• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2021년도 봄 학술논문 발표대회
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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.

• 한국정밀공학회지
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• 제15권6호
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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.

• 한국컴퓨터정보학회논문지
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• 제14권11호
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• pp.31-40
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• 2009

가장 많이 활용하는 청소로봇의 청소기법은 크게 랜덤기법과 바둑판식기법으로 나눌 수 있다. 랜덤기법을 이용한 청소로봇은 장애물을 만날 때까지 직진 방향으로 청소를 수행하며, 장애물을 만나면 일정한 각도로 회전한 후 다시 직진 방향으로 청소를 수행한다. 랜덤기법은 중복적인 청소를 수행하는 문제가 빈번히 발생하며, 청소를 완료하는 데 오래 시간이 소요되는 단점이 있다. 바둑판식기법을 이용한 청소로봇은 장애물을 만날 때까지 직진 방향으로 청소를 수행하며, 장애물을 만나면 직진과 회전을 이용하여 청소가 수행되지 않은 위치로 이동하고, 이전에 청소를 수행한 방향의 반대로 청소를 수행한다. 바둑판식기법은 청소공간을 조밀하게 청소하며 진행하기 때문에 장애물이 없거나 작은 공간에서 작업 성능이 뛰어나다. 그러나 바둑판식기법으로 장애물이 있거나 복잡한 공간을 청소할 때는 청소시간이 증가한다. 그러므로 청소의 효율성을 증가시키기 위해서는 작업공간을 정확히 파악하여 청소를 계획적으로 진행해야 한다. 본 논문에서 제안한 가상지도 기반 청소로봇은 작업공간을 효율적으로 청소하는 특성을 갖는다. 시뮬레이션을 통해 제안한 기법의 효율성을 측정하였다.

• 문화기술의 융합
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• 제8권5호
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• pp.219-228
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• 2022

본 연구는 성인대학생이 대학생활적응에서 경험하는 장애가 무엇인지 탐색하는 것을 목적으로 한다. 이를 위해 대구·경북지역 대학에 재학하고 있는 성인대학생 32명을 대상으로 심층면담을 수행하였다. 연구를 위해 Colaizzi의 현상학적 연구방법을 사용하고 분석하였다. 연구결과는 8개의 주제로 범주화하여, 개인성향장애, 학습능력장애, 인간관계장애, 사회적인식장애, 시간적장애, 경제적장애, 대학환경장애, 학사운영장애 등이 도출되었다. 이상의 연구결과를 통해 기존의 일반대학생을 중심으로 운영되고 있는 대학환경은 다양한 연령과 경험, 일·학습을 병행하는 성인대학생에게 다양한 형태의 장애로 표현되고 있음을 발견하였다. 도출된 장애요인을 기반으로 성인대학생의 대학생활적응장애를 실증적으로 탐색할 수 있는 측정도구 개발의 후속연구가 이루어지기를 기대한다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1998년도 추계종합학술대회 논문집
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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.

• 대한기계학회논문집A
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• 제21권12호
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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.

• 한국학교ㆍ지역보건교육학회지
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• 제15권1호
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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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1993년도 추계학술대회 논문집
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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.

• 한국해양공학회지
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• 제12권1호
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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.

• 대한안전경영과학회지
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• 제5권4호
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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.