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

• Journal of The Korea Institute of Healthcare Architecture
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• v.21 no.3
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• pp.25-35
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• 2015

Purpose: Signs that are installed at unnoticeable places or that disconnect before the destination can bring errors of location information delivery. Therefore, this study aims to find out the spatial relation between structure of space and signs in the perspective of visual exposure possibility, operating arrangement and assesment by applying spatial structure theory. Methods: Effectiveness of organization of guidance signs was evaluated after the four way-finding factors(Plan Configuration, Sign System, Perceptual Access, Architectural Difference) that G.D.Weisman suggested were interpreted by spatial structure theory(J-Graph analysis, Space Syntax, Visual Graph Analysis) under the premise that it is closely related to the structure of space. Results: 1) Because the south corridor that connects each department of outpatient division is located in the hierarchy center of the space, and walking density is expected to be high, guidance signs need to be organized at the place with high integration value. 2) The depth to the destination space can be estimated through J-Graph analysis. The depth means a switch of direction, and the guidance signs are needed according to the number. 3) According to visibility graph analysis, visual exposure can be different in the same hierarchy unit space according to the shape of the flat surface. Based on these data, location adjustment of signs is possible, and the improvement effect can be estimated quantitatively. Implications: Spatial structure theory can be utilized to design and evaluate sign systems, and it helps to clearly understand the improvement effect. It is desirable to specify design and estimation of sign systems in the order of J-Graph analysis${\rightarrow}$Space Syntax Theory${\rightarrow}$visibility graph analysis.

• Journal of Internet Computing and Services
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• v.8 no.6
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• pp.135-144
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• 2007

Feature models are widely used in domain engineering phase of software product lines development to model the common and variable concepts among products. From the feature model, the feature configurations are generated by selecting the features to be included in target product. The feature configuration represents the requirements for the specific product to be implemented. Although there are a lot of researches on how to build and use the feature models and feature configurations, the researches on the formal semantics and reasoning of them are rather inactive. This paper proposes the feature configuration verification approach based on JESS, java-based rule-base system. The Graph Product Line, a standard problem for evaluating the software product line technologies, is used throughout the paper to illustrate this approach. The approach in this paper has advantage of presenting the exact reason causing inconsistency in the feature configuration. In addition, this approach should be easily applied into other software product lines development environments because JESS system can be easily integrated with Java language.

• Nuclear Engineering and Technology
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• v.51 no.2
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• pp.444-452
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• 2019

To assess the availability of a nuclear power plant's dynamic systems, it is necessary to consider the impact of dynamic interactions, such as components, software, and operating processes. However, there is currently no simple, easy-to-use tool for assessing the availability of these dynamic systems. The existing method, such as Markov chains, derives an accurate solution but has difficulty in modeling the system. When using conventional fault trees, the reliability of a system with dynamic characteristics cannot be evaluated accurately because the fault trees consider reliability of a specific operating configuration of the system. The dynamic reliability graph with general gates (DRGGG) allows an intuitive modeling similar to the actual system configuration, which can reduce the human errors that can occur during modeling of the target system. However, because the current DRGGG is able to evaluate the dynamic system in terms of only reliability without repair, a new evaluation method that can calculate the availability of the dynamic system with repair is proposed through this study. The proposed method extends the DRGGG by adding the repair condition to the dynamic gates. As a result of comparing the proposed method with Markov chains regarding a simple verification model, it is confirmed that the quantified value converges to the solution.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2021.05a
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• pp.22-24
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• 2021

This paper is a proposal for edge weight prediction using neural networks to graph configurations of nodes and edges. Brand is one of the components of society. and one of the brand's most important strategies is geographical location strategy. This paper is focus on that strategy. In This paper propose two things: 1) Graph Configuration. node consists of brand store, edge consists of store-to-store relationships and edge weight consists of actual walk and drive distance values. 2) numbering edges and training neural networks to predict next store distance values. It is expected to be useful in analyzing successful brand geographical location strategies.

• Journal of Korean Elementary Science Education
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• v.31 no.3
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• pp.386-397
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• 2012

The purpose of this study was to find a way to improve the science textbook graph through analyzing teachers' interpretation process with eye movement tracking when they try to read the science textbook graph. Participants in this project were 10 elementary school teachers while bar graphs, line graphs, pie charts in 2007 revision science textbooks were used as materials. SMI (SensoMotoric Instruments)' iView X TM RED 120 Hz was used in order to collect eye movement data. Although subjects paid attention to the title of the graph at first, the consequence of the eye fixation was changed by the composition of the graph in case of the rest of areas. In particular, the flow of visual attention and fixation time were affected by the form and configuration of the graph. The diversity of graph construction caused confusion in interpreting graphs; the manner of presenting title, the difference of background colors, size of characters, the name of X-axis and Y-axis. Out results showed that the conformation of graphs as well as the presentation of each factor should be composed in accordance with the educational purpose for helping users to easier understanding.

• Journal of Korean Institute of Industrial Engineers
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• v.22 no.4
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• pp.579-588
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• 1996

The purpose of this paper is to develop a method of Collision-Free Path Planning (CFPP) for an articulated robot. First, the configuration of the robot is built by a set of robot joint angles derived from robot inverse kinematics. The joint space, that is made of the joint angle set, forms a Configuration space (Cspcce). Obstacles in the robot workcell are also transformed into the Cobstacles using slice projection method. Actually the Cobstacles means the configurations of the robot causing collision with obstacles. Secondly, a connected graph, a kind of roadmap, is constructed by the free configurations in the Cspace, where the free configurations are randomly sampled from a free Cspace immune from the collision. Thirdly, robot paths are optimally determinant in the connected graph. A path searching algorithm based on $A^*$ is employed in determining the paths. Finally, the whole procedures for the CFPP method are shown for a proper articulated robot as an illustrative example.

• Journal of the Chungcheong Mathematical Society
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• v.19 no.4
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• pp.403-408
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• 2006

A pebbling move on a connected graph G is taking two pebbles off of one vertex and placing one of them on an adjacent vertex. The domination cover pebbling number ${\psi}(G)$ is the minimum number of pebbles required so that any initial configuration of pebbles can be transformed by a sequence of pebbling moves so that the set of vertices that contain pebbles forms a domination set of G. We determine the domination cover pebbling number for fans, fuses, and pseudo-star.

• Proceedings of the Korean Information Science Society Conference
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• 2002.10c
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• pp.727-729
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• 2002

가시화 그래프(visibility graph, Vgraph)는 로봇의 경로를 계획할 때, 최적의 경로를 구하기 위해 널리 이용되는 지도접근 방식중의 하나이다. 원래 Vgraph는 다각형으로 모델링된 로봇이 다각형 환경의 평면상에서 움직일 때 움직이는 로봇을 점으로 환산한 환경인 형상공간(configuration space, C-공간)에서 정의되었는데 이를 원형 로봇 혹은 일반화 다각형(generalized polygon) 환경으로 확장한 것이 일반화 가시화 그래프(GVgraph)이다. 본 논문에서는 기존의 다각형 환경에서 정의된 Vgraph를 형성하는 알고리즘과 동일한 시간복잡도로 GVgraph를 구현하는 알고리즘을 소개하고 미세 운동계획(fine motion planning)에 응용하는 예를 보여준다.

• International conference on construction engineering and project management
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• 2005.10a
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• pp.383-388
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• 2005

In the construction industry, complex works are carried out with significant resources under non-linear circumstances where clear concepts of project management could be of benefit to all parties and personnel involved. In this paper, we define the optimum project management configuration for construction management by using DSM (Design Structure Matrix). Furthermore DSM can be visualized as a network model, and then Graph Theory provides us the numerical results.