• ETRI Journal
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• v.43 no.4
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• pp.580-593
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• 2021

When operating in confined spaces or near obstacles, collision-free path planning is an essential requirement for autonomous exploration in unknown environments. This study presents an autonomous exploration technique using a carefully designed collision-free local planner. Using LiDAR range measurements, a local end-point selection method is designed, and the path is generated from the current position to the selected end-point. The generated path showed the consistent collision-free path in real-time by adopting the Euclidean signed distance field-based grid-search method. The results consistently demonstrated the safety and reliability of the proposed path-planning method. Real-world experiments are conducted in three different mines, demonstrating successful autonomous exploration flights in environment with various structural conditions. The results showed the high capability of the proposed flight autonomy framework for lightweight aerial robot systems. In addition, our drone performed an autonomous mission in the tunnel circuit competition (Phase 1) of the DARPA Subterranean Challenge.

• 전자공학회논문지 IE
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• v.47 no.2
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• pp.66-72
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• 2010

In an autonomous multi-mobile robot environment, optimal path planning without collision which connects the beginning and ending point is essential and primary important. Many mobile robots should move autonomously without prior or given information about obstacles which are stationary or dynamic. Collision free optimal path planning for multi mobile robots is proposed in this paper. The proposed approach is based on a potential field method and fuzzy logic system. First, a global path planner using potential field method selects the shortest path from each robot to its own target. Then, a local path planner modifies the path and orientation from the global planner to avoid collisions with static and dynamic obstacles using a fuzzy logic system. To verify performance of this method, several simulation-based experimental are done and their results are discussed. These results show that the path planning and collision avoidance strategies are effective and useful for multi-mobile robot systems.

• Proceedings of the KIEE Conference
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• 2009.07a
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• pp.1312_1313
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• 2009

In this study the fabrication technique of the planner field emission device structure with a DLC layer were studied. The bottom Mo electrode using electrochemical method on the DLC layer deposited using assist sputtering.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.7
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• pp.664-668
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• 2012

Hierarchical IPP (Integrated Path Planning) combining the GPP (Global Path Planner) and the LPP (Local Path Planner) is interesting the researches who study about the mobile vehicle in recent years. However, in this study, there is the path mismatch problem caused by the difference in the map information available to both path planners. If ever a part of the path that was found by the GPP is available to mobile vehicle, the part may be unavailable when the mobile vehicle generates the local path with its built-in sensors while the vehicle moves. This paper proposed the TWR (Temporal Waypoint Reviser) to solve the path mismatch problem of the hierarchical IPP. The results of simulation provide the performance of the IPP with the TWR by comparing with other path planners.

• International Journal of Internet, Broadcasting and Communication
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• v.12 no.4
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• pp.48-54
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• 2020

Researchers recognized air pollution changes causing diseases and difficulties in living due to environmental pollution following various human activities, and have studied how to avoid fine dust harmful to the human respiratory system to be healthy. To this end, Arduino is used to equip fine dust level sensors in drones to measure the fine dust levels, visualize the measurements with LED indicator colors depending on the measurements to inform users of the danger of fine dust, and use the benefits of drones to specify dangerous fine dust zones and measure the fine dust levels. Users can see the changes depending on the fine dust levels in real time with the LED indicators. This will contributes to measuring fine dust levels easily in dangerous areas. Mission Planner (ArduPilot) is used to set up the GPS of drone, and store the data from the dust sensor as contents. This study aims to establish a method for improving the environment to measure fine dust levels with drones with LED indicators for fine dust, and reduce fine dust.

• Proceedings of the Korea Information Processing Society Conference
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• 2017.11a
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• pp.937-940
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• 2017

본 연구는 유저 크리에이티브 지식 매체를 생성함에 있어 기존 일방적 전달 방식에서 탈피하여 자신이 가지고 있는 정보를 다수의 사람과 공유 할 수 있는 3세대 다방향(Mash-Up) 교육에 관한 연구하여 SNS와 클라우드 요소를 통해 공유할 수 있는 플랫폼을 개발하는 방안을 제안하고 있다. 본 연구는 1)LIVE_BOARD 2)TIMELINE 3)NEWS FEED 4)PLANNER로 나뉜다. Live_Board의 실시간 스트리밍을 활용하여 영상 이미지기반 의사소통을 지원하고, SNS적 요소인 TimeLine, News Feed를 통해 다른 사용자들과 정보 공유를 할 수 있고, Planner를 통해 개인 스케줄 관리를 할 수 있는 플랫폼이다.

• Journal of the Korean Home Economics Association
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• v.39 no.6
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• pp.61-78
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• 2001

The objectives of this study were to examine the propensity of job related variables, self-esteem, overall job satisfaction, satisfaction about six categories in the job(task, boss, payment, co-workers, promotion, job environment) of life insurance planners, to investigate the effects of self-esteem, demographic variables, job characteristics variables on the overall job satisfaction and the satisfaction of six categories in the job. The survey of this study was conducted by means of self-administered questionnaire with 275 life insurance planners located in Taegu. Major findings were as follows:(1) The propensity of self-esteem and overall job satisfaction of life insurance planners averages 3.75 and 3.35 points(5 Likert scale). The propensity of satisfaction about task, boss, payment, co-workers, promotion, job environment of life insurance planners averages 4.22, 2.67, 1.68, 2.09, 1.71, 2.65 points separately(5 Likert scale). (2) According to the results for examining the relative influences of variables affecting overall satisfaction of life insurance planners, the relative importance of related variables are in the order of , self-esteem in the job, social dignity of the job, the prospect about the dignity of life insurance planner, the motive of having job. Explanatory power of these variables totaled 43.5%.

• Journal of the Korea Computer Industry Society
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• v.5 no.9
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• pp.1089-1094
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• 2004

Agents in Mlulti-Agent Systems (MAS) should make use of a common Agent Communication Language (ACL) in order to negotiate with others, and conform to negotiation protocols that are designed to reach agreements. Therefore, agents must have suitable architectures that could cover above requirements. In this paper, we define an instructive ACL and compare it with other ACLs such as Foundation for Intelligent Physical Agents(FIPA) ACL and Knowledge Query Manipulation Language (KQML). In particular, we represent agents as logic programs with beliefs, desires, intentions and negotiation library. Finally, we show how the planner, which is in the negotiation library, provides plans of actions and updates agent's beliefs.

• The KIPS Transactions:PartD
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• v.13D no.4 s.107
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• pp.619-624
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• 2006

Currently domestic game market rapidity is developmental but the game production process does not become systematization. Also it is bringing the failure of game that problem point of conversation between game planner and game developer.. The research which to conversation between game planner and game developer it sees does extracting a game element to expressed game characteristics from the product for game planning and it change extracted element into class and In order to express the relationship of element for it presents a relationship of class. Instance research it leads. It grasps a relationship among extracted classes and it supports systematic game planning.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.43 no.3
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• pp.10-20
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• 2020

This paper presents a method to measure the similarity of assigned jobs in the gravure printing operation based on the chromaticity and color sequence, and order the jobs accordingly. The proposed dispatching rule can be used to fulfill diverse manufacturing site requirements because the parameters can be adjusted to prioritize chromaticity and color sequence. In general, dispatching rules either ignore the job-changing time or require that the time be clearly defined. However, in the gravure printing operation targeted in this study, it is difficult to apply the general dispatching rule because of the difficulties in quantifying the job-changing time. Therefore, we propose a method for generalizing assignment rules of the job planner, allocating relative similarity among assigned jobs, and determining the sequence of jobs accordingly. Chromaticity priority is determined by the arrangement of the color assignments in the printing operation; color sequence priority is determined by the addition, deletion, or change in a specific color sequence. Finally, the job similarity is determined by the dot product of the chromaticity and color sequence priorities. Implementation of the proposed dispatching rule at an actual manufacturing site showed the planner present the same job order as that obtained using the proposed rule. Therefore, this rule is expected to be useful in industrial sites where clear quantification of the job-changing time is not possible.