• Journal of Mechanical Science and Technology
• /
• 제18권1호
• /
• pp.92-105
• /
• 2004

A new algorithm for planning a collision-free path based on algebraic curve is developed and the concept of collision-free Path Space (PS) is introduced. This paper presents a Geometry Mapping (GM) based on two straight curves in which the intermediate connection point is organized in elliptic locus ($\delta$, $\theta$). The GM produces two-dimensional PS that is used to create the shortest collision-free path. The elliptic locus of intermediate connection point has a special property in that the total distance between the focus points through a point on ellipse is the same regardless of the location of the intermediate connection point on the ellipse. Since the radial distance, a, represents the total length of the path, the collision-free path can be found as the GM proceeds from $\delta$=0 (the direct path) to $\delta$=$\delta$$\_$max/(the longest path) resulting in the minimum time search. The GM of elliptic workspace (EWS) requires calculation of interference in circumferential direction only. The procedure for GM includes categorization of obstacles to .educe necessary calculation. A GM based on rectangular workspace (RWS) using Cartesian coordinate is also considered to show yet another possible GM. The transformations of PS among Circular Workspace Geometry Mapping (CWS GM) , Elliptic Workspace Geometry Mapping (EWS GM) , and Rectangular Workspace Geometry Mapping (RWS GM), are also considered. The simulations for the EWS GM on various computer systems are carried out to measure performance of algorithm and the results are presented.

• 한국건설관리학회논문집
• /
• 제14권5호
• /
• pp.175-187
• /
• 2013

건설프로젝트에서는 다양한 참여자들이 제한된 공간에서 각자의 작업공간을 차지하며 작업을 수행한다. 작업공간에 대한 부적절한 계획은 건설프로젝트의 생산성 감소, 작업 위험 증가 및 품질 저하 등의 문제로 이어지기 때문에 작업공간은 건설프로젝트에서 고려하여야 할 중요한 요소 중 하나이다. 그러나 기존의 건설프로젝트 공사 계획 수립을 위한 방법들은 건설프로젝트에서의 작업공간을 고려하지 못하는 한계가 있었다. 따라서 본 연구에서는 체계적이지 못한 작업공간 계획으로 인하여 발생하는 작업공간 간섭 문제를 예방하기 위하여 4D BIM(Building Information Model) 기반의 작업공간 계획 프로세스를 제안한다. 제안된 프로세스는 각 작업공간의 특성과 공사수행계획을 반영하여 각 액티비티의 작업공간 점유상태를 표현하고 이를 바탕으로 발생 가능한 작업공간 간섭을 발견한다. 또한 각 액티비티와 작업공간의 특성 그리고 공사수행계획 등을 고려하여 발견된 작업공간 간섭에 대한 해결책을 도출한다. 본 연구의 결과를 바탕으로, 프로젝트 관리자는 본 공사 수행 이전에 공사에 필요한 작업공간을 미리 계획함으로써 서로 다른 액티비티 작업공간 사이의 간섭을 예방하고 건설프로젝트에서의 불필요한 손실을 예방할 수 있다.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2005년도 심포지엄 논문집 정보 및 제어부문
• /
• pp.252-254
• /
• 2005

Completer coverage path planning requires the robot path to cover every part of the workspace, which is an essential issue in cleaning robots and many other robotic applications such as vacuum robots and painter robots. In this paper, a novel Water Flowing Algorithm (WFA) is proposed for cleaning robots to complete coverage path planning in unknown environment without obstacles. The robot covers the whole workspace just like that water fills up a container. First the robot goes to the lowest point in the workspace just like water flows to the bottom of the container. At last the robot will come to highest point in the workspace just like water overflows from the container and simultaneously the robot has covered the whole workspace. The computer simulation results show that the proposed algorithm enable the robot to plan complete coverage paths.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1998년도 하계학술대회 논문집 G
• /
• pp.2318-2320
• /
• 1998

A genetic algorithm for global and local path planning and collision avoidance of mobil robot in unstructured workspace is proposed. The genetic algorithm searches for a path in the entire and continuous free space and unifies global path planning and local path planning. The simulation shows the proposed method is an efficient and effective method when compared with the traditional collision avoidance algorithms.

• 설비공학논문집
• /
• 제17권8호
• /
• pp.704-713
• /
• 2005

The purpose of this study is to suggest the concept of an integrated unit and to develop integrated units considering the layout of luminaires and diffusers in workspace. An integrated unit can be defined as a planning unit which satisfies the environment comfort criteria of workspace. Integrating process of each unit was proposed by considering the current workspace planning process. Luminaire and diffuser types are classified by surveying the workspace of the domestic and foreign office buildings. Several lighting units and air-conditioning units were developed by visual and thermal simulation, and integrated units for various architectural module which satisfies the visual and thermal comfort criteria were drawn from those units.

• 국제학술발표논문집
• /
• The 5th International Conference on Construction Engineering and Project Management
• /
• pp.163-168
• /
• 2013

A construction workspace is considered as a critical factor to secure constructability and safety of a project. Specially, optimized size of each workspace helps to minimize any conflicts between workspaces, works and resources within a workspace in the construction site. However, since an existing method for making a decision workspace's size depends on generally experiences of managers and work conditions of activity, it is difficult to perform safe works considering feasible workspace size. The workspace size is changed according to the quantity of resources allocated into each activity as time progresses. Accordingly, it is desirable that optimized workspace size considering input size of resources is determined. To solve these issues, this study configures an optimized model for deciding standard size of workspaces by simple regression analysis and develops a visualized scenario model for simulating the optimized workspace shape in order to support BIM (Building Information Modeling) environment. For this, this study determines an optimized resource shape size considering maximum working radius of each resource and constructs its visual model. Subsequently, input size of resources for each activity is estimated considering safety execution area of resources and workspaces. Based on this, an optimized 3D workspace shape is generated as a VR simulation model of a BIM system based on the suggested methodologies. Moreover, operational feasibility of the developed system is evaluated through a case study for a bride project. Therefore, this study provides a visualized framework so that project managers can establish an efficient workspace planning in BIM environment. Besides, it is expected that constructability, productivity and safety of the project will be improved by minimizing conflicts between workspace and congestions between resources within a workspace in the construction phase.

• 한국지능시스템학회논문지
• /
• 제19권1호
• /
• pp.108-114
• /
• 2009

본 논문에서는 3차원 작업 환경에서 휴머노이드 로봇의 행동 프리미티브를 이용한 행동 계획 방법을 제안하였다. 또한 휴머노이드 로봇이 효과적으로 다양한 작업을 수행하기 위하여 행동 프리미티브를 정의하였다. 행동 프리미티브를 이용함으로써 다양한 장애물을 갖는 복잡한 작업 환경에서 로봇에 장착한 센서로 외부 환경 정보를 받아들이고 이를 이용하여 실시간 대응 및 작업이 가능하도록 하였다. 제안한 행동 계획방법은 임베디드 비전 시스템을 사용한 휴머노이드 로봇을 실제 제작하여 실험을 통해 성능을 검증하였다.

• 설비공학논문집
• /
• 제17권7호
• /
• pp.669-680
• /
• 2005

The purpose of this study is to develop the air-conditioning unit combined with the lighting unit for workspace and to supply its performance data at architectural design stage. The air-conditioning unit is one of the components of a workspace integrated unit, which can be defined as the planning unit satisfying the environmental comfort criteria of workspace. Air-conditioning diffusers are classified according to throws and features by literature review and case study. Then diffusers are combined with the lighting unit. Through the CFD simulation, the thermal performance of each unit was evaluated and finally various air-conditioning units combined with the lighting units were developed.

• International Journal of Control, Automation, and Systems
• /
• 제2권1호
• /
• pp.107-117
• /
• 2004

A new algorithm for planning a collision-free path based on an algebraic curve as well as the concept of path space is developed. Robot path planning has so far been concerned with generating a single collision-free path connecting two specified points in a given robot workspace with appropriate constraints. In this paper, a novel concept of path space (PS) is introduced. A PS is a set of points that represent a connection between two points in Euclidean metric space. A geometry mapping (GM) for the systematic construction of path space is also developed. A GM based on the 2$^{nd}$ order base curve, specifically Bezier curve of order two is investigated for the construction of PS and for collision-free path planning. The Bezier curve of order two consists of three vertices that are the start, S, the goal, G, and the middle vertex. The middle vertex is used to control the shape of the curve, and the origin of the local coordinate (p, $\theta$) is set at the centre of S and G. The extreme locus of the base curve should cover the entire area of actual workspace (AWS). The area defined by the extreme locus of the path is defined as quadratic workspace (QWS). The interference of the path with obstacles creates images in the PS. The clear areas of the PS that are not mapped by obstacle images identify collision-free paths. Hence, the PS approach converts path planning in Euclidean space into a point selection problem in path space. This also makes it possible to impose additional constraints such as determining the shortest path or the safest path in the search of the collision-free path. The QWS GM algorithm is implemented on various computer systems. Simulations are carried out to measure performance of the algorithm and show the execution time in the range of 0.0008 ~ 0.0014 sec.

• 전자공학회논문지SC
• /
• 제49권2호
• /
• pp.63-70
• /
• 2012

본 논문에서는 3차원 공동 작업 공간에서 다중 무인항공기의 협동 작업을 위한 확장 충돌 지도 기반 무 충돌 비행 계획 기법을 제안한다. 먼저 무인항공기는 회전과 같은 3차원 움직임을 고려해 구로 모델링하였다. 공동 작업 영역에 진입 후 진출할 때까지 무인 항공기는 직선 경로를 따라 이동하고 모든 무인 항공기의 우선순위는 미리 정해져 있다고 가정한다. 가정에 따라 3차원에서 정의된 구와 구 사이의 충돌 검출 문제를 2차원에서 정의된 원과 직선 사이의 충돌 검출 문제로 축소할 수 있다. 원과 직선 사이의 충돌영역은 계산의 편의성과 안전성을 위해 충돌사각형으로 근사화 하였다. 이렇게 정의된 충돌사각형을 이용하여 무인 항공기들 간의 충돌을 회피할 수 있도록 각 무인 항공기의 공동 작업 공간 진입 시간을 조율한다. 이와 같은 방법으로 모든 무인 항공기는 공동 작업 공간에 진입해서 진출할 때까지 서로 간에 충돌 없이 이동 할 수 있게 된다. 제안된 무충돌 비행 계획의 효율성을 증명하기 위해 12대의 무인 항공기를 이용한 시뮬레이션을 수행하였다.