• Journal of Ocean Engineering and Technology
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• v.23 no.5
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• pp.61-70
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• 2009

An AUV (Autonomous Underwater Vehicle) is an unmanned underwater vessel to investigate sea environments and deep sea resource. To be completely autonomous, AUV must have the ability to home and dock to the launcher. In this paper, we consider a class of homing trajectory planning problem for an AUV with kinematic and tactical constraints in horizontal plane. Since the AUV under consideration has underactuated characteristics, trajectory for this kind of AUV must be designed considering the underactuated characteristics. Otherwise, the AUV cannot follow the trajectory. Proposed homing trajectory panning method that called VGM (Virtual Goal Method) based on visibility graph takes the underactated characteristics into consideration. And it guarantees shortest collision free trajectory. For tracking control, we propose a PD controller by simple guidance law. Finally, we validate the trajectory planning algorithm and tracking controller by numerical simulation and ocean engineering basin experiment in KORDI.

• Journal of the Korean housing association
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• v.21 no.4
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• pp.89-97
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• 2010

Digital convergence era has been already started and is rapidly developed. Recently, convergency technology became an essential issue in all industries, and is expected to accelerate. This means that we can experience growth and change of architecture using new technology and approaching method. The AR (Augmented Reality) technology, among these convergence technology, is a kind of virtual reality technology that user can see a scene of real world which is overlapped by virtual world with additional information. It has been used in manufacturing and management in the whole industry fields including medical, mechanical, military field and so on because it can provide higher sense of reality. Thus, in this paper, we suggest the utilization of AR technology for organically connecting the roads, facilities, green area, landscape and others in the layout planning of housing complex. Users can see real world with virtual object by overlap computer graphic on the real world. This method provides users with various information about territoriality and openness. As the result of this study it is expected that this technology will help the layout planning of housing complex to become more reasonable in the aspect of design, time and cost.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1636-1639
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• 2005

The process equipment and remote handling for the deep geological disposal of high-level radioactive waste(HLW) should be checked prior to the operation in view of reliability and operability. In this study, the concept of virtual environment workcell is implemented to analyze and define the feasible disposal process instead of real mock-up, which is very expensive and time consuming. To do this, the parts of process equipment for the disposal and maintenance will be modeled in 3-D graphics, assembled, and kinematics will be assigned. Also, the virtual workcell for the encapsulation and disposal process of spent fuel will be implemented in the graphical environment, which is the same as the real environment. This virtual workcell will have the several functions for verification such as analyses for the equipment's work space, the collision detection, the path planning and graphic simulation of the processes etc. This graphic virtual workcell of the HLW disposal process can be effectively used in designing of the processes for the hot cell equipment and enhance the reliability of the spent fuel management.

• Journal of Korea Multimedia Society
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• v.12 no.12
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• pp.1819-1826
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• 2009

To enhance the automatic performance of existing predicting and planning algorithms that require a predefined probability of the states' transition, this paper proposes a multiple sequence generation system. When interacting with unknown environments, a virtual agent needs to decide which action or action order can result in a good state and determine the transition probability based on the current state and the action taken. We describe a sequential behavior generation method motivated from the change in the agent's state in order to help the virtual agent learn how to adapt to unknown environments. In a sequence learning process, the sensed states are grouped by a set of proposed motivation filters in order to reduce the learning computation of the large state space. In order to accomplish a goal with a high payoff, the learning agent makes a decision based on the observation of states' transitions. The proposed multiple sequence behaviors generation system increases the complexity and heightens the automatic planning of the virtual agent for interacting with the dynamic unknown environment. This model was tested in a virtual library to elucidate the process of the system.

• Maxillofacial Plastic and Reconstructive Surgery
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• v.41
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• pp.35.1-35.7
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• 2019

Background: The purpose of this study was to measure the time of the conventional surgical planning (CSP) and virtual surgical planning (VSP) in orthognathic surgery and to compare them in terms of cost. Material and method: This is a retrospective study of the patients who underwent orthognathic surgery at the Pusan National University Dental Hospital from December 2017 to August 2018. All the patients were analyzed through both CSP and VSP, and all the surgical stents were fabricated through manual and three-dimensional (3D) printing. The predictor variables were the planning method (CSP vs. VSP) and the surgery type (group I: Le Fort I osteotomy + bilateral sagittal split osteotomy [LFI+BSSO] or group II: only bilateral sagittal split osteotomy [BSSO]), and the outcomes were the time and cost. The results were analyzed using the paired t test. Results: Thirty patients (12 females, 18 males) met the inclusion criteria, and 17 patients were excluded from the study due to missing or incomplete data. There were 20 group I patients (LFI+BSSO regardless of genioplasty) and 10 group II patients (BSSO regardless of genioplasty). The average time of CSP for group I was 385 ± 7.8 min, and that for group II was 195 ± 8.33 min. The time reduction rate of VSP compared with CSP was 62.8% in group I and 41.5% in group II. On the other hand, there was no statistically significant cost reduction. Conclusions: The time investment in VSP in this study was significantly smaller than that in CSP, and the difference was greater in group I than in group II.

• Journal of Korea Game Society
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• v.9 no.3
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• pp.139-150
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• 2009

This paper attempts to investigate the establishment of an interactive knowledge base for action planning by virtual agents and an interactive knowledge-based planning system. A fixed knowledge base is unable to properly handle a change in circumstances because fixed planning is only available under a fixed knowledge base. Therefore, this paper proposes the establishment of an interactive knowledge base which is applicable to diverse environments and an artificial intelligence planning system in which an interactive knowledge base is available. The interactive knowledge base proposed in this paper consists of motivation, behavior, object and action. The association relationship between knowledge base and its input is set using an automation tool. With this tool, a user can easily add to or amend the components of the knowledge base. With this knowledge base, a character plans all action items and chooses one of them to take an action. Since a new action can be applicable by updating the knowledge base even when the character environment changes, it is very useful for virtual reality content developers. This paper has established a relationship between scalable interactive knowledge base components and other components and proposes a convenient input tool and a planning system algorithm effective for an interactive knowledge base. The results of this study have been verified through testing in a virtual environment ('virtual library').

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.885-888
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• 1995

Virtual Manufacturing System(VMS) is a computer model that represents the precise and whole structure of manufacturing system and simulates their physical and logical behavior in operation. In this paper, a real time simulation for the virtual factory is proposed to integrate a process planning with scheduling under distributed environments. In order to communicate the information under distributed environment, weuse a sever/client concept and socket program. the VMS is implemented on the internet environment.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.55.6-55
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• 2002

Huafei Liao is a graduate student of the Automation department in Tsinghua University, China. His research involves computer-aided process planning, 3D CAD/CAM, virtual reality, and feature recognition.

• Journal of the Ergonomics Society of Korea
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• v.36 no.1
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• pp.37-52
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• 2017

Objective: The present study developed a user-centered 3D virtual liver surgery planning (VLSP) system called Dr. Liver to provide preoperative information for safe and rational surgery. Background: Preoperative 3D VLSP is needed for patients' safety in liver surgery. Existing systems either do not provide functions specialized for liver surgery planning or do not provide functions for cross-check of the accuracy of analysis results. Method: Use scenarios of Dr. Liver were developed through literature review, benchmarking, and interviews with surgeons. User interfaces of Dr. Liver with various user-friendly features (e.g., context-sensitive hotkey menu and 3D view navigation box) was designed. Novel image processing algorithms (e.g., hybrid semi-automatic algorithm for liver extraction and customized region growing algorithm for vessel extraction) were developed for accurate and efficient liver surgery planning. Usability problems of a preliminary version of Dr. Liver were identified by surgeons and system developers and then design changes were made to resolve the identified usability problems. Results: A usability testing showed that the revised version of Dr. Liver achieved a high level of satisfaction ($6.1{\pm}0.8$ out of 7) and an acceptable time efficiency ($26.7{\pm}0.9 min$) in liver surgery planning. Conclusion: Involvement of usability testing in system development process from the beginning is useful to identify potential usability problems to improve for shortening system development period and cost. Application: The development and evaluation process of Dr. Liver in this study can be referred in designing a user-centered system.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.1
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• pp.63-73
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• 2001

This paper presents a process and operation planning system with an NC code post-processor for effective machining of press dies for production of cars. Based on the machining features, major parts of press dies are categorized into 15 groups and a standard process plan is defined for each group. The standard process plan consists of a series of processes where a process is defined as a group of operations that can be done with one setup. Details such as cutting tools, cutting conditions, and tool paths are decided at the operation planning stage. At the final stage of process and operation planning, the NC code post-processor we developed adjusts feedrates along the tool path to reduce machining time. The adjustment rule is selected based on the metal removal rate estimated by virtually machining with virtual cutting tool.