• 한국생산제조학회지
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• 제24권1호
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• pp.98-102
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• 2015

This paper proposes an autonomous navigation method for a nonholonomic mobile robot, based on the generalized Voronoi diagram (GVD). We define the look-ahead point for a given motion constraint to determine the direction of motion, which solves the problem of a minimum turning radius for the real nonholonomic mobile robot. This method can be used to direct the robot to explore an unknown environment and construct smooth feedback curves for the nonholonomic robot. As the trajectories can be smoothed, the position of the robot can be stabilized in the plane. The simulation results are presented to verify the performance of the proposed methods for the nonholonomic mobile robot. Furthermore, this approach is worth drawing on the experience of any other mobile robots.

• 국제학술발표논문집
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• The 6th International Conference on Construction Engineering and Project Management
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• pp.328-332
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• 2015

By logging position data from GPS-equipped construction machines, we re-create daily activities as 3D animations to analyze performance and facilitate look-ahead scheduling. The 3D animation enables going back to any point in time and space to observe the activities as they took place. By segmenting data into a set of activities, it is possible to obtain actual measures of performance such as cycle times, production, speed profiles and idle times. The measures of performance can then be compared to those expected (e.g., theoretical speed profiles vs. observed profiles), and instances of significant difference can be flagged for further investigation. Idle times and queues that exceed prescribed thresholds can also be identified. In general, many of the traditional real-time performance analyses can be performed after the fact. Situations of interest can be identified automatically and the events in this manner enhances effective performance improvement in construction. The proposed research is explained and demonstrated using a real push-loaded earthmoving operation.

• 한국정밀공학회지
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• 제24권10호
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• pp.64-74
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• 2007

Because of the size and environment in the shipbuilding process, the portable type robot is required for the automatic seam tracking. For this reason, the structure of laser sensor should be considered in the initial design step and the coordinate transformation between welding robot and laser sensor, which is joint finder, must be identified exactly and the real time tracking algorithm based on these consideration could be developed. In this research, laser displacement sensor in which its structure is laser beam's vertical projection, is developed to recognize the location of weld joint. In practical applications, however, images of weld joints are often degraded because of the surface specularity or spatter. To overcome the problem, the constrained joint finding algorithm is proposed. In the approach of coordinate conversion rule for the visual feedback control among welding torch, robot body and laser sensor is applied by the same reference point method. In the real time seam tracking algorithms we propose constrained sampling method which uses look ahead distance. The RLS(Recursive Least Square) filter is applied to obtain the smooth tracking path from the sensitive edge data. From the experimental results, we could see the possibility that the developed laser sensor with proposed processing algorithm and real time seam tracking method can be used as a welding under the shipbuilding condition.

• 한국지능시스템학회논문지
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• 제17권4호
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• pp.563-568
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• 2007

본 논문은 가중 퍼지소속함수 기반 신경망(Neural Network with Weighted Fuzzy Membership Functions, NEWFM)을 이용하여 클래스의 분류강도를 구하고 비선형 시계열 추이선을 예측하는 방안을 제안하고 있다. NEWFM에 의하여 추출된 가중퍼지 소속함수(BSWFM)를 이용하여 입력값에 대한 분류강도를 구하게 되고, 이들에 대한 가중평균 역퍼지화를 통하여 비선형 시계열 추이선을 작성한다. 실증분석결과 NEWFM은 목표 클래스로 설정된 GDP에 대하여 92.22%의 분류성능을 보여 주었다. 따라서 동 비선형 시계열 추이선은 대표적인 경기지표인 GDP 추이에 비교적 높은 유사도를 나타내는 가운데 분석대상기간인 제5순환기-제8순환기 중 정점(peak)에서 평균 12개월, 저점(trough)에서 평균 6개월의 선행성(look-ahead)을 보여 줌으로써 경기변동에 앞서 상당기간의 시차를 둔 예측지표로서 활용가능성이 입증되었다. NEWFM은 그 특징선택(feature selection)에 의하여 선행지표 10개 중 3개의 축소를 기할 수 있게 해 줌으로써 보다 적은 수의 경제지표를 가지고도 분류성능을 90.0%에서 92.22%로 향상을 기하는 가운데 효율적인 예측기능을 수행할 수 있음이 입증되었다.

• 한국의류학회지
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• 제28권11호
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• pp.1395-1403
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• 2004

Exposure and Concealment have been continued as important way to express fashion and theme as well, especially in women fashion. Exposure can make themselves attractive, and concealment emphasizes this way of being attractive by exposure. Besides the temptable effect of exposure, the ideology which put women next men in society has made a prominence on the fact exposure is significant theme in women fashion. It means that women's image of 'Being seen as Object' (this can be explained by relation passive between active) in society has driven female emphasize in using and focusing on exposure to be attractive. Also the other important thing in women fashion has been considered is concealment. The fact that society has demand women more chaste duty in detail may have meaningful thing in the condition that instigates women take off being attractive to the subject, considering ideology, men. Therefore attractive femininity has to be suggested by virtue and temptation, it is common sense that looking just shallow or too strict are far from criteria of ideal beauty. Namely, the concept for exposure coexists with concealment not only constructively but also naturally in fashion. Technique that can be accentuate for effective exposure differently from method to show unilaterally is needed, and this technique can promote new fashion. And according to the theory of Freud, women means' Absence (lacking penis)', this female's Lack Image induces male castration complex therefore 'Fetishistic Look' which transfers something phallic into specific things or parts of body is adopted, sort of object cathexis. This is revealed as some parts of women body are diverted into object for sexual love, symbolic equivalent. For example, women's parts like legs or breast are remarked as erotogenic zone and as time goes, when no more the zone are felt sexual by exposure, other somewhere felt mysterious (felt something sexual) used to be stressed by exposing. As it were, it can be possible that exposing part on women body (sexual part) moved as time passed because of what previously stated. Especially, the concept of exposure and concealment in women fashion should explain not only from a point of view of style for the beautifulness but also from wearer's immanent intention, further more relationship with ideology. About the present situation becoming bolder in women fashion, it is said that women express confidence as the position of women is elevated higher socially, the more women get freedom. But if we consider this psychoanalysis opinion mentioned ahead, the possibility can not be excluded that the exposure can get emphasizing according as the need of feminine modesty gets decreasing from ideal femininity society, men want. This study about exposure and concealment was made progressed through the theory of Freud who originated psychoanalysis, presented many theories. But nowadays contradictions are being brought up against Freud's theory including conventional philosophy like male chauvinism and adjust studies get suggested. Hereupon, there may be limitation in making no allowance of contradiction and following his theory.

• 대한의료기공학회지
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• 제2권2호
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• pp.185-199
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• 1998

Going back to long chinese medical history, there were many different methods of treatment according to the origin of local chinese areas, such as Bian-Shi(?石) from east, herbal therapy from west, acupuncturing from south, moxibustion from north, and mainpulating therapy from middle china. In the midst of these therapies, acupuncture needling had developed very much both in theories, shapes, usages and also in theraputic boundray. Historical books dealing with acupuncture had introduced and used Jiu-Zhen as a tool for acupuncture needling in common. But there are some differences between each texts about in shape, use, and there are also another different point of view about the interrelationship between Bian-Shi and Ji-Zhen. So the author, in this research, tried to look for how Jiu-Zhen had took on its real kinds, adaptive usages, theraputic boundaries, many different skills of needing. By researching over ${\ulcorner}$ Ling-Shu, Jiu-Zhen(靈樞,九鍼)${\lrcorner}$, ${\ulcorner}$ Ling-Shu, Jiu-Zhen-Shi- Yi-Yuan(靈樞,九鍼十二原)${\lrcorner}$, ${\ulcorner}$ Ling-Shu, Guan-Zhen(靈樞,官鍼)${\lrcorner}$, and by compar- ing them with the contents of Jiu-Zhen in ${\ulcorner}$ Zhen-Jiu-Yi-Jing(鍼灸甲乙經)${\lrcorner}$ ${\ulcorner}$Zhen-Jiu-Da-Cheng (鍼灸大成)${\lrcorner}$, the author discovered small conclusions such as following. 1. Taking Jiu-Zhen in a narrow sense, it only repesents nine different needle used in different cases. But in large sense, this means nine different deedling methods using each different needles which is represented in the form of Wu-Ci ( 五剌 ), Shi-Yi-Ci ( 十二剌 ) in ${\ulcorner}$ Ling-Shu, Guan-Zhen ${\lrcorner}$ 2. Jin-Zhen has been first originated from stone age as a substitute for Bian-Shi and through bronze and iron age, it followed a process of it's own shape and applicating functions. As an example, the moxibustional therapies shown in ${\ulcorner}$ Zu-Bi-Shi-Yi-Mai- Jiu-Jing ( 足臂十一脈灸經 )${\lrcorner}$ ${\ulcorner}$ Yin-Yang-Shi-Yi-Mai-Jiu-Jing ( 陰陽十一脈灸經)${\lrcorner}$ in ahead of ${\ulcorner}$ Nei-Jing ( 內經 )${\lrcorner}$ era, was relationship in acupuncturing skills and shape. So Jiu-Zhen had been originated on the base of Bian-Shi in ancient times to develop into delicate shape, skill, and theraputic foundation of modern oriental medicine.