• The Transactions of the Korean Institute of Electrical Engineers
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• v.43 no.2
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• pp.329-338
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• 1994

This paper presents a novel method of path planning for a quadruped walking robot on irregular terrain. In the previous study on the path planning problem of mobile robots, it has been usually focused on the collision-free path planning for wheeled robots. The path planning problem of legged roboth, however, has unique aspects from the point of viw that the legged robot can cross over the obstacles and the gait constraint should be considered in the process of planning a path. To resolve this unique problem systematically, a new concept of the artificial intensity field of light is numerically constructed over the configuration space of the robot including the transformed obstacles and a feasible path is sought in the field. Also, the efficiency of the proposed method is shown by various simulation results.

• KIEAE Journal
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• v.12 no.4
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• pp.21-30
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• 2012

This study aims to set up Energy self-sufficiency urban planning system responding climate change by reducing fossil energy consumption and carbon emission, and to suggest effective application method. This study has 3 levels. First, it defines energy self-sufficient city responding climate change theoretically. Second, it set up planning system of Energy Self-sufficient city responding climate change. Third, ANP method was applied to introduce priority of application according to relative importance of planning section. As ANP method has to construct network to show interrelation among elements, 1st questionnaire survey was carried out to figure out interrelation. 2nd questionnaire survey introduced to judge relative importance of planning aspects and sections. In conclusion, this study shows interrelation among planning sections. By considering the relative importance, Energy environment and Energy consumption was derived as important planning aspects, and Architecture, Landuse, and Production of renewable energy was estimated as s important planning elements.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.4
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• pp.362-367
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• 2011

The collision-free path of a manipulator should be regenerated in the real time to achieve collision safety when obstacles or humans come into the workspace of the manipulator. A probabilistic roadmap (PRM) method, one of the popular path planning schemes for a manipulator, can find a collision-free path by connecting the start and goal poses through the roadmap constructed by drawing random nodes in the free configuration space. The path planning method based on the configuration space shows robust performance for static environments which can be converted into the off-line processing. However, since this method spends considerable time on converting dynamic obstacles into the configuration space, it is not appropriate for real-time generation of a collision-free path. On the other hand, the method based on the workspace can provide fast response even for dynamic environments because it does not need the conversion into the configuration space. In this paper, we propose an efficient real-time path planning by combining the PRM and the potential field methods to cope with static and dynamic environments. The PRM can generate a collision-free path and the potential field method can determine the configuration of the manipulator. A series of experiments show that the proposed path planning method can provide robust performance for various obstacles.

• International Journal of Control, Automation, and Systems
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• v.4 no.2
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• pp.217-226
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• 2006

Grasping and manipulation by hands can be considered as one of inevitable functions to achieve the performances desired in humanoid operations. When a humanoid robot manipulates an object by his hands, each finger should be well-controlled to accomplish a precise manipulation of the object grasped. So, the trajectory of each joint required for a precise finger motion is fundamentally necessary to be planned stably. In this sense, this paper proposes an effective joint motion planning method for humanoid fingers. The proposed method newly employs a bio-mimetic concept for joint motion planning. A suitable model that describes an interphalangeal coordination in a human finger is suggested and incorporated into the proposed joint motion planning method. The feature of the proposed method is illustrated by simulation results. As a result, the proposed method is useful for a facilitative finger motion. It can be applied to improve the control performance of humanoid fingers or prosthetic fingers.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.6
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• pp.852-856
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• 2015

Demand side management (DSM) program has been frequently used for reducing the system peak load because it gives utilities and independent system operator (ISO) a convenient way to control and change amount of electric usage of end-use customer. Planning and operating methods are needed to efficiently manage a DSM program. This paper presents a planning method for DSM program. A planning method for DSM program should include an electric load forecasting, because this is the most important factor in determining how much to reduce electric load. In this paper, load forecasting with the temperature stochastic modeling and the sensitivity to temperature of the electric load is used for improving load forecasting accuracy. The proposed planning method can also estimate the required day, hour and total capacity of DSM program using Monte-Carlo simulation. The results of case studies are presented to show the effectiveness of the proposed planning method.

• International Journal of Control, Automation, and Systems
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• v.6 no.2
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• pp.234-242
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• 2008

The purpose of this paper is to verify the practical effectiveness of an interphalangeal coordination-based joint motion planning method for humanoid finger operations. For the purpose, several experiments have been performed and comparative experimental results are shown. Through the experimental works, it is confirmed that according to the employed joint motion planning method, the joint configurations for a finger's trajectory can be planned stably or not, and consequently the actual joint torque command for controlling the finger can be made moderately or not. Finally, this paper analyzes that the interphalangeal coordination-based joint motion planning method is practically useful for implementing a stable finger manipulation. It is remarkably noted that the torque pattern by the method is well-balanced. Therefore, it is expected that the control performance of humanoid or prosthetic fingers can be enhanced by the method.

• 한국디지털정책학회:학술대회논문집
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• 2005.11a
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• pp.177-183
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• 2005

The purpose of this paper is to analyze the concept and cultivating planning of leading company in digital contents industry to promote industrial competitiveness of Korea. Analysis of this study focuses on concept of leading company in digital contents industry through the delphi method. And in addition, we propose the cultivating planning through the value chain method and AHP method. Finally, this study presents the various implication and policy planning.

• KIEAE Journal
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• v.14 no.4
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• pp.69-79
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• 2014

Adverse effects resulting from the development of the environment and to minimize damage to the natural environment and the desire for pleasant scenery and the sense of raising more awareness about May 17, 2007 in accordance with the scenery method is established by each municipality landscape management and landscape planning committee Configure the district planning officer for development projects, including enhancing deliberation scenery method 7 February 2014 and revised in urban areas is more than $30,000m^2$ urban planning landscape projects are all considered by a committee mandated to landscape receive a defined landscape plan for the development was enhanced. Gyeonggi Province in 2007 after the enactment of the scenery method for district planning and landscape planning by strengthening the district planning consideration during deliberations landscape simulation by selecting the view that the proposed mandatory hearing officer from the Joint Committee on Urban construction was done. In this study, Gyeonggi-do district planning business point of view the characteristics of the landscape planning and landscape planning of the center of analysis and as a basis for the evaluation presented.

• Proceedings of the Korea Society for Simulation Conference
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• 1998.10a
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• pp.199-203
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• 1998

Process planning and scheduling are traditionally regarded as separate tasks performed sequentially. But if two tasks are performed concurrently, greater performance can be achieved. In this study, we propose new approach to integration of process planning and scheduling. We propose new process planning combinations selection method using simulation based genetic algorithms. Computational experiments show that proposed method yield better performance when compared with existing methods.

• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.331-332
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• 2008

A real-time path planning of mobile robots is a broad topic, covering a large spectrum of different technologies and applications. Briefly a path planning is designated moving technique from current pose to desired pose. It is remarkably easy to handle for human, not for robot. It is difficult that a robot recognizes surround to get a current pose and to avoid an obstacles. In this paper covers kinematics, path planning for efficient movements of a mobile robot. Kinematics of mobile robot which is suggested in this paper is exploited to create reliable and suitable motions. In addition, Gradient method is a algorithm which can guarantee for real-time path planning.