• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1396-1399
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• 1996

With the progress in process automation, it becomes necessary that a robot should have various sophisticated capabilities. A robot programming language is a tool that can give a robot such capabilities without any change in robot architecture. Especially a task level automatic programming system enables a robot able to perform a job intelligently. Therefore anyone who is not an expert on welding or robot programming can easily use it. In this research, basic automatic welding program is combined with workspace information, which makes users do an arc welding job automatically.

• 제어로봇시스템학회논문지
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• 제7권1호
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• pp.1187-1195
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• 2001

This paper presents a sweeping path planning algorithm for an autonomous smearing robot. An automatic planner generates a sweeping path pattern by proposed five basic procedures. This algorithm rocog-nizes obstacle on the architectural CAD draft and generates subgoals as tracking points which executes the area filling task based on heuristic approach. A sweeping path is planned by sequentially connecting the track-ing points in such a way that(1) the connected line segments should not be crossed, (2) the total tracking points should be as short as possible, and (3) the tracking line should not pass through the obstacle, Feasibility of the developed techniques has been demonstrated on a real architectural CAD draft.

• 소프트웨어공학소사이어티 논문지
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• 제26권4호
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• pp.77-92
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• 2013

소프트웨어 프로젝트 계획 생성 과정은 (1)프로젝트를 수행하기 위한 작업 구조(WBS)를 작성하고, (2)각 작업에 필요한 공수를 예측한 뒤, (3)작업에 인력을 할당하여, (4)전체 일정을 예측하는 과정으로 이루어진다. 프로젝트의 규모가 커질수록 가능한 작업 구조, 공수, 인력 할당의 조합의 수가 급격히 많아지며 이에 따라 프로젝트 계획 생성 과정의 복잡도가 매우 높아지게 된다. 따라서 이를 지원하기 위한 프로젝트 계획 생성 지원 기법이 필요하다. 본 연구에서는 실무 전문가 그룹과의 논의를 통해 소프트웨어 프로젝트 계획 생성 지원 기법에서 고려해야 할 여러 실무 요구사항들을 도출했다. 도출된 실무 요구사항을 고려하여 개발된 프로젝트 계획 생성 지원 도구 APP(Automatic Project Planner)는 개발 조직의 과거 지식 데이터를 활용한 공수 예측을 지원하며, 실무 이슈가 고려된 자동 인력 할당을 제공한다. 본 도구를 통해 합리적이고 현실적인 프로젝트 계획의 기반을 마련할 수 있다.

• 제어로봇시스템학회논문지
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• 제18권3호
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• pp.267-274
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• 2012

We proposed the KPP (Korea university Path Planner) in our previous works. The KPP is the path planning scheme of a car-like mobile robot in parking environment. The objective of this paper is to investigate the advantage of the KPP through the quantitative and qualitative analysis compared with conventional RRT. For comparison, we proposed travel time for performance index. This paper shows that the KPP shows outstanding performances from the viewpoint of travel time and computational efficiency compared with RRT.

• Radiation Oncology Journal
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• 제4권2호
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• pp.179-181
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• 1986

최근 방사선치료영역에 있어 CT의 역할은 매우 중요시되고 있다. 종래의 병기결정 등 진단적가치 이외에도 방사선치료분야에 있어서는 환자신체의 윤곽 종양침습 범위, 인접 정상구조물의 위치, 조직불균질성의 정도 등을 정확하게 파악할 수 있고 입체적영상의 재구성도 가능하여 주위 정상조직의 손상 없이 충분한 종양치료선량을 조사하는데 있어 거의 필수이라고 까지 할 수 있다. 이와 같은 진단용 CT상은 모두 실물크기를 일정 비율로 축소시킨 영상으로 기록 및 보관되고 있는 바 방사선치료계획시 이 축소된 CT상을 치료계획용 콤퓨터에 입력할 경우 같은 CT영상일지라도 치료의사에 따라서 또 입력할 때마다 조금씩 차이가 생길 수 있음으로 이와 같은 오차를 줄이기 위하여는 실물크기의 영상이 필요하게 된다. 저자들은 축소된 CT영상을 실물크기로 확대하기 위하여 overhead projector(3M사제)와 평면거울을 부착시킨 정맥주사용 Pole을 이용하여 값싸고 간단한 장치를 고안하였으며, 이를 사용하여 쉽게 실물크기영상을 치료계획용콤퓨터 (Thenac 2000, NEC제)의 입력판위에 얻을 수 있었기에 보고하는 바이다.

• 한국정보과학회논문지:소프트웨어및응용
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• 제36권9호
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• pp.732-748
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• 2009

시맨틱 웹 서비스 기술은 상황 인지의 실현을 위한 기반 기술로 다양한 자원들을 동적이고 유연하게 상호 융합하여 새로운 서비스를 생성한다. 유비쿼터스 컴퓨팅 기술이 현실화됨에 따라 웹 서비스를 구현하려는 연구가 활발하지만, 대부분이 웹 서비스 설계자의 최초 명세에 국한된 획일화된 서비스 결과만을 초래한다. 본 논문에서는 사용자 요구와 감지한 상황의 월드 모델을 분석하여 계획 시스템에 목표와 초기 상태로 입력하고 초기 상태로부터 목표를 달성하기 위한 일련의 작업들을 계획하는 동적 서비스 제공을 위한 모델링 방법을 제안한다. 제안한 방법론은 실세계로부터 감지한 월드모델을 OWL 도메인 온톨로지를 이용하여 서술논리 기반 온톨로지 추론을 통해 상황정보(context)를 추론한다. 상황정보는 서비스 도메인을 결정하며, 이에 해당하는 OWL-S 서비스 온톨로지를 계획 시스템에서 탐색할 서비스 명세로 활용한다. 계획 시스템은 초기 상태에서 목표 상태를 만족하는 하나 이상의 서비스를 탐색하고 실행 순서를 계획한다. 이 시스템은 STRIPS 형의 역방향 탐색 시스템으로 OWL-S 서비스를 AI 전통 계획 방법론에 근거하여 합성하여, 방대한 웹 서비스의 탐색 범위를 축소한다. 또한 패턴 매칭에 의해 실행 가능한 서비스를 찾지 못한 경우, DL기반의 시맨틱 매칭을 통해 대안이 되는 서비스를 찾는다. 제안한 방법은 비교연구인 OWLS-XPlan과 동일한 시나리오로 실험하여 기존 연구의 문제점을 해결하고, 동적 서비스 실현을 위한 모델링 방법으로써 가능성을 검증한다.

• 제어로봇시스템학회논문지
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• 제10권9호
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• pp.755-762
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• 2004

In this research, EOG(Electrooculogram) signal was analyzed to predict the subject's intention using a fuzzy classifier. The fuzzy classifier is built automatically using the EOG data and evolutionary algorithms. An assistant robot manipulator in redundant configuration has been developed, which operates according to the EOG signal classification results. For automatic fuzzy model construction without any experts' knowledge, an evolutionary algorithm with the new representation scheme, design of adequate fitness function and evolutionary operators, is proposed. The proposed evolutionary algorithm can optimize the number of fuzzy rules, the number of fuzzy membership functions, parameter values for the each membership functions, and parameter values for the consequent parts. It is shown that the fuzzy classifier built by the proposed algorithm can classify the EOG data efficiently. Intelligent motion planner that consists of several neural networks are used for control of robot manipulator based upon EOG classification results.

• 대한산업공학회지
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• 제19권1호
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• pp.1-17
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• 1993

It is well known that an assembly operation is usually constrained by the geometric interference between parts. These constraints are normally presented as AND/OR precedence relationships. To find a feasible assembly sequence which satisfies the geometric constraints is not an easy task because of the TSP(Traveling Salesman Problem) nature with precedence constraints. In this paper, we developed an automated system based on Neural Network for generating feasible assembly sequences. Modified Hopfield and Tank network is used to solve the problem of AND/OR precedence-constrained assembly sequences. An economic assembly sequence can be also obtained by applying the cost matrix that contains cost-reducing factors. To evaluate the performance and effectiveness of the developed system, a case of automobile generator is tested. The results show that the developed system can provide a "good" planning tool for an assembly planner within a reasonable computation time period.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1999년도 추계학술대회 논문집 - 한국공작기계학회
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• pp.539-543
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• 1999

This paper describes a sweeping path planning algorithm for an autonomous smearing robot on commercial autoCAD system. An automatic planner generates a sweeping path pattern by proposed five basic procedures, (1) interfacing architectural CAD system, (2) off-line obstacle map building, (3) scanning the whole workspace for subgoals of sweeping line, (4) tracking sequence of the subgoals, and (5) obstacle avoiding. A sweeping path is planned by sequentially connecting the tracking points in such a way that (1) the connected line segments should be crossed, (2) the total tracking points should be as short as possible, (3) the tracking line should not pass through the obstacle. Feasibility of the developed techniques has been demonstrated on real architectural CAD draft.

• Radiation Oncology Journal
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• 제20권1호
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• pp.1-16
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• 2002

Purpose : Three dimensional conformal radiotherapy planning is being used widely for the treatment of patients with brain tumor. However, it takes much time to develop an optimal treatment plan, therefore, it is difficult to apply this technique to all patients. To increase the efficiency of this technique, we need to develop standard radiotherapy plant for each site of the brain. Therefore we developed several 3 dimensional conformal radiotherapy plans (3D plans) for tumors at each site of brain, compared them with each other, and with 2 dimensional radiotherapy plans. Finally model plans for each site of the brain were decide. Materials and Methods : Imaginary tumors, with sizes commonly observed in the clinic, were designed for each site of the brain and drawn on CT images. The planning target volumes (PTVs) were as follows; temporal $tumor-5.7\times8.2\times7.6\;cm$, suprasellar $tumor-3\times4\times4.1\;cm$, thalamic $tumor-3.1\times5.9\times3.7\;cm$, frontoparietal $tumor-5.5\times7\times5.5\;cm$, and occipitoparietal $tumor-5\times5.5\times5\;cm$. Plans using paralled opposed 2 portals and/or 3 portals including fronto-vertex and 2 lateral fields were developed manually as the conventional 2D plans, and 3D noncoplanar conformal plans were developed using beam's eye view and the automatic block drawing tool. Total tumor dose was 54 Gy for a suprasellar tumor, 59.4 Gy and 72 Gy for the other tumors. All dose plans (including 2D plans) were calculated using 3D plan software. Developed plans were compared with each other using dose-volume histograms (DVH), normal tissue complication probabilities (NTCP) and variable dose statistic values (minimum, maximum and mean dose, D5, V83, V85 and V95). Finally a best radiotherapy plan for each site of brain was selected. Results : 1) Temporal tumor; NTCPs and DVHs of the normal tissue of all 3D plans were superior to 2D plans and this trend was more definite when total dose was escalated to 72 Gy (NTCPs of normal brain 2D $plans:27\%,\;8\%\rightarrow\;3D\;plans:1\%,\;1\%$). Various dose statistic values did not show any consistent trend. A 3D plan using 3 noncoplanar portals was selected as a model radiotherapy plan. 2) Suprasellar tumor; NTCPs of all 3D plans and 2D plans did not show significant difference because the total dose of this tumor was only 54 Gy. DVHs of normal brain and brainstem were significantly different for different plans. D5, V85, V95 and mean values showed some consistent trend that was compatible with DVH. All 3D plans were superior to 2D plans even when 3 portals (fronto-vertex and 2 lateral fields) were used for 2D plans. A 3D plan using 7 portals was worse than plans using fewer portals. A 3D plan using 5 noncoplanar portals was selected as a model plan. 3) Thalamic tumor; NTCPs of all 3D plans were lower than the 2D plans when the total dose was elevated to 72 Gy. DVHs of normal tissues showed similar results. V83, V85, V95 showed some consistent differences between plans but not between 3D plans. 3D plans using 5 noncoplanar portals were selected as a model plan. 4) Parietal (fronto- and occipito-) tumors; all NTCPs of the normal brain in 3D plans were lower than in 2D plans. DVH also showed the same results. V83, V85, V95 showed consistent trends with NTCP and DVH. 3D plans using 5 portals for frontoparietal tumor and 6 portals for occipitoparietal tumor were selected as model plans. Conclusion : NTCP and DVH showed reasonable differences between plans and were through to be useful for comparing plans. All 3D plans were superior to 2D plans. Best 3D plans were selected for tumors in each site of brain using NTCP, DVH and finally by the planner's decision.