• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2001.04a
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• pp.244-249
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• 2001

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.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.10a
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• pp.113-118
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• 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 Semiconductor & Display Technology
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• v.10 no.4
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• pp.21-23
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• 2011

Uniformity of plasma etching processes critically depends on the wafer temperature and its distribution. The wafer temperature is affected by plasma, chucking force, He back side pressure and the surface temperature of ESC(electrostatic chuck). In this work, 3D mathematical modeling is used to investigate the influence of the geometry of coolant path and the temperature distribution of the ESC surface. The model that has the coolant path with less change of the cross-sectional area and the curvature shows low standard deviation of the ESC surface temperature distribution than the model with the coolant path of the larger surface area and more geometric change.

• Journal of Information Processing Systems
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• v.13 no.1
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• pp.104-113
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• 2017

In this paper, we present an approach to transmit data from the source to the destination through a minimal path (least-cost path) in a computer network of n nodes. The motivation behind our approach is to address the problem of finding a minimal path between the source and destination. From the work we have studied, we found that a Steiner tree with bounded Steiner vertices offers a good solution. A novel algorithm to construct a Steiner tree with vertices and bounded Steiner vertices is proposed in this paper. The algorithm finds a path from each source to each destination at a minimum cost and minimum number of Steiner vertices. We propose both the sequential and parallel versions. We also conducted a comparative study of sequential and parallel versions based on time complexity, which proved that parallel implementation is more efficient than sequential.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1996.06c
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• pp.638-647
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• 1996

Robot manipulators for harvesting fruits must be controlled to track the desired path of end-effector to avoid obstacles under the consideration of collision free area and safety path. This paper presents a robot path control algorithm to secure a collision free area with the recognition of work environments. The flexible space, which does not damage fruits or branches of tree due to their flexibility and physical properties , extends the workspace. Now the task is to control robot path in the extended workspace with the consideration of collision avoidance and velocity limitation at the time of collision concurrently. The feasibility and effectiveness of the new algorithm for redundant manipulators were tested through simulations of a redundant manipulator for different joint velocities.

• Nuclear Engineering and Technology
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• v.53 no.11
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• pp.3505-3516
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• 2021

During nuclear facility decommissioning, workers are continuously exposed to high-level radiation. Hence, adequate path planning is critical to protect workers from unnecessary radiation exposure. This work discusses recent development in radioactive path planning and the algorithms recommended for the task. Specifically, we review the conventional methods for nuclear decommissioning path planning, analyze the techniques utilized in developing algorithms, and enumerate the decision factors that should be considered to optimize path planning algorithms. As a major contribution, we present the quantitative performance comparison of different algorithms utilized in solving path planning problems in nuclear decommissioning and highlight their merits and drawbacks. Also, we discuss techniques and critical consideration necessary for efficient application of robots and robotic path planning algorithms in nuclear facility decommissioning. Moreover, we analyze the influence of obstacles and the environmental/radioactive source dynamics on algorithms' efficiency. Finally, we recommend future research focus and highlight critical improvements required for the existing approaches towards a safer and cost-effective nuclear-decommissioning project.

• Journal of KIISE:Databases
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• v.28 no.3
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• pp.449-457
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• 2001

As XML has become an emerging standard for information exchange on the World Wide Web, it has gained attention in database communities to extract information from XML seen as a database model. XML queries are based on regular path queries, which find objects reachable by given regular expressions. To answer many kinds of user queries, it is necessary to evaluate queries that have multiple regular path expressions. However, previous work such as query rewriting and query optimization in the frame work of semistructured data has dealt with a single regular expression. For queries that have multiple regular expressions we suggest a two phase optimizing technique: 1. query rewriting using views by finding the mappings from the view's body to the query's body and 2. for rewritten queries, evaluating each query conjunct and combining them. We show that our rewriting algorithm is sound and our query evaluation technique is more efficient than the previous work on optimizing semistructured queries.

• Journal of Drive and Control
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• v.19 no.4
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• pp.19-28
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• 2022

This paper introduces an automatic steering system for straight traveling capable of being mounted on drivable agricultural machinery which user can handle it such as a tractor, a transplant, etc. The modular automatic steering device proposed in the paper is composed of RTK GNSS, IMU, HMI, hydraulic valve, and wheel sensor. The path generation method of the automatic steering system is obtained from two location information(latitude and longitude on each point) measured by GNSS in advance. From HMI, a straight path(AB line) can be created by connecting latitude and longitude on each point and the device makes the machine able to follow the path. During traveling along the reference path, it acquires the real time position data every sample time(0.1s), compares the reference with them and calculates the lateral deviation. The values of deviation are used to control the steering angle of the machine using hydraulic valve mounted on the axle of front wheel. In this paper, Pure Pursuit algorithm is applied used in autonomous vehicles frequently. For the analysis of traveling characteristics, field tests were executed about these conditions: velocity of 2, 3, 4km/h which is applied to general agricultural work and ground surface of solid(asphalt) and weak condition(soil) such as farmland. In the case of weak ground state, two experiments were executed about no-load(without work) and load(with work such as plowing). The maximum average deviations were presented 2.44cm, 7.32cm, and 11.34cm during traveling on three ground conditions : asphalt, soil without load and with load(plowing).

• Journal of the Korea Convergence Society
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• v.9 no.10
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• pp.477-485
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• 2018

The purpose of this study was conducted to investigate the influencing factors on foreign workers's work-life balance and provide guidelines for interventions and strategies to increase work-life balance in foreign workers. This study was a secondary data analysis from the $4^{th}$ Korean Working Conditions Survey(KWCS). The sample included 179 foreign workers. Data were analyzed using SPSS 22 and AMOS 22. As a results, the hypothetical path model was a good fit. In the path analysis, health status, social support, work time, job satisfaction had statistically significant effects on foreign workers's work-life balance and these variables explained 24.9% of work-life balance. These results reveal the predictors of work-life balance in foreign workers. Therefore, we need the active support for work-life balance predictors.

• Journal of the Korea Safety Management & Science
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• v.17 no.3
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• pp.247-263
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• 2015

This study seeks to identify effects derived from emotional labor in the distribution industry, and draw ways to systematically manage the employees by exploring effects of the emotion work on performance. For the purpose, literature reviews and empirical experiments were conducted to find out effects of emotional labor and false face acting on emotion work and organizational performance and effects of social support and job autonomy on the relationship between emotion work and organizational performance. To verify the hypothesis, we conducted a hierarchical regression analysis and structural equation model analysis using SPSS 20 and AMOS19. The result of the verification in this study is as follows: First, effects of emotional labor on burnout was found to be statistically significant, second, as for the path-coefficient for "emotional labor ${\rightarrow}$ emotion work" and "emotional labor ${\rightarrow}$ job satisfaction" was not statistically significant, while the path-coefficient for "emotional labor ${\rightarrow}$ service level" was found to be statistically significant. Third, effects of emotion work on job satisfaction was found statistically significant, fourth, emotion work on the service level was found statistically significant, fifth, effects of false face acting on emotion work was found statistically significant, sixth, effects of false face acting on burnout was statistically significant, seventh, moderating were found statistically significant and lastly, moderating effects of the relationship between emotion work from job autonomy and organization performance was not verified in job satisfaction, while emotion work, job autonomy, and interaction variable in service level were statistically significant.