• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2237-2242
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• 2005

The original RRT is iteratively expanded by applying control inputs that drive the system slightly toward randomly-selected states, as opposed to requiring point-to-point convergence, as in the probabilistic roadmap approach. It is generally known that the performance of RRTs can be improved depending on the selection of the metrics in choosing the nearest vertex and bias techniques in choosing random states. We designed a path planning algorithm based on the RRT method for a remote-controlled mobile robot. First, we considered a bias technique that is goal-biased Gaussian random distribution along the command directions. Secondly, we selected the metric based on a weighted Euclidean distance of random states and a weighted distance from the goal region. It can save the effort to explore the unnecessary regions and help the mobile robot to find a feasible trajectory as fast as possible. Finally, the constraints of the actuator should be considered to apply the algorithm to physical mobile robots, so we select control inputs distributed with commanded inputs and constrained by the maximum rate of input change instead of random inputs. Simulation results demonstrate that the proposed algorithm is significantly more efficient for planning than a basic RRT planner. It reduces the computational time needed to find a feasible trajectory and can be practically implemented in a remote-controlled mobile robot.

• 한국지능시스템학회논문지
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• 제14권2호
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• pp.171-177
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• 2004

본 논문에서는, 동적환경 하에서 움직이는 이동 로봇을 위한 인지에 기반한 이동 로봇의 운항계획 알고리즘을 제안한다. 제안된 알고리즘은 크게 ‘지각’과 ‘계획’ 부분으로 구성되어 있으며, ‘지각’은 지식을 구성하는 퍼지 규칙과 센서에서 얻은 데이터를 근거로 하는 위치 추론을 담당하고, ‘계획’은 환경에 대한 지식과 ‘지각’ 과정에서 얻은 위치에 대한 정보를 통해 시작점과 목표점 사이의 경로를 생성한다. ‘지각’과 ‘계획’을 통해 이동 로봇은 애매한 정보와 애매한 지식으로 위치를 추론하고 목표점을 찾아 이동한다. 컴퓨터 모의실험을 통해 제안된 알고리즘의 타당성을 보인다.

• 농촌계획
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• 제4권1호
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• pp.75-85
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• 1998

This study, a sub-one of comprehensive research works titled under "Rural Resources Evaluation System", tried to propose a rational methodology for development of rating tabulation on evaluation items. Firstly, the database system for handling of original/processed data of each evaluation items was constructed, being mainly focussed on the possibilities of data acquisition and statistical treatment. The rating tabulation system developed in the study has the formalized evaluation classes as 2 or 5 for convenience/simplification of analysis works. For each evaluation item in lower step of the goal system, 5 types of rating technique were arranged, which were based on statistical analysis using mean and standard deviation values(Type I), its existence or not(Type II), relative significance of its holding volume(Type III), synthesized weighting scale of its quality and quantity(Type IV), and the others(Type V). And, standardized 4-steps procedure for rating tabulation was proposed. Finally, the rating tabulation system developed in the study was applied to each evaluation item of goal system, from which the numerically-valued ranking criteria was obtained.

• Management Science and Financial Engineering
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• 제13권2호
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• pp.1-27
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• 2007

This paper presents a fuzzy-goal programming(FGP) approach for Bi-Level Linear Multiple Objective Decision Making(BLL-MODM) problem in a large hierarchical decision making and planning organization. The proposed approach combines the attractive features of both fuzzy set theory and goal programming(GP) for MODM problem. The GP problem has been developed by fixing the weights and aspiration levels for generating pareto-optimal(satisfactory) solution at each level for BLL-MODM problem. The higher level decision maker(HLDM) provides the preferred values of decision vector under his control and bounds of his objective function to direct the lower level decision maker(LLDM) to search for his solution in the right direction. Illustrative numerical example is provided to demonstrate the proposed approach.

• 전자공학회논문지B
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• 제33B권9호
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• pp.13-23
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• 1996

When artificial potential field approach is used to avoid obstacle, the problem can be occurred in case that manipulator selects the path which across over an obstacle among paths. In thiscase manipulator can't reach the desired goal form obstacle. This problem is a case of structual local minimum. so this paper proposes the method to solve structual local minimum in this case. The method is that the manipulator goes via temporary goal. This paper proposes that visual region concept to select the temporary goal. The temporary goal is selected on the border of the visual region. To prove its effectiveness, two simulation examples are done by two link manipulator in two dimension and by three link manipulator in three dimension.

• 한국주거학회논문집
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• 제16권6호
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• pp.93-100
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• 2005

Turning into the 21st century, there are great demands for the diversification of housing style and amenity of housing, which include enhancing community life through proper collective environment. To solve these problems, cohousing has been introduced in Scandinavian countries. A primary goal of cohousing is the desire of residents to live in a socially supportive setting. People can do housework together and also can promote active mutual relationship among residents in the community. Physical feature of cohousing, in combination with social organization factors, nay serve to enhance or support the sense of community sought by residents. In this point of view, the purpose of this study is to consider the characteristics of planning factors applied to the community concept in cohousing. First consideration is to figure out the planning skills on community concept in housing community. Then, by making clear the planning factors on community concept in cohousing through case study, this paper could suggest a possibility of application of cohousing in Korea.

• 한국경영과학회지
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• 제1권1호
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• pp.89-94
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• 1976

Many techniques have been applied to comprehensive regional planning through the processes of goal-building, research and analysis, plan-establishing, implementation-scheduling, and evaluation. Operations research(OR) is one of those techniques. OR has been developed in such fields of military operations, industrial engineering and business management during the last three decades in several developed western countries. It is a recent tendency for public administrators and researchers to be interested in OR for their scientific decision making. Therefore, we see that OR has not only a weak basis on, but a few practical applications to urban and regional planning. Such situation is worse in developing countries. This paper aims at investigating the possible basis and limitations or obstacles of OR application to public decision making, especially regional planning. A practical example of OR application to regional planning in Korea and its evaluation will be introduced.

• 교육녹색환경연구
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• 제2권1호
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• pp.81-90
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• 2002

The purpose of this study is to create an approach to architectural planning centered on an Biotop-space Factor, with the purpose of applying environmentally friendly architecture to school buildings. For this, the notion of ecological schools is defined, and possible use of the planning standard is studied as a means by which ecological school planning can be carried out. As a result, ecological schools can be viewed as (1) the field of education, (2) the field of logical community and (3) a stronghold of the ecological environment. And The possible creation of a quantified goal and level at Ecological school planning is also reviewed with the Biotop-space Factor.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.256-256
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• 2000

In this parer, we present a real-time path planning algorithm which is integrated the artificial potential field(APF) and simulated annealing(SA) methods for mobile robot. The APF method in path planning has gained popularity since 1990's. It doesn't need the modeling of the complex configuration space of robot, and is easy to apply the path planning with simple computation. However, there is a major problem with APF method. It is the formation of local minima that can trap the robot before reaching its goal. So, to provide local minima recovery, we apply the SA method. The effectiveness of the proposed algorithm is verified through simulation.

• 한국조경학회지
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• 제31권4호
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• pp.25-38
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• 2003

The main problems of disordered and congested urban landscape are due to the lack of holistic management that can control various elements of forming a city. Especially, the color of urban landscape is problematic because it is related to individual and social characteristics as well as to physical characteristics. Therefore, temporary expedients that can solve only visualized problems can not be a proper solution for color problems of urban landscape. This study originated from the question about why the color of disordered and congested urban landscape has not been improved. This study aims at directly improving the urban environmental color by finding out what the actual problems related to color are, and what the solutions would be. The goal of this study is to find a holistic systematic problem-solving method. Problems of urban environmental color are identified from both literature review and questionnaires to the expert group, such as environmental planning, design group, and the landscape executive group. Through mapping of relationships among these problems, the intellectual map was made to layout the structures of problems. Based on this method, the structures of problems of urban environmental color were classified into 5 categories: 1) the items related to the administrative structure, 2) the items related to the color management goal and system, 3) the items related to the color planning and design phase, 4) the items related to the color consulting committee, and 5) the items related to the present state of color use. Thus, in order to solve the color problem in urban landscape, practical strategy is strongly required. It is not a temporary expedient but a holistic approach. The solution for the problems of urban environmental color could be divided into 6 types; ‘regulations amendment’,‘color standard amendment’,‘color management plan’,‘color education’, and ‘advertisement for the goal of color management’. Regulations amendment among these types was proposed as the most effective method due to the close relationship with problem categories. Thus, as the solution for the problems of urban environmental color, the ‘color management system’ was suggested. Detailed contents the suggested color management system were divided into three parts; 1) legislation by regulations, ordinance and acts, 2) management by controling the level of guidelines, and 3) the standards for execution of this system.