• Journal of The Korea Institute of Healthcare Architecture
• /
• v.23 no.1
• /
• pp.25-36
• /
• 2017

Purpose: The analysis of space configuration of dentistry through examining Korean dental history and comparison are necessary for the development of planning of the dental healthcare system. This study has been started in order to provide basic information for the planning of hospital architecture in dentistry. Methods: Literature review of space configuration and historical background in dentistry have been conducted. The changes of site plan and space configuration of Seoul National University, Yonsei University and Kyunghee University, School of Dentistry and Dental Hospital have been analyzed in dental history of Korea and corresponding spaces. Results: The result of this study can be summarized in three points. The first one is that space configuration of dentistry in Korea is different from that of West. The clinical treatment space had been started first and the education and research space was followed after a short interval. The second one is that the space configuration in School of Dentistry and Dental Hospital shows that dental space had differentiated and specialized to dental education and clinical space in a building. It had spatially divided and separated to the education and research complex and the dental hospital and it had a branch building. The third one is that the dental public health in Korea has not been actively applied until recently and it should be developed in a near future. Implications: It is necessary to analyze space configuration of other dental schools and their hospitals to develop the relationship between space and program in healthcare system.

• 제어로봇시스템학회:학술대회논문집
• /
• 2002.10a
• /
• pp.32.4-32
• /
• 2002

We consider inertial navigation system (INS) sensor redundancy and propose a method which uses singular value decomposition to detect and isolate faults when even two sensors have faults simultaneously. When redundant sensor configuration is given, such as symmetric configuration in INS, the range space and null space of configuration matrix are determined. We use null space of configuration matrix and define 21 reference fault vectors which include 6 one-fault vectors and 15 two-fault vectors. Measurements are projected into null space of measurement matrix and compared with 21 normalized reference fault vectors, which determines fault detection and isolation.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.904-907
• /
• 1996

In this paper, we propose an efficient collision-free path planning method of two cooperating robot manipulators grasping a common object rigidly. For given two robots and an object, the procedure is described which constructs the reduced dimensional configuration space by the kinematic analysis of two cooperating robot manipulators. A path planning algorithm without explicit representation of configuration obstacles is also described. The primary steps of the algorithm is as follows. First, we compute a graph which represents the skeleton of the free configuration space. Second, a connection between an initial and a goal configuration to the graph is searched to find a collision-free path.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2003.06a
• /
• pp.321-324
• /
• 2003

There are two steps to solve the self-collision avoidance problems for redundant manipulators. First, all links are regarded as cylinders. and then the collisions should be checked among all pairs of the links. Between two cylinders. we can get the collision information derived from the concept or configuration space obstacle in real time. Therefore. it is possible to detect the links where collisions are likely in real time by setting the risk radius which is larger than actual radius. Second. the configuration control points (CCP) should be placed at the ends of the detected links. A cost function is the sum of the distances between the CCPs. To maximize the cost function means the links go far away each other without self-collisions.

• Journal of Korean Society of Rural Planning
• /
• v.19 no.4
• /
• pp.329-338
• /
• 2013

The purpose of this study is that suggest space composition in rural village so that it can had foundations for Activation of regional community by analysis and re-organization of rural community places based on regionality and historicity. First, this study have been investigated about changes of overall space configuration and community places that has been lost or were ongoing in rural village. Factors of changes were changes in lifestyle, rural policy, social and political system, economic principles and ect. Therefore, This study focused on understanding basic principles of rural village space configuration and inherited it. Second, basic principle of the space configuration of rural village were entryway and center that improve community cohesion in the community space. This study figured out improving of "Ma-Dang" and functional mix-use community hall was important for more efficient management. Third, This study set direction according to characteristic of space configuration of each village and suggested detail plans.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.21 no.1
• /
• pp.36-41
• /
• 2011

Configuration space(C-space) including configuration obstacle(C-obstacle) is one of the most important concepts in mobile robot path planning. Using C-space and C-obstacles, the robot with different shapes and moving mechanisms can be considered as a point in the C-space. And, as a result, the collision-free path for the robot can be easily achieved. To make C-space including C-obstacle, many researchers used circular approximation method for the efficient caluculation time. This method can help us to save our time by approximating the shape of a robot as the minimum sized circle which can cover all the area of robot. But, by using the circle larger than the robot, more space are considered as the part of robot and, as a result, some obstacles which are very near each other may be considered as a combined one obstacle. To solve this problem, multi-level configuration space is proposed by this paper. This multi-level method also use the circular approximation method as the initial step. But, after finding the initial path, it will check how many obstacles are combined. And then, for each combined obstacle, more accurate C-space generation will be continued. To check the efficiency of the proposed algorithm, time for c-space generation are compared with the well-known accurate C-space generation method using various types of robot shape.

• Journal of the Korean housing association
• /
• v.12 no.4
• /
• pp.33-43
• /
• 2001

This study had a aim to present a detailed investigation of the difference between the preoccupied and occupied space in the apartment house. In this connection, this study was to analyse the space configuration of the residential space with and without furniture for 3LDK plan in the apartment housing by the comparative method. The space configuration analysis which represents results a numeral and graphical ways is based on the relation between the space and the social changes. The results of this study were as follows; There were a various width of change of the integration value which represented the space configure between the residential space with and without furniture according to the sample plans. It means that the residential space redefine by residence, though the architect design the perfect plan to be considered user.

• Journal of The Korean Digital Architecture Interior Association
• /
• v.12 no.2
• /
• pp.61-66
• /
• 2012

In space syntax, the mathmatical process to get a integration could be restrictive in understanding spatial configuration since it is based on only one behavior model. In this study, As another approach to spatial configuration analysis based on behavioral model, there is the simulation tracking analysis model that simulates the movements of human in the space and analyze them. In this study, the relationship between integration and behavioral model will be defined and the similarities and the differences between space syntax and the simulation tracking analysis model will be demonstrated. Furthermore, these two analysis models will be understood as a variety of tools that can analyze an object in multiple viewpoints.

• Journal of the Korean Institute of Rural Architecture
• /
• v.7 no.3
• /
• pp.84-92
• /
• 2005

The recent change of social environment has influence on the configuration of space for the social welfare center. And so the relation of space and function required the change of spatial configuration. The social welfare center fills the role of family welfare, domiciliary care, community organization etc. In such sence, this study explore the conditions of spatial configuration for the domiciliary and community care unit of social welfare centers in small city. For this study, it was investigated the space role and funtion, the service program, the usage characteristics, the room satisfaction of social workers. In sum, the useful data were collected, analyzed, and colligated by case study. It could be used in the design criteria of domiciliary care unit for the social welfare center in small city.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.2 no.6
• /
• pp.57-65
• /
• 1994

A collision-free path planning algorithm between an articulated robot and polyhedral obstacles using configuration space is presented. In configuration space, a robot is treated as a point and obstacles are treated as grown forbidden regions. Hence path planning problem is transformed into moving a point from start position to goal position without entering forbidden regions. For mapping to 3D joint space, slice projection method is used for first revolute joint and inverse kinematics is used for second and third revolute joint considering kinematic characteristics of industrial robot. Also, three projected 2D joint spaces are used in search of collision-free path. A proper example is provided to illustrate the proposed algorithm.