examples for a 3-link planar redundant manipulator.

• Economic Analysis
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• v.24 no.3
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• pp.1-36
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• 2018

When it comes to explaining the relationship between inventory investment and business fluctuations, the production smoothing theory and the stock-out avoidance theory take contradictory stances. Decision-making related to inventory investments of corporations is thought to be influenced by both motives, but the relative sizes or directions of their respective influences can differ depending upon the phase of the business cycle. Against this backdrop, this paper differs from existing studies in that it theoretically tests the relative significances of the production smoothing and stock-out avoidance motives in the inventory investment dynamics, while placing its analytical focus on determining the existence and patterns of the asymmetric dynamics of inventory investment over the business cycle phases. To this end this paper sets up a non-linear model that is expanded from the existing linear inventory investment model, and checks whether its predictive power is better than that of the existing model. The results of analysis confirm the nature of the asymmetric dynamics of inventory investment over the business cycle phases. A stock-out avoidance motive appears but there is no significant production smoothing motive in boom times. In downturns, in contrast, the stock-out avoidance motive is insignificant, but a quality of asymmetric dynamics in which changes in inventory cause the deepening of recessions, due to the non-convexity of production costs proposed by Ramey (1991), is detected. This paper confirms that a model considering the asymmetric dynamics of inventory investment can have better predictive power than one that does not consider it, through within-sample and out-of-sample predictions and various predictive power tests. These research results are expected to be useful for economic forecasting, through their enhancement of the understandings of the inventory investment dynamics and of the nature of its business cycle destabilization.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.3
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• pp.125-131
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• 2018

In this paper, we propose a homogeneous multisensor-based navigation algorithm for a mobile robot, which is intelligently searching the goal location in unknown dynamic environments with moving obstacles using multi-ultrasonic sensor. Instead of using "sensor fusion" method which generates the trajectory of a robot based upon the environment model and sensory data, "command fusion" method by fuzzy inference is used to govern the robot motions. The major factors for robot navigation are represented as a cost function. Using the data of the robot states and the environment, the weight value of each factor using fuzzy inference is determined for an optimal trajectory in dynamic environments. For the evaluation of the proposed algorithm, we performed simulations in PC as well as real experiments with mobile robot, AmigoBot. The results show that the proposed algorithm is apt to identify obstacles in unknown environments to guide the robot to the goal location safely.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.25-29
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• 1997

In this thesis, we construct the microrobot succor system and navigate the real-time path planning and visual tracking of each robot. The system consists robots, vision system and a host computer. Because the robots are free-ranging mobile robot, it is needed to make and gallow the path. The path is planned and controlled by a host computer, ie. Supervisory control system. In path planning, we suggest a cost function which consists of three terms. One is the smoothness of the path, another is the total distance or time, and the last one is to avoid obstacles. To minimize the cost function, we choose the parametric cubic spline and update the coefficients in real time. We perform the simulation for the path planing and obstacle avoidance and real experiment for visual tracking

• IEMEK Journal of Embedded Systems and Applications
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• v.6 no.5
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• pp.281-286
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• 2011

FMCW Radar sensor is commonly used for an automobile collision avoidance system for rider's safe. Systems using FMCW radar, however, would be one of expensive solutions for just simple rear obstacle detection purpose due to its high cost. In this letter, a short range rear obstacle detector using novel 24GHz AM radar sensor is presented. It can be implemented at significantly lower cost than FMCW radar for practical commercialization. The proposed AM radar sensor module is fabricated in a single aluminum housing to reduce the overall size while using single power supply voltage of 12V with 1200mA current for automotive applications. The measured detection range is up to 210cm with 10cm of distance resolution, which is suitable for a parking assistance system for automobiles.