• 의료ㆍ복지 건축 : 한국의료복지건축학회 논문집
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• 제23권1호
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• pp.25-36
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• 2017

Purpose: The analysis of space configuration of dentistry through examining Korean dental history and comparison are necessary for the development of planning of the dental healthcare system. This study has been started in order to provide basic information for the planning of hospital architecture in dentistry. Methods: Literature review of space configuration and historical background in dentistry have been conducted. The changes of site plan and space configuration of Seoul National University, Yonsei University and Kyunghee University, School of Dentistry and Dental Hospital have been analyzed in dental history of Korea and corresponding spaces. Results: The result of this study can be summarized in three points. The first one is that space configuration of dentistry in Korea is different from that of West. The clinical treatment space had been started first and the education and research space was followed after a short interval. The second one is that the space configuration in School of Dentistry and Dental Hospital shows that dental space had differentiated and specialized to dental education and clinical space in a building. It had spatially divided and separated to the education and research complex and the dental hospital and it had a branch building. The third one is that the dental public health in Korea has not been actively applied until recently and it should be developed in a near future. Implications: It is necessary to analyze space configuration of other dental schools and their hospitals to develop the relationship between space and program in healthcare system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.32.4-32
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• 2002

We consider inertial navigation system (INS) sensor redundancy and propose a method which uses singular value decomposition to detect and isolate faults when even two sensors have faults simultaneously. When redundant sensor configuration is given, such as symmetric configuration in INS, the range space and null space of configuration matrix are determined. We use null space of configuration matrix and define 21 reference fault vectors which include 6 one-fault vectors and 15 two-fault vectors. Measurements are projected into null space of measurement matrix and compared with 21 normalized reference fault vectors, which determines fault detection and isolation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.904-907
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• 1996

In this paper, we propose an efficient collision-free path planning method of two cooperating robot manipulators grasping a common object rigidly. For given two robots and an object, the procedure is described which constructs the reduced dimensional configuration space by the kinematic analysis of two cooperating robot manipulators. A path planning algorithm without explicit representation of configuration obstacles is also described. The primary steps of the algorithm is as follows. First, we compute a graph which represents the skeleton of the free configuration space. Second, a connection between an initial and a goal configuration to the graph is searched to find a collision-free path.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.321-324
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• 2003

There are two steps to solve the self-collision avoidance problems for redundant manipulators. First, all links are regarded as cylinders. and then the collisions should be checked among all pairs of the links. Between two cylinders. we can get the collision information derived from the concept or configuration space obstacle in real time. Therefore. it is possible to detect the links where collisions are likely in real time by setting the risk radius which is larger than actual radius. Second. the configuration control points (CCP) should be placed at the ends of the detected links. A cost function is the sum of the distances between the CCPs. To maximize the cost function means the links go far away each other without self-collisions.

• 농촌계획
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• 제19권4호
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• pp.329-338
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• 2013

The purpose of this study is that suggest space composition in rural village so that it can had foundations for Activation of regional community by analysis and re-organization of rural community places based on regionality and historicity. First, this study have been investigated about changes of overall space configuration and community places that has been lost or were ongoing in rural village. Factors of changes were changes in lifestyle, rural policy, social and political system, economic principles and ect. Therefore, This study focused on understanding basic principles of rural village space configuration and inherited it. Second, basic principle of the space configuration of rural village were entryway and center that improve community cohesion in the community space. This study figured out improving of "Ma-Dang" and functional mix-use community hall was important for more efficient management. Third, This study set direction according to characteristic of space configuration of each village and suggested detail plans.

• 한국지능시스템학회논문지
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• 제21권1호
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• pp.36-41
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• 2011

모바일 로봇의 경로 계획을 위해 형태 공간(Configuration space)과 형태 장애물(Configuration obstacle)이라는 개념이 많이 활용되고 있다. 이 개념은 이동로봇을 공간 상에서 하나의 점으로 간주할 수 있도록 주변 장애물을 확장시킨다는 것으로, 이를 통해 장애물과의 충돌로부터 자유로운(Collision free) 이동 경로를 쉽게 찾아낼 수 있게 된다. 또한, 이러한 형태 공간 및 형태 장애물을 쉽게 생성하는 가장 보편적인 방법 중 하나는 이동 로봇의 형태를 원형으로 근사화하는 것이다. 이는 그 방법이 간단하기 때문에 이동 로봇의 구체적인 형태 및 이동 메커니즘을 고려하여 형태 공간을 생성하는 방법보다 형태장애물 생성 시간을 크게 단축시킬 수 있게 해준다. 하지만 이동 로봇을 원형으로 근사화하여 형태 장애물을 생성할 경우 비교적 가까이에 있는 실제 장애물들이 하나의 형태 장애물로 병합될 수 있다는 문제점이 있다. 이로 인하여 형태 공간내에서 이동 경로를 생성할 경우 최적의 이동 경로를 찾는다는 보장을 할 수가 없게 된다. 따라서 형태 공간 내에서 최적에 가까운 이동 경로를 효율적으로 찾도록 하기 위해 부분적으로 보다 정확한 형태 공간을 생성하면서도 전체 생성시간을 단축시킬 수 있는 다단계 형태 공간 생성 방법을 제안하였다. 제안된 방법은 로봇을 원형으로 근사화시킨 뒤 시작지점과 목표 지점을 잇는 이상적인 경로를 생성하고 이 경로 상에 존재하는 형태 장애물이 로봇의 원형근사화로 인해 주변의 다른 형태 장애물과 병합되었다면 해당 형태 장애물에 대해서만 보다 정확한 형태 장애물을 재 생성한다는 방법이다. 또한, 본 논문에서는 기존의 정확한 형태 공간 생성 방법과 새롭게 제안한 다단계 근사화 형태 공간 생성 방법을 비교하기 위해 다양한 이동 로봇의 형태와 회전 각도에 대해 형태 공간을 생성하는데 소요되는 생성 시간을 비교 분석해 보았다.

• 한국주거학회논문집
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• 제12권4호
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• pp.33-43
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• 2001

This study had a aim to present a detailed investigation of the difference between the preoccupied and occupied space in the apartment house. In this connection, this study was to analyse the space configuration of the residential space with and without furniture for 3LDK plan in the apartment housing by the comparative method. The space configuration analysis which represents results a numeral and graphical ways is based on the relation between the space and the social changes. The results of this study were as follows; There were a various width of change of the integration value which represented the space configure between the residential space with and without furniture according to the sample plans. It means that the residential space redefine by residence, though the architect design the perfect plan to be considered user.

• 한국디지털건축인테리어학회논문집
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• 제12권2호
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• pp.61-66
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• 2012

In space syntax, the mathmatical process to get a integration could be restrictive in understanding spatial configuration since it is based on only one behavior model. In this study, As another approach to spatial configuration analysis based on behavioral model, there is the simulation tracking analysis model that simulates the movements of human in the space and analyze them. In this study, the relationship between integration and behavioral model will be defined and the similarities and the differences between space syntax and the simulation tracking analysis model will be demonstrated. Furthermore, these two analysis models will be understood as a variety of tools that can analyze an object in multiple viewpoints.

• 한국농촌건축학회논문집
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• 제7권3호
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• pp.84-92
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• 2005

The recent change of social environment has influence on the configuration of space for the social welfare center. And so the relation of space and function required the change of spatial configuration. The social welfare center fills the role of family welfare, domiciliary care, community organization etc. In such sence, this study explore the conditions of spatial configuration for the domiciliary and community care unit of social welfare centers in small city. For this study, it was investigated the space role and funtion, the service program, the usage characteristics, the room satisfaction of social workers. In sum, the useful data were collected, analyzed, and colligated by case study. It could be used in the design criteria of domiciliary care unit for the social welfare center in small city.

• 한국자동차공학회논문집
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• 제2권6호
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• pp.57-65
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• 1994

A collision-free path planning algorithm between an articulated robot and polyhedral obstacles using configuration space is presented. In configuration space, a robot is treated as a point and obstacles are treated as grown forbidden regions. Hence path planning problem is transformed into moving a point from start position to goal position without entering forbidden regions. For mapping to 3D joint space, slice projection method is used for first revolute joint and inverse kinematics is used for second and third revolute joint considering kinematic characteristics of industrial robot. Also, three projected 2D joint spaces are used in search of collision-free path. A proper example is provided to illustrate the proposed algorithm.