• 한국정보통신학회논문지
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• 제6권1호
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• pp.115-123
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• 2002

본 논문에서는 자율 이동로봇이 장애물을 회피하며 목표하는 지점까지의 경로를 구성하여 찾아가는 두가지 알고리즘을 제안하고자 한다. 첫째는 PC를 이용하여 영상처리를 수행하고 로봇의 이동경로를 계산해 주는 간략화 된 알고리즘이다. 둘째는 PC등의 보조수단이 없는 자율 이동로봇의 이동을 위한 복합 알고리즘이다. 첫 번째 알고리즘은 CCD카메라로부터 획득한 영상신호를 RF an선 모듈을 이용하여 PC로 보내고 PC에서 영상 전처리 과정을 거친 후, 장애물로 인식되면 회피할 제어 신호를 이동로봇으로 전송하는 것이다. 이동로봇에 탑재된 CCD카메라에서 획득한 영상 정보는 매 샘플링 시간마다 캡쳐하여 PC로 전송하면 호스트는 화면에서 장애물이 차지하는 비율을 따져서 장애물의 유무를 판별한 후 좌 혹은 우로 회전하여 장애물을 회피하고 이동한 거리를 PC로 전송하는 시스템을 구현하여 초기에 지정한 목표지점까지 로봇이 갈 수 있도록 간략한 경로를 계획하여 추적해 나가는 알고리즘을 구현해 보고자 한다. 두 번째는 이동하고자 하는 입력 영상의 환경의 조명 조건이 불연속이거나 장애물의 크기나 색상이 다른 여러 가지 그레이 레벨을 갖는 분할된 장애물이 있을 때 로봇이 자율적으로 이동하도록 하여 장애물이 나타나면 회피하여 최종 목적지를 찾아가도록 하는 알고리즘을 제안하고자 한다. 여기에서는 영상 전처리 과정과 장애물을 인식할 수 있도록 Labeling과 Segmentation을 통한 pixel의 밀도 계산이 도입된다.

• 한국군사과학기술학회지
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• 제19권6호
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• pp.779-788
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• 2016

In this paper, a global path replanning method is proposed in order to plan a global path minimizing the risk of the unmanned vehicle on the battlefield. We first introduce 4D environmental information consisting of mobility, visibility, kill, and hit attributes, and a unified threat map and a mobility map are defined by the four attributes. Using the mobility map, the unmanned vehicle can find the shortest path on the traversable area. And then taking into account the deterrent according to the type of the unmanned vehicle on the integrated threat map, the vehicle can generate a route to suppress or avoid the threat of enemy as well. Moreover, we present a waypoints bypassing method to exclude unnecessary waypoints rather than the mission point when planning paths for the multiple waypoints.

• 유통과학연구
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• 제13권6호
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• pp.11-15
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• 2015

Purpose - Robot path planning, a constrained optimization problem, has been an active research area with many methods developed to tackle it. This study proposes the use of a Rapidly-exploring Random Tree and Particle Swarm Optimizer algorithm for path planning. Research design, data, and methodology - The grid method is built to describe the working space of the mobile robot, then the Rapidly-exploring Random Tree algorithm is applied to obtain the global navigation path and the Particle Swarm Optimizer algorithm is adopted to obtain the best path. Results - Computer experiment results demonstrate that this novel algorithm can rapidly plan an optimal path in a cluttered environment. Successful obstacle avoidance is achieved, the model is robust, and performs reliably. The effectiveness and efficiency of the proposed algorithm is demonstrated through simulation studies. Conclusions - The findings could provide insights to the validity and practicability of the method. This method makes it is easy to build a model and meet real-time demand for mobile robot navigation with a simple algorithm, which results in a certain practical value for distribution environments.

• 동양고전연구
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• 제71호
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• pp.259-304
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• 2018

본고에서는 최근 5년간 번역원 번역사업에 참여한 번역인력의 진입경로와 담당 번역량의 현황을 파악하고 분석하였다. 이를 위해 번역인력의 진입경로를 '직원출신(입사)', '연구과정출신', '자격시험출신', '외부전문가'로 분류하고 연도별로 인력 수와 번역 원고량을 조사하였다. 아울러 번역인력의 1인 평균원고량도 조사하였다. 조사 분석 결과 번역원 전체 번역사업의 인력 비중은 외부전문가 - 연구과정출신 - 자격시험출신 - 직원출신의 순이고, 원고량 비중은 연구과정출신 - 외부전문가 - 자격시험출신 - 직원출신임을 밝혔다. 또한 번역원의 세부사업별 현황도 조사 분석하여 각 사업분야별 특징과 문제점을 논하였다. 역사문헌번역에서 인력 비중은 연구과정출신이 가장 크지만, 원고량 비중은 자격시험출신 비중이 가장 크고, 문집번역과 특수고전번역에서는 외부전문가의 비중이 상당하다는 점을 밝혔다. 또한 번역인력의 1인 평균원고량 분석을 통해 번역원의 번역사업이 비효율적으로 진행되고 있다고 판단하였다. 이러한 문제를 해결하기 위해 '사업계획에 의거한 번역인력 활용 계획 필요', '교점 번역위원 자격시험 개선', '전문분야 번역인력 양성과 진입경로 확대'의 세 가지 방안을 제시하였다. 이상의 방안은 각각 치밀한 분석과 연구를 통해 타당성과 실효성을 검증받아야 할 것들이지만, 번역원이 보다 체계적이고 계획적인 사업계획과 번역인력 활용계획을 수립하여 번역사업을 진행하는 데 본고가 미약하나마 도움이 되길 기대한다.

• 한국농촌건축학회논문집
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• 제16권3호
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• pp.37-44
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• 2014

This study is to clarify the actual conditions of the floor plan of middle and high schools in the rural area. Recently, many middle school and high school are remodeling the buildings and facilities based on the departmentalized classroom system. This study, through analyzing on 4 remodeling cases of middle and high schools in gyeongnam. This article discuses about the basic characteristics of the plan composition and the education programs of 4 schools. This study is showing the variation before and after remodeling and space organization types. The results of this study are summarized as follows; Home-room and home-base should be more faithfully. Various common space is needed to comfortable school life of students. In case of side corridor type plan, moving path is much needed. Sample schools took much more spaces of home base than before. This article discusses about the basic characteristics of the floor plan and the actual condition of the school facilities.

• 대한간호학회지
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• 제29권1호
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• pp.21-33
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• 1999

This study was designed to develop a basic plan for computerization of nursing records. The subjects were 7 nursing record forms, 58 charts, 23 nurses, 2 nurse managers, a nurse and computer specialist, 16 master course students and 3 professors. Data collection was conducted through questionnaire, observation and interview. The collected data were analyzed for problems, plan of improvement and needs for computerization. Based upon these results, it is recommended that nursing record computerization was needed a basic plan to integrate needs of nursing record computerization. The basic plan as fellows : 1. To illustrate a data flow path of nursing record and data dictionary that show nurse's work and record process. 2. To establish a system in order to use multi -tasking and graphic user interface. 3. To establish hardware and software in order to embody integrated management of computer based system through structured walkthrough. 4. To choose effective database management system and to achieve Log as record unit.

• 한국철도학회논문집
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• 제7권4호
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• pp.326-331
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• 2004

A routing is the path that an actual trainset follows as it moves from one train to another train in a timetable. The number of routings is equivalent to the number of trainsets required to cover the timetable. The primary factors of rolling stock requirement plan include evaluating the minimum number of routings. This can be formulated as a set partitioning problem and solved using enumeration method or column generation method. In this paper we presents an enumeration algorithm which is useful to implement the enumeration method for the rolling stock requirement plan.

• 한국정보통신설비학회:학술대회논문집
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• 한국정보통신설비학회 2008년도 정보통신설비 학술대회
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• pp.233-236
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• 2008

There are several kinds of service standards for 3G($3^{rd}$-Generation) wireless communication as WCDMA, CDMA2000 and WiBro(Wireless Broadband Internet). Especially WiBro Wave2 system is a marked currnt issue. In this paper, we describe on the cell plan tool to desgin WiBro Wave2 network. For this, we treat from basic theory to practical substance to produce new(or modified) path loss prediction model for 2.3GHz. And we explain the method how to implement new technology MIMO(Multiple Input Multiple Output) deployed in Wave2 system. Also we emphasize on the importance of LOS(Line Of Sight) analysis in WiBro network design.

• 로봇학회논문지
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• 제16권3호
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• pp.250-259
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• 2021

Path planning is one of the important technologies for automated parking. It requires to plan a collision-free path considering the vehicle's kinematic constraints such as minimum turning radius or steering velocity. In a complex parking lot, Rapidly-exploring Random Tree^* (RRT^*) can be used for planning a parking path, and Reeds-Shepp or Hybrid Curvature can be applied as a tree-extension method to consider the vehicle's constraints. In this case, each of these methods may affect the computation time of planning the parking path, path-tracking error, and parking success rate. Therefore, in this study, we conduct comparative analysis of two tree-extension functions: Reeds-Shepp (RS) and Hybrid Curvature (HC), and show that HC is a more appropriate tree-extension function for parking path planning. The differences between the two functions are introduced, and their performances are compared by applying them with RRT^*. They are tested at various parking scenarios in simulation, and their advantages and disadvantages are discussed by computation time, cross-track error while tracking the path, parking success rate, and alignment error at the target parking spot. These results show that HC generates the parking path that an autonomous vehicle can track without collisions and HC allows the vehicle to park with lower alignment error than those of RS.

• Journal of Construction Engineering and Project Management
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• 제6권2호
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• pp.30-39
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• 2016

This research presents the development of a self-governing mobile robot navigation system for indoor construction applications. This self-governing robot navigation system integrated robot control units, various positioning techniques including a dead-reckoning system, a UWB platform and motion sensors, with a BIM path planner solution. Various algorithms and error correction methods have been tested for all the employed sensors and other components to improve the positioning and navigation capability of the system. The research demonstrated that the path planner utilizing a BIM model as a navigation site map could effectively extract an efficient path for the robot, and could be executed in a real-time application for construction environments. Several navigation strategies with a mobile robot were tested with various combinations of localization sensors including wheel encoders, sonar/infrared/thermal proximity sensors, motion sensors, a digital compass, and UWB. The system successfully demonstrated the ability to plan an efficient path for robot's movement and properly navigate through the planned path to reach the specified destination in a complex indoor construction site. The findings can be adopted to several potential construction or manufacturing applications such as robotic material delivery, inspection, and onsite security.