• Journal of the Korean Society for Aviation and Aeronautics
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• v.27 no.2
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• pp.1-8
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• 2019

Optimal path planning refers to find the safe route to the destination at a low cost, is a major problem with regard to autonomous navigation. Sampling Based Planning(SBP) approaches, such as Rapidly-exploring Random Tree Star($RRT^*$), are the most influential algorithm in path planning due to their relatively small calculations and scalability to high-dimensional problems. $RRT^*$-Smart introduced path optimization and biased sampling techniques into $RRT^*$ to increase convergent rate. This paper presents an improvement plan that has changed the biased sampling method to increase the initial convergent rate of the $RRT^*$-Smart, which is specified as m$RRT^*$-Smart. With comparison among $RRT^*$, $RRT^*$-Smart and m$RRT^*$-Smart in 2 & 3-D environments, m$RRT^*$-Smart showed similar or increased initial convergent rate than $RRT^*$ and $RRT^*$-Smart.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.43 no.6 s.312
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• pp.1-8
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• 2006

Many researches on path planning and obstacle avoidance for the fundamentals of mobile robot have been done recently. Informations from various sensors can be used to find obstacles and plan feasible path. In spite of many solutions of finding optimal path, each can be applied in only a constrained condition. This means that it is difficult to find university good algorithm. An optimal path with a complicated computation generates a time delay which cannot avoid moving obstacles. In this paper, we propose an algorithm of path planning and obstacle avoidance for mobile robot. We call the proposed method Random Access Sequence(RAS) method. In the proposed method, a small region is set first and numbers are assigned to its neighbors, then the path is selected using these numbers and cumulative numbers. It has an advantage of fast planning time and completeness of path if one exists. This means that new path selection may be possible within short time and that helps a robot to avoid obstacle in dynamic environments. Using the information of the start and destination position, the RAS can be performed for collision-free navigation by reforming feasible paths repeatedly in dynamic environments.

• KIEAE Journal
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• v.5 no.1
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• pp.35-42
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• 2005

The primary concerns of recreation plan are to provide visitors with quality of recreational experience and to protect of recreation resources. The quality of recreational experience is often defined in terms of social carrying capacity. The carrying capacity is revealed as perceived crowding. In this respects, measuring perceived crowding is useful tool of social carrying capacity determination. This study is to test the structural equation model that includes variables affecting perceived crowding. Through an on-site questionnaire survey, 467 visitors on Naejangsan national park were collected. The results of the study are follows. The encounter level on facility area is higher evaluated as crowding factor than other area in the park. It can be concluded that visitor perceived crowding when facility area situates high density use level rather than other areas expose high density use level. In the path analysis, the input variables(attitude, experience, encounter level) on the structural equation model affect significantly on perceived crowding. Especially, the attitude on the park management polocy is the most affecting factor on perceived crowding.

• Journal of the Semiconductor & Display Technology
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• v.9 no.4
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• pp.45-50
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• 2010

This paper explores a new approach for modeling of decision-making problems that involve uncertain, time-dependent and sequence-dependent processes which can be applied to semiconductor industry. In the proposed approach, which is based on probability theory, approximate sample paths are required to be specified by probability and statistic characteristics. Completely specified sample paths are seen to be elementary and fundamental outcomes of the related experiment. The proposed approach is suitable for modeling real processes more accurately. A case study is applied to a single item production planning problem with continuous and uncertain demand and the solution obtained by the approximate path specification method shows less computational efforts and practically desirable features. The application possibility and general plan of the proposed approach in semiconductor manufacturing process is also described in the paper.

• The Journal of the Korea institute of electronic communication sciences
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• v.9 no.8
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• pp.907-914
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• 2014

A heuristic search algorithm is proposed to plan a collision free path for robots in an indoor environment. The proposed algorithm is to find a collision free path in the gridded configuration space by proposed heuristic graph search algorithm. The proposed algorithm largely consists of two parts : tunnel searching and path searching in the tunnel. The tunnel searching algorithm finds a thicker path from start grid to goal grid in grid configuration space. The tunnel is constructed with large grid defined as a connected several minimum size grids in grid-based configuration space. The path searching algorithm then searches a path in the tunnel with minimum grids. The computational time of the proposed algorithm is less than the other graph search algorithm and we analysis the time complexity. To show the validity of the proposed algorithm, some numerical examples are illustrated for robot.

• The Journal of the Korea Contents Association
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• v.21 no.10
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• pp.78-89
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• 2021

This study aims to identify the employment path of vocational instructors using sequential analysis. By grasping the employment path in detail, the study presents implications for implementing support measures for systematic preparation for employment. In particular, the study presents the relationship of the vocational instructor's employment path in stages through frequency analysis, conversion probability analysis, significance test, and conversion status diagram of each employment path. For the analysis, the survey results of the vocational instructors working at private vocational training institutions were used. In conclusion, (i) as for the frequency of past experience for employment as a vocational instructor, the share of work experience, teaching training, and teaching experience was large. (ii) In the employment path stage, work experience, teaching training, and teaching experience had the greatest influence on the transition to the later stage. (iii) The prominent employment path for vocational instructors was "work experience-teaching experience-teaching training." Based on the conclusions, the study proposes a plan for systematic employment of vocational instructors.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.103.3-103
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• 2002

1. Introduction 2. Dynamic Model of Stacking Crane 3. The Path Plan of Stacking Crane 4. Design of Neural Network Predictive PID Controller 5. Result of Computer Simulation and Investigation 5. Conclusion

• International Journal of Precision Engineering and Manufacturing
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• v.2 no.3
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• pp.69-78
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• 2001

This paper presents a process and operation planning system and an NC code post-processor for effective machining of press dies for production of cars. Based on the machining feature, major parts of press dies are categorized into 15 groups and a standard process plan is defined for each group. The standard process plan consists of a series of processes where a process is defined as a group of operations that can be done with one setup. Details such as cutting tools, cutting conditions, and tool paths are decided at the operation planning stage. At the final stage of process and operation planning, the NC code post-processor adjusts feedrates along the tool path to reduce machining time while maintaining the quality. The adjustment rule is selected based on the machining load estimated by virtual machining.

• Journal of Korean Institute of Industrial Engineers
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• v.25 no.1
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• pp.8-20
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• 1999

In this paper, a design and estimation procedure for the stochastically dependent nonstationary multiple acceptance sampling plans is developed. At first, the rough-cut acceptance and rejection numbers are given as an initial solution from the corresponding sequential sampling plan. A Monte-Carlo algorithm is used to find the acceptance and rejection probabilities of a lot. The conditional probability formula for a sample path is found. The acceptance and rejection probabilities are found when a decision boundary is given. Several decision criteria and the design procedure to select optimal plans are suggested. The formula for measuring performance of these sampling plans is developed. Type I and II error probabilities are also estimated. As a special case, by setting the stage size as 1 in a dependent sampling plan, a sequential sampling plan satisfying type I and II error probabilities is more accurate and a smaller average sample number can be found. In a numerical example, a Polya dependent process is examined. The sampling performances are shown to compare the selection scheme and the effect of the change of the dependency factor.

• Journal of the Korean Institute of Rural Architecture
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• v.16 no.1
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• pp.71-78
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• 2014

The purpose of this study is to clarify the actual condition of the plan of middle schools in the rural area. Recently, many middle schools are remodeling the buildings and facilities based on the department system. This study, through analyzing on 3 cases of middle school in korea and japan. This article discuses about the basic characteristics of the plan composition and the education programs of 3 middle schools. 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 plane, moving path is much needed. Most of them take horizontal zoning system in the department system of middle schools. Media space is very important to enhance the characteristics of each subject zone.