• Proceedings of the Korean Institute of Building Construction Conference
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• 2021.05a
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• pp.155-156
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• 2021

Most of the construction works in domestic are not direct undertaking work, but by a contract method including subcontracting. Therefore, a general contractor for each project jointly carry out construction work with a specialty contractor for each engineering type. However, in terms of contract, this method is not a joint venture contract, but a subcontract. Accordingly, this system can cause various problems between the prime contractor and the subcontractor. Therefore, this study aims to extract and present the actual obstacle factors in terms of specialty contract company performing specialty construction work for construction project. The presented contents are expected to present the standard for the cooperation system that the prime contractor and the subcontractor can win-win.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.6
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• pp.107-115
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• 1998

A path planning using potential field method is very useful for the real-time navigation of mobile robots. However, the method needs high modeling cost to calculate the potential field because of complex preprocessing, and mobile robots may get stuck into local minima. In this paper, An efficient path planning algorithm for multiple mobile robots, based on the potential field method, was proposed. In the algorithm. the concepts of subgoals and obstacle priority were introduced. The subgoals can be used to escape local minima, or to design and change the paths of mobile robots in the work space. In obstacle priority, all the objects (obstacles and mobile robots) in the work space have their own priorities, and the object having lower priority should avoid the objects having higher priority than it has. In this paper, first, potential based path planning method was introduced, next an efficient collision-avoidance algorithm for multiple mobile robots, moving in the obstacle environment, was proposed by using subgoals and obstacle priority. Finally, the developed algorithm was demonstrated graphically to show the usefulness of the algorithm.

• Journal of the Korea Society of Computer and Information
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• v.14 no.11
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• pp.31-40
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• 2009

The most common cleaning methods of cleaning robot can be divided into two categories: the random and the boustrophedon method. A cleaning robot using the random method moves straight until it bumps into an obstacle. If it collides with an obstacle, the cleaning robot turns a specific angle and continues moving straight. Therefore, the random method often tends to clean the already clean area repeatedly. In addition, it takes a long time to complete cleaning. A cleaning robot using the boustrophedon method moves straight until it collides with an obstacle. If it meets an obstacle, the cleaning robot moves to the next uncleaned space through turning and moving ahead. when resuming cleaning from the new region, a cleaning robot moves in the direction opposite to the direction of the previous cleaning. Because the boustrophedon method cleans a cleaning space more densely, its performance is excellent in an obstacle-free space or a small space. However, In a space with obstacles or a complex structure, it takes a long time to complete the cleaning work. Cleaning should be systematically approached with a good understanding of the work area. The virtual map-based cleaning robot proposed in this paper cleaned a work space efficiently. The efficiency of the proposed method was measured through simulation.

• The Journal of the Convergence on Culture Technology
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• v.8 no.5
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• pp.219-228
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• 2022

The purpose of this study is to explore what obstacles adult undergraduate experience in adapting to college life. To this end, in-depth interviews were conducted with 32 adult undergraduate attending colleges in Daegu and Gyeongbuk. For the study, Colaizzi's phenomenological research method was used and analyzed. As a result of the analysis, eight factors such as relation obstacle, bachelor's and curriculum operation obstacle, social recognition obstacle, study ability obstacle, college environment obstacle, economic obstacle, personal disposition obstacle, and temporal obstacle were found. Through the above research results, it was found that the college environment, which is operated mainly by general college students, is expressed as various types of obstacle for adult undergraduate who work and study at various ages and experiences. Based on the derived obstacle factors, it is expected that a follow-up study will be conducted to develop a measurement tool that can empirically explore the obstacle of adult undergraduate to adapt to college life.

• Proceedings of the IEEK Conference
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• 1998.10a
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• pp.417-420
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• 1998

A heuristic sweeping algorithm for an autonomous smearing robot which executes the area filling task is proposed. This algorithm searches tracking points with the obstacle andenvironment wall while the robot tracking whole workspace, and finds sequential tracking line by sequentally connecting the tracking points in such a way that (1) the line should be never crossed, (2) the total tracking points should be is linked as short as possible, and (3) the tracking link should be cross over the obstacle in the work-space. If the line pass through the obstacle, hierarchical collision free algorithm proposed is implied. The proposed algorithm consists of (1) collision detection procedure, (2) obstacle map making procedures, (3) tracking points generation procedures for subgosls, (4) tracking points scanning procedures, and (5) obstacle avoidance procedure.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.12
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• pp.1992-2007
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• 1997

A new algorithm for planning a collision-free path is developed based on linear prametric curve. In this paper robot is assumed to a point, and two linear parametric curve is used to construct a path connecting start and goal point, in which single intermediate connection point between start and goal point is considered. The intermediate connection point is set in polar coordinate(${\theta}{\delta}$) , and the interference between path and obstacle is mapped into CPS(connection point space), which is defined a CWS GM(circular work space geometry mapping). GM of all obstacles in workspace creates overlapping images of obstacle in CPS(Connection Point Space). The GM for all obstacles produces overlapping images of obstacle in CPS. The empty area of CPS that is not occupied by obstacle images represents collision-free paths in Euclidian Space. A GM based on connection point in elliptic coordinate(${\theta}{\delta}$) is also developed in that the total length of path is depend only on the variable .delta.. Hence in EWS GM(elliptic work space geometry mapping), increasing .delta. and finding the value of .delta. for collision-free path, the shortest path can be searched without carring out whole GM. The GM of obstacles expersses all possible collision-free path as empty spaces in CPS. If there is no empty space available in CPS, it indicates that path planning is not possible with given number of connection points, i.e. path planning is failed, and it is necessary to increase the number of connection point. A general case collision-free path planning is possible by appling GM to configuration space obstacles. Simulation of GM of obstacles in Euclidian space is carried out to measure performance of algorithm and the resulting obstacle images are reported.

• The Journal of Korean Society for School & Community Health Education
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• v.15 no.1
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• pp.121-140
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• 2014

Objectives: Recently, the rate of death by chronic disease, is increasing steadily. To prevent this, the public health center will have taken a leading role in the local community medical business through an establish to the national health promotion act and an amendment to the law of public health center in Korea. Results: Accordingly this research, using the Pender's health promotion model which is related with subject health behavior who government employees serve at the public health center have taken important position in the local community health promotion, have comprehended the actual condition of health behavior. For increasing the health behavior practice of subject to comprehend the factor which have effect on health behavior practice, which can be a correct role model in the local community health promotion. A survey was performed on 406 government employees who serve at five public health centers in Seoul. The period of survey was from 25th October, 2010 to 15th November, 2010. The results of this study were summarized as below. 1. Work-related stress, perceptible beneficial obstacle, and self-efficacy were composed by 5 points measure. The results show those work-related stress were $3.06{\pm}0.469$, 74perceptible beneficial obstacle were $3.74{\pm}0.471$, and self-efficacy were $3.49{\pm}0.469$. 2. As for the health behavior by general characteristic, the results have specific differences on age, education level, state of marriage, rank of the position, field of the occupation and employment forms in statics analysis. 3. As for the past health behavior by health behavior characteristic, work-related stress have specific differences on the past frequency of drinking (p<.05) in statics analysis, perceptible beneficial obstacle have specific differences on the past frequency of having breakfast(p<.05), having snacks(p<.05) and doing exercise(p<.05) in statics analysis. Self-efficacy have specific difference on the past frequency drinking(p<.01) in statics analysis. 4. According to the correlation between the factors related with health behavior and health behavior, the health behavior have specific differences on perceptible health condition(p<.01), the past health behavior and perceptible beneficial obstacle(p<.05). Work-related stress and self-efficacy don't have specific relation in health behavior practice. 5. The factors, which effect on health behavior practice have specific differences on the past health behavior, employment forms and field of the occupations. The ability of explanation occupied 54.8% what explained of the health behavior practice by general characteristic, perceptible health condition, employment forms and perceptible beneficial obstacle. Conclusions: According to the correlation between the factors related with health behavior, the health behavior have specific differences on perceptible health condition(p<.01), the past health behavior and perceptible beneficial obstacle(p<.05). The factors, which effect on health behavior practice have specific differences on the past health behavior, employment forms and field of the occupations.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1993.10a
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• pp.593-597
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• 1993

This paper introduces robust trajectory planner for obstacle and singularity avoidance in a nonresonant robot manipulator. In this work, we propose new trajectory generator in cartesian space by use of Bezier function. Also, SR-inverse is used for obstacle and singularity avoidance of nonredundant robot. This result is verified with 3-D simulator which has been developed to examine the effectiveness of the suggested method.

• Journal of Ocean Engineering and Technology
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• v.12 no.1
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• pp.3-9
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• 1998

According to the developement of cities, electric wires and commuinication lines which are currently above the ground effect on the bad. Nowadays, it is necessary to build up underground facilities because the construction is increasing. Excavation work has been dominant even though the inconvenient things occurred, for example a civil appeal, a traffic obstacle, safety and spoiling the fine view because of the cost or period of the construction work. But the congestion of cities are more and more serious. Therefore shield-method is the way to escape from congestion. I considered all the construction fields which are in progress or finished.

• Journal of the Korea Safety Management & Science
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• v.5 no.4
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• pp.13-20
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• 2003

The purpose of this study is to know the status of prevention on health obstacle in industries with confined space. Total 190 respondents, 95 safety or health managers and 95 confined space workers from 95 industries with confined space are surveyed by hygienists from April 2003, to July 2003. The contents of survey include health-work program in confined space, instrument of oxygen sampling, equipment of ventilation, safety and health education, watching manager, head count, awakening of risk, air condition and emergency training. The results are as follows: 1. It is found 38% of respondents established health-work program in confined space. The percentage of respondents with instrument of oxygen sampling and equipment of ventilation, operation of safety and health education, posting of watching man and operation of head count are 42%, 35%, 75%, 46% and 56%, respectively. 2. The percentage of awakening of risk, confirm of air condition and operation of emergency training are 36%, 25% and 15%, respectively.