• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 2000.10a
• /
• pp.113-118
• /
• 2000

Collision free task planning for dual-arm robot which perform many subtasks in a common work space can be achieved in two steps : path planning and trajectory planning. Path planning finds the order of tasks for each robot to minimize path lengths as well as to avoid collision with static obstacles. A trajectory planning strategy is to let each robot move along its path as fast as possible and delay one robot at its initial position or reduce speed at the middle of its path to avoid collision with the other robot.

• Journal of the military operations research society of Korea
• /
• v.24 no.2
• /
• pp.162-169
• /
• 1998

This study presents an single machine scheduling algorithm minimize lateness of product by controlling machining speed. Generally, production scheduling uses the information of process planning. But the production scheduling algorithm has not considered the control of machining speed in its procedures. Therefore, the purpose of this study is to consider the machining speed in production scheduling algorithm for efficient production scheduling. Machining time and machining cost required to manufacture a piece of a product are expressed as a unimodal convex function with respect to machining speed, so it has minimal point at minimum time speed or the minimum cost speed. Therefore, because of considering the machining cost, the control of machining speed for the algorithm is executed between minimum speed and maximum speed. An example is demonstrated to explain the algorithm.

• Journal of Biosystems Engineering
• /
• v.33 no.1
• /
• pp.51-57
• /
• 2008

The purpose of this study was to develop an optimal path planning program for autonomous speed sprayer in orchard. A digital map which contained coordinate information and entity information including height, width, radius of main stem, and disease of a trees was developed to build an optimal path. The digital map, dynamic programming and order-picking algorithm were used for planning an optimal path for autonomous speed sprayers. When this algorithm applied to rectangular-shaped orchards to travel whole trees, the developed program planned the same working path and same traveling distance as those of created by conventional method. But for irregular-shaped orchards, developed program planned differently and 5.06% shorter path than conventional method. When applied to create path for multi-selected trees, irregular-shaped orchards showed 13.9% shorter path and also rectangular-shaped orchards showed 9.1% shorter path. The developed program always planned shorter path than the path created by conventional method despite of variation of shape of orchards.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.2
• /
• pp.141-147
• /
• 2008

In this paper, we present one approach to achieve safe navigation in indoor dynamic environment. So far, there have been various useful collision avoidance algorithms and path planning schemes. However, those algorithms have a fundamental limitation that the robot can avoid only "visible" obstacles. In real environment, it is not possible to detect all the dynamic obstacles around the robot. There exist a lot of "occluded" regions due to the limitation of field of view. In order to avoid possible collisions, it is desirable to consider visibility information. Then, a robot can reduce the speed or modify a path. This paper proposes a safe navigation scheme to reduce the risk of collision due to unexpected dynamic obstacles. The robot's motion is controlled according to a hybrid control scheme. The possibility of collision is dually reflected to a path planning and a speed control. The proposed scheme clearly indicates the structural procedure on how to model and to exploit the risk of navigation. The proposed scheme is experimentally tested in a real office building. The presented result shows that the robot moves along the safe path to obtain sufficient field of view, while appropriate speed control is carried out.

• Proceedings of the KOR-KST Conference
• /
• 1995.05b
• /
• pp.15-50
• /
• 1995

• Proceedings of the KOR-KST Conference
• /
• 1995.05b
• /
• pp.129-162
• /
• 1995

• Nuclear Engineering and Technology
• /
• v.54 no.4
• /
• pp.1374-1381
• /
• 2022

Under the influence of nuclear radiation, the reliability of steam generators (SGs) is an important factor in the efficiency and safety of nuclear power plant (NPP) reactors. Motion planning that remotely manipulates an SG mobile tube-inspection robot to inspect SG heat transfer tubes is the mainstream trend of NPP robot development. To achieve motion planning, conditional traversal is usually used for base position optimization, and then the A^* algorithm is used for path planning. However, the proposed approach requires considerable processing time and has a single expansion during path planning and plan paths with many turns, which decreases the working speed of the robot. Therefore, to reduce the calculation time and improve the efficiency of motion planning, modifications such as the matrix method, improved parent node, turning cost, and improved expanded node were proposed in this study. We also present a comprehensive evaluation index to evaluate the performance of the improved algorithm. We validated the efficiency of the proposed method by planning on a tube sheet with square-type tube arrays and experimenting with Model SG.

• Journal of Korean Society of Rural Planning
• /
• v.25 no.3
• /
• pp.115-128
• /
• 2019

The A1B scenario predicts that the mean air temperature of South Korea will rise up to $3.8^{\circ}C$ by 2071. However, the effects of ecosystem services are declining because of various environmental problems, including climate change, land use change, stream intensification, non-point pollution, and untreated garbage. Moreover, horticultural sites which have various ecosystem services suffer highly absorbed heat from the heat island phenomenon associated with climate change. Therefore, we analyzed the heat island phenomenon occurring in an protected horticulture estimated area in Saemanguem, South Korea. Using an advanced measurement method, we examined the air temperature change derived from water channels as well as open spaces. The CFD analysis of coverage ratio 85% design showed wind speed of 2.09 m/s and temperature of $38.07^{\circ}C$. At a coverage ratio of 70%, the wind speed was improved to 2.61 m/s and the temperature was improved to $36.89^{\circ}C$. In Alternative 2 with wetlands and trees, the wind speed was 2.71 m/s and the temperature was $35.90^{\circ}C$. When the coverage ratio decreases to 55%, the wind speed increases showing 3.06 m/s and the temperature decreases showing $35.18^{\circ}C$.

• The Journal of Korea Robotics Society
• /
• v.5 no.2
• /
• pp.127-134
• /
• 2010

In this paper, a hybrid semi-3D path planning algorithm combining Virtual Tangential Vector(VTV) and fuzzy control is proposed. 3D dynamic environmental factors are reflected to the 2D path planning model, VTV. As a result, the robot can control direction from 2D path planning algorithm VTV and speed as well depending on the fuzzy inputs such as the distance between the robot and obstacle, roughness and slope. Performances and feasibilities of the suggested method are demonstrated by using Matlab simulations. Simulation results show that fuzzy rules and obstacle avoidance methods are working properly toward virtual 3D environments. The proposed hybrid semi-3D path planning is expected to be well applicable to a real life environment, considering its simplicity and realistic nature of the dynamic factors included.

• Korean Institute of Interior Design Journal
• /
• no.32
• /
• pp.121-130
• /
• 2002

At the large commercial facilities, people try to grasp a customer's needs as the marketing strategies for effective management and maximization of profits as well as the primary purpose for functional and effective spatial plan. In planning the interior of each department, they try to provide the image of the interior environment corresponding to customer's emotional needs. And this kind of efforts also have been improved as visual merchandising strategies based on the transmission of visual information. This study is to examine the correlation among customer's behavior, circulation and VMD by gasping their shopping patterns at the department stores based on the spatial and emotional approach to form an environmental image of each department. The researcher focused on time, speed and rate of shopping that show customer's behavioristic characteristics and examine the factors to have an influence on decision making. With the result, this study proposes the primary data and evidence for MD planning, circulation planning and VMD planning of each department.