• 제어로봇시스템학회논문지
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• 제21권3호
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• pp.257-264
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• 2015

This paper proposes an adaptive RRT (Rapidly-exploring Random Tree) for path planning of high DOF multibody robotic system. For an efficient path planning in high-dimensional configuration space, the proposed algorithm adaptively selects the robot bodies depending on the complexity of path planning. Then, the RRT grows only using the DOFs corresponding with the selected bodies. Since the RRT is extended in the configuration space with adaptive dimensionality, the RRT can grow in the lower dimensional configuration space. Thus the adaptive RRT method executes a faster path planning and smaller DOF for a robot. We implement our algorithm for path planning of 19 DOF robot, AMIRO. The results from our simulations show that the adaptive RRT-based path planner is more efficient than the basic RRT-based path planner.

• KIEAE Journal
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• 제12권1호
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• pp.21-27
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• 2012

This study aims at finding the trend changes of spatial configuration in housing units of Korean apartments in the 2000s. Among the housing units in the apartments built by large construction companies, we have selected ones with small and regular sizes, $59m^2$ and $84m^2$ respectively, and investigated the number of bays, the location of wet zone and the spatial flexibility in the housing units selected for analysis. In conclusion, the number of bays in the housing unit has gradually increased, after allowing for the structural change of the balcony in the legal. It is estimated that the trend has came from the intent to increase the numbers of the externally exposed surfaces of the balcony, ensure a good view, lighting, ventilation and spatial flexibility. The location of wet zone, water-needed space such as a bathroom or a kitchen, has changed in the direction to facilitate the expansion and modification of space. Variable range of space has gradually expanded by using the balcony and wet zone as much as possible. In order to configure more effectively spaces in housing environments, the future study should be implemented to develop tools for realizing sustainable housing environment at the levels of not only the housing unit. but also the entire building, housing site, and city.

• 의료ㆍ복지 건축 : 한국의료복지건축학회 논문집
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• 제23권3호
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• pp.81-90
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• 2017

Purpose: The regional trauma center should be a trauma treatment center equipped with facilities, equipment, and manpower capable of providing optimal treatment such as emergency surgery to a severely traumatized patient upon arrival at the hospital. In order to establish a medical system for effective severe diseases, it is necessary to prepare architectural planning guidelines for the regional trauma centers. Methods:: Analyze the spatial configuration, and the area composition of the regional trauma center, And to provide basic data for building a more efficient regional trauma center. The spatial composition analysis divides the space into initial care, resuscitation, patient area, nursing area, diagnostic test, staff training, staff support, public, and analyzes the area and interconnection of each space. Results: The area that must be included in the regional trauma center is the resuscitation area, the patient area, the diagnostic examination area, architectural planning should be designed to enhance the interconnection of the areas. IIn addition, a regional trauma center should be planned as a separate from the existing facility so that it can be installed and operated independently. Implications: A regional trauma center should be built as a stand alone operation and the space should be planned as a more efficient route.

• 한국실내디자인학회논문집
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• 제21권6호
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• pp.79-91
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• 2012

In the Digital Convergence era, the center of social networking is moving into on-line space. This means also that space for public is moving into the on-line space. Along with this, spaces in commercial area, offered as attraction factors, are taking a role as a public space. So, this paper defines these spaces mentioned above as public space and the like. Liberal and affluent communication of Digital Convergence has caused in new spatial cognitions such like, constant social space, flowing space, temporary space, and multiple space. This means the hybridization of on-line and off-line space and the advent of public convergent space. However, it is on-line-centered convergence and has positive effects and negative effects on relationship. This paper suggests the optimization of public convergent space to solve the problems and make better a public space for relationship. For achieving this, social disclosure is grasped as the common way to start relationship both off-line and on-line, and it is proved that social disclosure has three characters such as self-presentation, corporeality, and subjectivity. Subsequently, the differences of the roles of off-line and on-line space are separated by each individual character. These are self-presentation of performance vs. storytelling, corporeality of embodiment vs. disembodiment, and self-subjectivity vs. inter-subjectivity. By recognizing that there are multilevel spectrums between the formers and the latters, this paper presents the direction of the spatial configuration of public convergent space which offers the right of manipulation of self-disclosure. It will be used for presenting the prototype of public convergent space.

• 한국디지털건축인테리어학회논문집
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• 제4권2호
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• pp.35-43
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• 2004

Transformations of the urban spatial structure, from sub-area redevelopment to newtown development, results great influences upon existing urban condition and spatial configuration. The purpose of the study is to analyse the effect of the urban spatial configuration of Uijongbu city where experienced changes after newly development of city center and new residential area. The west part of the city where is limited in growth by military bases, ego U.S Army basecamp, were planned and established as the other axis of the city center since mid 1980's. After that new residential area which is located in far east of the city were also developed. Space syntax as a methodology has been adopted to conduct quantitative analysis which is able to interpret differences between sub-areas ; old city center, new city center, new residential area. The results of the analysis are follows ; 1) existing structure of the urban fabric, especially old city center, is sustained and intensified, 2) new city center which is west part of the city has failed to achieve organic spatial connection adjacent to old city center, 3) there is less spatial depecdency relationship between city center and new residential area where is identified as another small self-support city within the city.

• 한국항공우주학회지
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• 제36권10호
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• pp.962-968
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• 2008

국방과학연구소 풍동실험실에서는 스텔스 형상 무인전투기개발에 필요한 공력특성 측정과 관련시험기법의 확립을 위한 실험적 연구를 수행하였다. 본 연구에서는 스텔스 특성을 가진 형상의 공기역학적 특성의 추출과 5-hole probe를 이용한 유동장 특성의 측정을 목적으로 하였으며, 시험결과들의 분석과 앞전 형상의 변경에 따른 공력특성의 변화도 함께 고찰하였다.

• 한국실내디자인학회논문집
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• 제17권6호
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• pp.137-142
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• 2008

Since mid 1990s, the domestic market in Korea has been changing drastically especially in the field of discount stores. The competition among this market is more severe and the consuming pattern is also changed. This study is to examine the correlation between the customer's circulation and the spatial configuration by using Space Syntax and VMD pattern through the MD plan of each floor in Discount store. Throughout this study, it tries to find out the Quantitative analysis among three factors - the customer's circulation, spatial configuration and VMD investigation. The pattern of customer's circulation appears differently according to the identity of customer and store layout, but with the result, customer's circulation system is in accordance with the floor layout in the store. In result of the study, the circulation of the customer was found to have a close relationship with spatial structure that is composed by the MD pattern in a discount store in the area of food section. Also, the circulation system in the rest area except food section is more affected by the VMD pattern rather than spatial structure.

• 한국실내디자인학회논문집
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• 제17권1호
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• pp.146-154
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• 2008

The study aims to find out the changing aspects of contemporary Korean libraries so called public in terms of their spatial characteristics. In so doing, it analysed 16 recently built libraries by using the spatial depth defined in the Space Syntax theory. As the result, it could be said that the libraries were planned and designed well reflecting the world wide trend as a public institution such as an open plan, easy access, new functional spaces, and so on. It could be also said, however, that there was no difference between the previous libraries and the recent ones when the actual usage is considered. It means that the architectural attempts have been made to plan an 'open, public library', especially in terms of the spatial configuration, whereas the way of management has not been changed at all for some reasons such as the lack of staffs, security and so on. Therefore, it can be seen that the depth, one of the most important factors in the recognition of the spatial configuration, is more deepened as a form of the liner structure in the spatial configuration.

• International Journal of Automotive Technology
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• 제7권5호
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• pp.625-635
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• 2006

From a viewpoint of human factors, automated highway systems(AHS) can be defined as one of the newly developing human-machine systems that consist of humans(drivers and operators), machines(vehicles and facilities), and environments(roads and roadside environments). AHS will require a changed vehicle control process and driver-vehicle interface(DVI) comparing with conventional driving. This study introduces a fixed-based AHS simulator and provides questionnaire-based human factors evaluation results after three kinds of automated driving speed experiences in terms of road configuration, operation policies, information devices, and overall AHS use. In the simulator, the "shared space-at-grade" concept-based road configuration was virtually implemented on a portion of the Kyungbu highway in Korea, and heads-up display(HUD), AHS information display, and variable message signs(VMS) were installed for appropriate AHS DVI implementation. As the results, the subjects expressed positive opinions on the implemented road configuration, operation policies, and the overall use of AHS. The results of this study would be helpful in developing the road configuration and DVI design guideline as the basic human factors research for the future implementation of AHS.

• 한국항공우주학회지
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• 제31권9호
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• pp.55-63
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• 2003

본 연구에서는 다수의 추력기를 이용한 발사체 상단 RCS 자세 제어 시스템에 대해 다룬다. 이때 추력기 배치 위치와 부착 각도에 따라 시스템 응답 특성, 연료소모량, 추력 분배로직에 의한 유효 토크량, 고장대응 용이성이 달라진다. 최적화 기법을 이용하여 27개의 명령에 대해 명령 방향과 일치하면서 최대 응답 토크량을 갖도록 하는 최적의 배치를 찾는 방법을 제안하였다. 기존에 주어진 추력기 배치 형상과 제안된 추력기 배치 형상에 대한 수치 해석 결과를 비교함으로서 제안된 추력기 배치 형상에 정당성을 찾고자 한다.