• The Journal of the Korea Contents Association
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• v.15 no.5
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• pp.18-26
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• 2015

In this paper, we presented a design and control method of multi-stage with wagon and lift stage. Multi-stage system has 4 degree-of-freedom(DOF), i.e., forward/backward/left/right/rotate and up/down motion. Wagon mechanism in the type of two wheel and steering is proposed in order to improve for the maneuverability compared to the existing differential-type wagons. Also, the lift mechanism is designed by interlocking type in order to make the maximum height bigger than 10 times of the original height. We also proposed a path planning algorithm. The performance of the propped system is validated via multi motion experiments, so that the multi-stage system is useful for various performances production.

• Journal of the Korea Society of Computer and Information
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• v.19 no.2
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• pp.143-150
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• 2014

In this paper, we propose the delivery problem on trees and two algorithms for the problem. The delivery problem on trees is that of minimizing the object delivery time from one node to another node using n various speed robots. Our first algorithm generates an optimal solution with some restrictions in handover places. In this algorithm, we assume that the handover can be made at a vertex of given tree. We try to find the handover places and the robots participate in handover from the start node to the destination node. The second algorithm extends the first one to remove the restriction about the handover places. The second algorithm still generates an optimal solution. The time complexities of both algorithms are $O((n+m)^2)$ where n is the number of robots and m is the number of nodes.

• KIEAE Journal
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• v.11 no.2
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• pp.75-82
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• 2011

In Korea, the ratio of population in urban areas used to be only 50.1% in 1970, but with the value risen to 90.8% in 2009, urbanization is going on rapidly. Urbanization, which occurs by the rampantly planted buildings, has become major source of raising building density, changing wind direction and reducing wind amount, and such reductions are affecting even inside the building. In each year, among the total energy consumption in Korea, residential portion takes up significant ratio, and specifically the ratio of apartment house is shown to be highest. In order to solve such problem, many studies are being conducted for the improvement of natural ventilation performance. The natural ventilation performance of apartment house are significantly determined by the characteristics of external and internal structure, but in macroscopic perspective, the performance is established fundamentally by the layout characteristics of the main building of the apartment house in preparation for wind conditions. So far researches on raising the thermal comfort through elevation of ventilation performance have been conducted actively, but many of them propose only theoretical concepts deduced through wind path analysis, and do not include any indicator to measure ventilation performance simply only with area data from layout planning stage. Therefore, in this study, gap ratio a wind field measuring indicator was developed, and after the ventilation characteristics by layout types and main building uniformity were identified, the scope of gap ratio efficient for ventilation and that of uniformity were clarified, followed by verification through simulation.

• Journal of The Korea Institute of Healthcare Architecture
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• v.26 no.1
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• pp.73-84
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• 2020

Purpose: Though Korean healthcare services have been upgraded, infection and fire had been broken out in general hospitals. And higher concerns about quality assessment made it to clinical laboratory design guideline studies. So, this study investigates the facilities, equipment and personnel of laboratory medicine focusing on more than five hundred fifty bed hospital, and contributes to make guidelines for safety and efficiency in lab. Methods: Questionnaires to supervisor technologist and field surveys to medical laboratories in korean hospitals have been conducted for the data collection. 16 answers have been analysed statistically by MS Excel program. Results: Most of the sample tests such as hematology, clinical chemistry, immunology, transfusion, urinalysis, microbiology and molecular diagnosis are performed by more than 80% in large sized general hospital laboratory. In the test methods, automatic analyzers are used up to 80%, total laboratory automation up to 43% in clinical chemistry and immunology, and manual tests in all sorts of the test. There are placed in single lab or two and three labs above the ground, which are all in semi-open lab. There is some correlation with the number of specimens and the number of lab people depending on the number of hospital beds. Laboratory environment shows that work distance is good, but evacuation path width, visibility, separation of staff area from automatic analyzer, and equipment installations are needed to have more spaces and gears. Most of the infection controls are equipped with mechanical ventilation, air-conditioning, washbasin and wastewater separation, BSC installation and negative pressure lab room. Implications: Although the laboratory space area is calculated considering the number of hospital beds, type of tests and number of staff, hospital's expertise and the samples numbers per year should be taken into account in the planning of the hospital.

• Proceedings of the Korean Information Science Society Conference
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• 2012.06c
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• pp.169-171
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• 2012

일반적인 경로 생성 기법에서는 거리가 가장 짧은 최단경로 및 시간이 적게 소요되는 빠른 경로와 같이 사용자의 이동 성향을 고려하지 않고 경로를 생성하였다. 하지만 사용자들은 시간, 거리, 도로 혼잡도와 같은 속성들에 의해 선호하는 경로가 있기 때문에 사용자의 이동 성향에 맞는 경로를 생성하는 기법들이 필요하다. 기존의 기법들은 이동 성향을 고려하여 경로를 생성하기 위해서는 사용자의 이동 성향 정보를 추가적으로 입력하여야 한다. 하지만 네비게이션 및 모바일 장치의 불편한 인터페이스 특성상 이러한 정보 입력은 거의 하지 않고 출발지와 목적지만을 입력하여 경로를 추천 받는 경향이 있다. 따라서 본 논문에서는 추가적인 이동 성향에 대한 정보 입력 없이 과거 궤적 데이터를 통해 사용자의 이동 성향을 암시적으로 추출하고 이동 성향에 맞는 경로를 생성하는 기법을 제안한다. 성능평가를 통해 최소 시간 경로나 최단 거리 경로와 비교하여 제안하는 기법이 사용자의 이동 성향을 고려한 경로가 생성됨을 입증한다.

• Proceedings of the Korean Information Science Society Conference
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• 2010.06c
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• pp.358-363
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• 2010

본 논문은 가정용 청소로봇이 대중화가 이루어지면서 많은 종류의 청소로봇들이 개발되고 있지만 대부분의 청소로봇들이 외부 환경과 상호적으로 대응하지 못하고 무작위 경로 생성에 가까운 알고리즘들을 적용하고 있는 점에서 착안하였다. 목표로 하고 있는 경로 탐색 기법은 대부분의 가정용 청소로봇이 장착하고 있는 범퍼 센서를 사용하여 논리적인 가상의 지도를 생성하고 이 정보를 활용하여 청소로봇의 위치를 파악하고 최적의 청소 경로를 생성하는 방법이다. 사람이 진공청소기를 사용하여 청소를 하듯이 청소할 공간을 파악하고 일련의 규칙대로 청소하는 무의식의 프로세스를 청소로봇이 최대한 유사하게 작동하기 위해서는 벽뿐만 아니라 소파나 테이블과 같은 로봇의 움직임을 방해하는 각종 요소들을 모두 고려해야 한다. 그러므로 본 논문에서는 Occupancy Grid Map을 생성하여 로봇이 장애물의 위치를 파악하고 청소 경로를 탐색할 수 있도록 한다. 그리고 이러한 경로 탐색 기법을 적용하기 위해서 Monte-Carlo Localization 알고리즘을 사용하며 생성된 Occupancy Grid Map을 통하여 로봇이 자체적으로 위치를 파악할 수 있도록 한다. 청소로봇이 자체의 위치를 파악하게 되면 로봇의 크기와 비교하여 움직일 수 있는 공간과 움직이지 못하는 공간을 구별하여 이동 가능한 영역과는 별개로 청소를 위한 경로 탐색을 수행할 수 있다. 청소를 목적으로 하는 경로 탐색은 청소 영역을 최대화하면서 최적의 경로를 탐색하고 Localization을 통해 해당 경로를 유지하면서 이동할 수 있게 된다. 이러한 경로 탐색 기법을 제시하면서 기존의 청소로봇들과의 알고리즘 차원에서의 비교 및 그 성능 평가는 향후 연구에서 해결하도록 한다.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.7
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• pp.153-161
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• 2015

In the present study, as part of the technology development (Quality of Life Technology, QoLT) to improve the socio-economic status of people with disabilities as an extension of these studies, we propose the development of the smart wheelchair system and navigation technology for stable and safe driving in various environments. For the disabled and the elderly make driving easy and convenient with manual/autonomous driving condition, we firstly develop the user-oriented smart wheelchair system with optimized sensors for environment recognition, and then we propose a navigation framework of a hierarchical structure to ensure real-time response, as well as driving stability when traveling to various environmental changes, and to enable a more efficient operation. From the result of several independent experiments, we ensure efficiency and safety of smart wheelchair and its navigation system.

• Korean Journal of Remote Sensing
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• v.37 no.5_1
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• pp.1163-1175
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• 2021

In autonomous driving, road markings are an essential element for object tracking, path planning and they are able to provide important information for localization. This paper presents an approach to update and measure road surface markers with HD maps as well as matching using inverse perspective mapping. The IPM removes perspective effects from the vehicle's front camera image and remaps them to the 2D domain to create a bird-view region to fit with HD map regions. In addition, letters and arrows such as stop lines, crosswalks, dotted lines, and straight lines are recognized and compared to objects on the HD map to determine whether they are updated. The localization of a newly installed object can be obtained by referring to the measurement value of the surrounding object on the HD map. Therefore, we are able to obtain high accuracy update results with very low computational costs and low-cost cameras and GNSS/INS sensors alone.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.41 no.4
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• pp.9-21
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• 2018

In South Korea, Jeju Island has a role as a test bed for electric vehicles (EVs). All conventional cars on the island are supposed to be replaced with EVs by 2030. Accordingly, how to effectively set up EV charging stations (EVCSs) that can charge EVs is an urgent research issue. In this paper, we present a case study on planning the locations of EVCS for Jeju Island, South Korea. The objective is to determine where EVCSs to be installed so as to balance the load of EVCSs while satisfying demands. For a public service with EVCSs by some government or non-profit organization, load balancing between EVCS locations may be one of major measures to evaluate or publicize the associated service network. Nevertheless, this measure has not been receiving much attention in the related literature. Thus, we consider the measure as a constraint and an objective in a mixed integer programming model. The model also considers the maximum allowed distance that drivers would detour to recharge their EV instead of using the shortest path to their destination. To solve the problem effectively, we develop a heuristic algorithm. With the proposed heuristic algorithm, a variety of numerical analysis is conducted to identify effects of the maximum allowed detour distance and the tightness of budget for installing EVCSs. From the analysis, we discuss the effects and draw practical implications.

• Journal of Korean Society of Forest Science
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• v.108 no.1
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• pp.59-66
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• 2019

This study was conducted to evaluate the effect of the synthetic forest road network by calculating the optimal road density and layout of the forest road network in order to construct the systematic road network in the forested area. For this, five comparative routes were additionally planed and compared through evaluation indicators. As a result, the optimum road density of the study site was estimated to be 18.4 m/ha, and the synthetic forest road network was the best in the four indicators such as average skidding distance, standard deviation of skidding distance, development index, and circuity factor. In addition, the synthetic forest road network was comparable to the main road network by about 4 %p in the timber volume available and potential area size for logging, but the construction cost of the road was about 20 %p lower. It showed a synthetic forest road network was better in terms of economy.