• The Journal of Korea Robotics Society
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• v.16 no.3
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• pp.283-290
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• 2021

We propose a task and motion planning algorithm for clearing obstacles and wiping surfaces, which is essential for surface disinfection during the pathogen disinfection process. The proposed task and motion planning algorithm determines task parameters such as grasping pose and placement location during the planning process without using pre-specified or discretized values. Furthermore, to quickly inspect many unit motions, we propose a motion feasibility prediction algorithm consisting of collision checking and an SVM model for inverse mechanics and self-collision prediction. Planning time analysis shows that the feasibility prediction algorithm can significantly increase the planning speed and success rates in situations with multiple obstacles. Finally, we implemented a hierarchical control scheme to enable wiping motion while following a planner-generated joint trajectory. We verified our planning and control framework by conducted an obstacle-clearing and surface wiping experiment in a simulated disinfection environment.

• Korean Institute of Interior Design Journal
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• no.17
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• pp.181-186
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• 1998

Grid serves as an auxiliary instrument that explains design logically and objectively when you designing an interior. But grid is unacceptable to the space which is produced by designer who wants to express a design subjectively. Because grid makes usual and standardized space without flexibility. Changing and developing a fundamental unit with modern touch is going to be a way compensate for the weakpoint Also versatile grid unit can support the designer's subjective intention. This study focuses on the limits of Wright's house which show interior space aestheically through grid planing. In this paper Wright's uniqe interior space pattern will be examined through the selection of some of his works specifically the Prairies and Usonians whose transforming is noticable as Wright house and analysis about formation process of grid planning characteristics and spaces is continued. With all this analysis I'm, going to look over Wright's philosophy and pattern that is usually intended by his grid planning.

• 한국태양에너지학회:학술대회논문집
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• 2008.04a
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• pp.304-310
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• 2008

Currently energy use planning council system is mandatory especially for the urban development project planned on a specified scale or more. The goal of existing demand prediction was to calculate the maximum load by multiplying energy load per unit area by building size. The result of this method may be exaggerated and has a limit in the information of period load. The paper suggests a new forecasting process based on standard unit household in order to upgrade the limit in demand prediction method of multi-family housing complex. The new process was verified by comparing actual using amount of multi-family housing complex to forecasting value of energy use plan.

• Korean Institute of Interior Design Journal
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• v.27 no.3
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• pp.14-23
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• 2018

The spatial planning of the elderly care facility plans is analyzed using space syntax in terms of encouraging the social interaction of the residents in this study. First, through the visibility graph analysis, openness and accessibility of space is analysed. Second, the walking behavior of residents through agent analysis model is simulated. Third, the space planning methods for the elderly care facilities are proposed based on the results. The results are as follows. According to the visibility graph analysis, the main corridor has high visual openness and high accessibility. The visual openness and accessibility of the unit living room, where social interaction among residents is possible in each unit, is low. Space planning is needed to increase direct protection and observation of employees to the unit living room. The location of the nurse station that manages the entire floor needs to be located where the openness and accessibility is most high. The nursing station should have a high degree of connectivity to the entire space, so that any accidents can be managed and contact is accessible. Through the agent simulation the flow from the center to each unit space is highest in the corridor space and the inflow to the private rooms and the living room are similar. Therefore, it is necessary to plan the accessibility of the unit living room more for the natural inflow of residents.

• Journal of Korean Society of Rural Planning
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• v.18 no.3
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• pp.25-41
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• 2012

The purpose of this study is to quantitatively analyze the social welfare value given to the designated rural settlement zone by the resident-participated site unit plan that the City of Cheongju is newly attempting to draft. Firstly, the costs and benefits from the site unit planning were estimated. Secondly, through literature review especially focussed on the benefit and cost estimation, on-site questionnaire was designed, and then sample residents of the qualifying sites were asked about their willingness to pay, which could make it possible to estimate the monetary value of its benefits by the contingent valuation method (CVM). Finally, the present value of net benefits (PVNB) was estimated through the derived costs and benefits. As a result of analysis, firstly, the present value of net benefits (PVNB) was found to be 7,641 billion won, which indicated that the implementation of district-unit plan would be able to cause sufficient social welfare value for the effected residents. Secondly, in examining the result of individual average amount for willingness to pay through the CVM, the area that benefited the most was found to be the road improvement. Thirdly, as a result of sensitivity analysis, the parameter with the most effects was the discount rate, which suggested that, in carrying out public projects, excessive market interest rates would not be appropriate.

• Proceedings of the Korea Database Society Conference
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• 1999.06a
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• pp.347-350
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• 1999

자율무인잠수정은 자율운항을 위해서 자동화된 제어시스템이 필요하다. 제어시스템은 기능적 측면에서 임무계획단계(mission planning level), 임무제어단계(mission control level), 선체제어단계(vehicle control level)로 구분한다. 자율무인잠수정의 효과적인 임무 수행을 위해서는 임무제어단계의 운행 경로 설정과 제어가 중요하다. 자율무인잠수정은 잠수정의 주변환경을 추상화한 후 탐색기법을 이용하여 경로를 설정한다. 이때 검색기법의 효율적 적용을 위해서는 효과적으로 추상화된 탐색모형이 필요하다. 대표적인 탐색모형으로는 3차원 격자절대좌표 모형(3-dimensional grid unit coordinate model)(1)을 들 수 있다. 그러나 이 모형은 불필요한 동작의 반복, 이동 격자에 따른 비일관성과 같은 취약점이 존재한다. 본 연구에서는 이 모형의 취약점을 개선하기 위해서 자율무인잠수정의 위치 기반 상대적 격자좌표 모형(relative grid unit coordinate model based on AUV state)을 제안한다.

• Proceedings of the Korea Inteligent Information System Society Conference
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• 1999.03a
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• pp.347-350
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• 1999

자율무인잠수정은 자율운항을 위해서 자동화된 제어시스템이 필요하다. 제어시스템은 기능적 측면에서 임무계획단계(mission planning level), 임무제어단계(mission control level), 선체제어단계(vehicle control level)로 구분한다. 자율무인잠수정의 효과적인 임무 수행을 위해서는 임무제어단계의 운행 경로 설정과 제어가 중요하다. 자율무인잠수정은 잠수정의 주변환경을 추상화한 후 탐색기법을 이용하여 경로를 설정한다. 이때 검색기법의 효율적 적용을 위해서는 효과적으로 추상화된 탐색모형이 필요하다. 대표적인 탐색모형으로는 3차원 격자절대좌표 모형(3-dimensional grid unit coordinate model)[1]을 들 수 있다. 그러나 이 모형은 불필요한 동작의 반복, 이동 격자에 따른 비일관성과 같은 취약점이 존재한다. 본 연구에서는 이 모형의 취약점을 개선하기 위해서 자유무인잠수정의 위치 기반 상대적 격자좌표 모형(relative grid unit coordinate model based on AUV state)을 제안한다.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.17 no.7
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• pp.669-680
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• 2005

The purpose of this study is to develop the air-conditioning unit combined with the lighting unit for workspace and to supply its performance data at architectural design stage. The air-conditioning unit is one of the components of a workspace integrated unit, which can be defined as the planning unit satisfying the environmental comfort criteria of workspace. Air-conditioning diffusers are classified according to throws and features by literature review and case study. Then diffusers are combined with the lighting unit. Through the CFD simulation, the thermal performance of each unit was evaluated and finally various air-conditioning units combined with the lighting units were developed.

• International conference on construction engineering and project management
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• 2005.10a
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• pp.643-648
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• 2005

The planning process for roadway construction involves a large amount of information on design, construction methods, quantities, unit costs, production rates, and site conditions. Therefore, it is very important to acquire, manage, and process the necessary information efficiently to produce a rigorous construction plan. GIS (Geographic Information System) is a very effective tool for integrating and managing various types of information including spatial and non-spatial data required for roadway construction planning. This paper proposes a GIS-based system for improving roadway construction planning with its 'Interactive Space Scheduling' and 'Operation Level Planning' functions. The proposed system can assist construction planners in a unique way by integrating design and construction information and creating modularized design elements for space scheduling in real time. It is expected that the proposed system could improve the efficiency of roadway construction planning.

• Journal of the Korean housing association
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• v.20 no.4
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• pp.79-88
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• 2009

A planned access method on constantly-changing-community unit plan changes and develops based on the periodical situation and also plan theory. In this research, it is to present the link between the theory of complex city change and the plan factor of it, and to show how Korean residential complex plan has changed as time passed and how new concept of city plan came up and by applying new methods how can this affect our real world and the past plan. In the phase of analysis, it analyzed the flow of 'community unit plan' and its theory and investigated the factor of compositional space and built a analysis frame. The factors of community unit plan are space structure, size and shape of block, population, distribution of facilities and movement system. It chose the place that can represent the flow of community unit plan trand and that indicates the obvious development leading to Jamsil (1975), Gwa Chun (1980), Mok Dong (1983), Sang Ge (1985), Ilsan (1989), Dong tan (2001) and Eun Jung (2003) total of 7 places. And to compare a similar size of the city, it selected a small community unit. Based on the result of theoretical study and prior research, it can be said that the space composition style has change from a whole complete complex area to a linked-cross over community unit and the access of urban level was on set. Also, a pedestrian walking area was secured and the dense of building structure and pleasant environment wanting need was in balance. For facility plans, the usage of facility and functional change brought change of type, size and disposition. The walking area for pedestrian became a huge matter. Therefore, market, education, public facilities and green system collaborated to co-build a whole community unit and activated the walking environment. Also, public transportation, environment friendly city organization was built.