• Journal of the Korean Society for Precision Engineering
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• v.14 no.4
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• pp.126-135
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• 1997

A sensorless motion planner which succeeds in grasping a polygonal part firmly into a desired orientation has been developed through the dynamic analysis. The analytical results on the impact process with friction are used for modeling the contact motionduring the parallel-jaw grasp operation, which is com- posed of the pushing and the squeezing process. The developed planner succeeds in grasping a part into a specified orientation in the face of uncertainties of initial position and orientation of the part, motion direction of the finger, and the physical parameters such as the coefficients of friction and restitution. The motion planner has been fully implemented into a viable package on the computer system, and verified experimentally. The motion of parts is recorded using a high-speed video camera, and then compared to the results of the planner and the graphic simulation results that illustrate the simulated motion of the grasp operation.

• Proceedings of the KIEE Conference
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• 2003.11b
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• pp.11-14
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• 2003

In this paper, we use Fuzzy Logic and Potential field method for optimal path planning of an autonomous mobile robot and apply to navigation for real-time mobile robot in 2D dynamic environment. For safe navigation of the robot, we use both Global and Local path planning. Global path planning is computed off-line using sell-decomposition and Dijkstra algorithm and Local path planning is computed on-line with sensor information using potential field method and Fuzzy Logic. We can get gravitation between two feature points and repulsive force between obstacle and robot through potential field. It is described as a summation of the result of repulsive force between obstacle and robot which is considered as an input through Fuzzy Logic and gravitation to a feature point. With this force, the robot fan get to desired target point safely and fast avoiding obstacles. We Implemented the proposed algorithm with Pioneer-DXE robot in this paper.

• Journal of Korean Institute of Industrial Engineers
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• v.2 no.1
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• pp.85-92
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• 1976

In this paper, the employment planning model is developed which is a decision-making model for determining the optimum employment level with respect to varying net manpower requirement for each planing period such that total cost in a planning horizon is minimized. It is constructed as a nonlinear programming model and a dynamic programming model on the basis of studies in the areas of production smoothing and manpower scheduling. Costs for a planning period are categorized into regular wage cost, hiring cost, and overtime cost. The first is a linear function. The other two cost functions are of quadratic nature. The planning horizon of this planning model is intermediate range (five years) for which a fair planning accuracy can be guaranteed. The model considers learning period for each job class. It is simple and an optimum solution can be easily obtained by direct search techniques.

• The Journal of Sustainable Design and Educational Environment Research
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• v.8 no.2
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• pp.22-39
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• 2009

The purpose of this study was to analyze the school location and site planning direction for land use planning of public land development. And this research proposed the direction of small park in school. So this research present the implication on urban planning and design for architecture, park-school complex. This study perform the relationship analysis on location of school and park. The result follows as this : 1) land use planning : Location and space of park-school must be checked in advance. Schools and parks are placed together. The park is located south of the school. 2) school site planning : Small field for dynamic activity is needed in school. The character of small park in school is relationship of educational programs. 3) management : CCTV is installed at school. Bright lights are placed in school. This result will be used in decision-making-process of land use planning, public land development construction, urban design and city policy.

• Journal of Korean Institute of Industrial Engineers
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• v.31 no.3
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• pp.194-200
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• 2005

A stochastic dynamic lot sizing problem for multi-item is suggested in the case that the distribution of the cumulative demand is known over finite planning horizons and all unsatisfied demand is fully backlogged. Each item is produced simultaneously at a variable ratio of input resources employed whenever setup is incurred. A dynamic programming algorithm is proposed to find the optimal production policy, which resembles the Wagner-Whitin algorithm for the deterministic case problem but with some additional feasibility constraints.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.990-995
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• 1990

A minimum-time trajectory planning for two robot arms with designated paths and coordination is proposed. The problem considered in this paper is a subproblem of hierarchically decomposed trajectory planning approach for multiple robots : i) path planning, ii) coordination planning, iii) velocity planning. In coordination planning stage, coordination space, a specific form of configuration space, is constructed to determine collision region and collision-free region, and a collision-free coordination curve (CFCC) passing collision-free region is selected. In velocity planning stage, normal dynamic equations of the robots, described by joint angles, velocities and accelerations, are converted into simpler forms which are described by traveling distance along collision-free coordination curve. By utilizing maximum allowable torques and joint velocity limits, admissible range of velocity and acceleration along CFCC is derived, and a minimum-time velocity planning is calculated in phase plane. Also the planning algorithm itself is converted to simple numerical iterative calculation form based on the concept of neural optimization network, which gives a feasible approximate solution to this planning problem. To show the usefulness of proposed method, an example of trajectory planning for 2 SCARA type robots in common workspace is illustrated.

• Progress in Medical Physics
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• v.28 no.3
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• pp.122-128
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• 2017

Eclipse Scripting Application Programming Interface (ESAPI) was devised to enhance the efficiency in such treatment related workflows as contouring, treatment planning, plan quality measure, and data-mining by communicating with the treatment planning system (TPS). It is provided in the form of C# programming based toolbox, which could be modified to fit into the clinical applications. The Scripting program, however, does not offer all potential functionalities that the users intend to develop. The shortcomings can be overcome by combining the Scripting programming with user-executable program on Windows or Linux. The executed program has greater freedom in implementation, which could strengthen the ability and availability of the Scripting on the clinical applications. This work shows the use of the Scripting programming throughout the simple modification of the given toolbox. Besides, it presents the implementation of combining both Scripting and user-executed programming based on MATLAB, applied to automated dynamic MLC wedge and FIF treatment planning procedure for promoting the planning efficiency.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.5
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• pp.405-411
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• 2011

This paper presents a hierarchical trajectory planning method which can handle a collision-free of the planned path in complex and dynamic environments. A PV (Path & Velocity profile) planning method minimizes a sharp change of orientation and waiting time to avoid a collision with moving obstacle through detour path. The path generation problem is solved by three steps. In the first step, a smooth global path is generated using $A^*$ algorithm. The second step sets up the velocity profile for the optimization problem considering the maximum velocity and acceleration. In the third step, the velocity profile for obtaining the shortest path is optimized using the fuzzy and genetic algorithm. To show the validity and effectiveness of the proposed method, realistic simulations are performed.

• Journal of the Korean Association of Geographic Information Studies
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• v.21 no.1
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• pp.57-70
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• 2018

The advancement and the spread of information and communication technology (ICT) changes the way we live and act. Computer and ICT devices become smaller and invisible, and they are now virtually everywhere in the world. Many socio-economic activities are now subject to the use of computer and ICT devices although we don't really recognize it. Various socio economic activities supported by digital devices leave digital records, and a myriad of these records becomes what we call'big data'. Big data differ from conventional data we have collected and managed in that it holds more detailed information of socio-economic activities. Thus, they offer not only new insight for our society and but also new opportunity for policy analysis. However, the use of big data requires development of new methods and tools as well as consideration of institutional issues such as privacy. The goals of this research are twofold. Firstly, it aims to understand the opportunities and challenges of using big data for planning support. Big data indeed is a big sum of microscopic and dynamic data, and this challenges conventional analytical methods and planning support tools. Secondly, it seeks to suggest ways of visualizing such spatial big data for planning support. In this regards, this study attempts to develop a dynamic visualization model and conducts an experimental case study with mobile phone big data for the Jeju island. Since the off-the-shelf commercial software for the analysis of spatial big data is not yet commonly available, the roles of open source software and computer programming are important. This research presents a pilot model of dynamic visualization for spatial big data, as well as results from them. Then, the study concludes with future studies and implications to promote the use of spatial big data in urban planning field.

• Proceedings of the KIEE Conference
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• 2006.07a
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• pp.412-413
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• 2006

This paper proposed the transmission planning mechanism in competitive power markets. This mechanism used Optimal Power Flow(OPF) to calculate operation cost and Contingency Constrained OPF(CC-OPF) to consider N-1 contingency outage. In addition, this algorithm deduced a yearly transmission planning using Dynamic Programming(DP).