• Journal of Institute of Control, Robotics and Systems
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• v.12 no.11
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• pp.1102-1110
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• 2006

This paper addresses the problem of computing grasp stability of the object for two-fingered robots in two dimensions. The concepts of force-closure and dual space are introduced and discussed in novel point of view, and we transform friction cones in a robot work space to line segments in a dual space. We newly define a grasp stability index by calculating intersection condition between line segments in dual space. Moreover, we propose a method to find the optimal grasp points of the given object by comparing the defined grasp stability index. Its validity and effectiveness are investigated and verified by simulations for quadrangle object and elliptic objects.

• Korean Institute of Interior Design Journal
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• v.27 no.2
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• pp.68-76
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• 2018

A public library is changing into a place where people can freely acquire and make use of information in digital environment with the basic ideology of publicity. In spite of such changes, multimedia center is still biased with the function of computer room to use PC and is not used actively by many users. This study can be summarized and concluded as follows and spatial characteristics of digital data room of public library can make use of space planning elements by aspects as an analysis tool. First, designed characteristics focusing too much on the possession of seats for reading digital data. Therefore, spatial planning for users to choose necessary facilities according to the data they wish to read and type of users is needed. Second, interior tone of multimedia center is applied with identical color for all floors, walls, and ceilings, to create sense of unification. However, due to the arrangement of similar colors, while using identical brightness and chroma, some users felt difficult to realize shape or depth in space. It is more appropriate to apply distinctive color plan according to the characteristic of the data or space region, in order to create pleasant digital environment for visually weaker people or elderly. Third, psychological or technical factors of multimedia center is not sufficiently applied in space planning elements for users. In order for various digital service of public library to be technically implemented, it is necessary to organize open space by expanding the size of multimedia center to utilize high-tech facilities.

• Journal of architectural history
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• v.21 no.1
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• pp.83-98
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• 2012

The starting point of this study is the concerning of simple behavioral pattern that whoever enters the inner space with taking off his shoes should go out from the position where he laid his shoes. The using of Ondol (floor heating room) and Maru (lifted wood floor) had changed the architectural space from chair-sitting to floor-sitting space, and it also made the behavior of taking off the shoes at the entrance of building and stepping on the lifted floor. This simple behavior has possibility to make lots of changes to the culture of architectural design. With this noticeable point, this paper is talking about the cultural feature of Korean traditional architecture, especially about the influence of tanking off and putting on shoes. The matter of shoes has changed diverse aspects of building and layout planning. It maximized the difference between front and rear part of building and characterized the lateral extension of Korean traditional house. The ritual space also had evolved from chair-sitting to floor-sitting space according to the type of ritual behavioral pattern. The change on the single building level had influenced on the layout planning of architectural complex. For examples, the parallel layout of ChangDeok-gung palace and the long sequential process to the main pavilion of Buddhist temple are the result of the matter of shoes. And NuGak(樓閣), the double-storied pavilion, on the axis of entering sequence's node is one of the unique planning elements that makes possible to go through the building without taking off the shoes and also makes upper level space for staying. In short, Korean traditional architecture that has the chair-sitting spatial origin of the East Asian cultural sphere has pursued new architectural issues and planning methods according to evolution to the floor-sitting culture.

• Journal of the Korean housing association
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• v.19 no.6
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• pp.9-20
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• 2008

The residential environment is a place which reflects the gradual evolution of human consciousness because it is a cultural space the term, 'houses' is not relevant in this context as it literally means 'contains'. The long history of human living habits cannot be 'contained' within a space, but can be 'expressed' by a space and by the way the space is used. Furthermore, due to the way it is typically constructed, the basic characteristics of the house usually cannot be rapidly changed to accommodate new habits. However, recent changes that have taken place to the characteristics of the traditional master room suggest that traditional societal values associated with patriarchy have diminished. The current trend where priority is given to children's education also affects such a change. Existing researches related to the master room is confined to the behavioral use of the space and the composition of the physical space, while research on the master room its plane type has not been carried out. Therefore, in this study, apartment model houses are selected, and are classified according to the types of master room. An analysis is then carried out of the master room based on the occupants' requirements in terms of consciousness. Any planning modifications where required are then suggested. This research comprises the followings stages. First, an examination is carried out of existing research on the master room in order to understand its background and spatial components. A definitiones of related terms is also provided. Second, an analysis is carried out of the model houses exhibited at Suwan District, examining the typical standard that has been selected for the master room. Third, an analysis is conducted of the topics and questions to be selected for a questionnaire. Fourth, an analysis is carried out of the consciousness, satisfaction and requirements of the residents, as respondents in the questionnaire, related to the master room. and Research is then conducted of the architectural methods for planning the master room. Finally, future countermeasures for planning the master room are described based on the above analysis and research findings.

• Journal of Korean Society of Rural Planning
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• v.10 no.4 s.25
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• pp.29-37
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• 2004

The purpose of this study is to propose the principle of rural village planning process based on rural resources, differently space planning process(regional planning, village planning, urban planning etc). The importance of this planning process is resources planning, facility planning, program planning. So we planed rural villages - two rural traditional theme villages. The major findings of this planning were as follows; First, we have to consider economic value of rural resources. Second, resources were used differently, according to village conditions, though same it. It is important to apply value-added it. Third, in future we have to additional studies; environment planning factor, community participation, resources evaluation in this planning.

• Journal of The Korea Institute of Healthcare Architecture
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• v.24 no.3
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• pp.7-15
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• 2018

Purpose: The purpose of this study is to suggest the improvement of the architectural planning of public hospitals by analyzing the contents of the architectural planning and the trend of the recent ward planning. Methods: The study method was the drawing analysis of the wards in the public hospitals where facilities were improved including the ward-related literature survey. The scope of the study was the general wards. Results: As a result of the study, the area composition of the ward area, the number of beds per nursing unit, the floorplan types, and the unit space planning which is included the room composition, the room size, the bed clearance areas, and the improvements of the nursing space were suggested. Implications: The result of this research would be useful as a reference to design nurse area in the wards.

• Journal of the Korean Institute of Rural Architecture
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• v.16 no.3
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• pp.53-60
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• 2014

The purpose of this paper is to seek the dwelling conditions for comfortable life like urban apartment with agriculture in farming area. In order to do above things, we divide types of people who is planning to 'return farm' and need to heavily research and analyze current status of use for farm house's each spaces include outside spaces. so this paper aimed that at first, divide types of farmhouse following agriculture condition for people who is living in rural and survey the present condition and problems by analyzing of present status of space use and draw the improvement plans for those. after then, finally make a architectural basic data for Rural houses plan. For the future, the main purpose of this paper is that make architectural provision possible by researching types and size of storage following sort and size of farm.

• Proceedings of the Korean Institute of Interior Design Conference
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• 2007.05a
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• pp.114-118
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• 2007

The space for production, such as studios and control rooms, is a space for TV program production, which is the main function of broadcast. A block planning for such space should be carefully designed, because it can significantly affect the efficiency of production, as well as future productivity and the development and expandability of production. From the results of comparative analysis of 7 local terrestrial broadcasters built since the late 1990s, this study will. propose an ideal block planning for the future construction of local terrestrial broadcasters. Also, the results can be used a basic data when constructing new buildings for local broadcasters.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.1034-1039
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• 1991

A robot motion planning algorithm for time-varying obstacle avoidance is proposed. The robot motion planning problem is replaced with the optimization problem by using the distance function with the divided configuration space. To divide the configuration space, the polar coordinate system is used. For each divided configuration space, the admissible region where the robot can reach without collisions is obtained using the distance function. For an object moving in a plane, the admissible region is described by linear constraints on the polar coordinate system. A numerical algorithm that solves the optimization problem is shown and the computer simulation is carried out.

• International Journal of Aeronautical and Space Sciences
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• v.8 no.1
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• pp.54-65
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• 2007

Parameter optimization technique is applied to planning UAVs(Unmanned Aerial Vehicles) path under artificial enemy radar threats. The ground enemy radar threats are characterized in terms of RCS(Radar Cross Section) parameter which is a measure of exposure to the radar threats. Mathematical model of the RCS parameter is constructed by a simple mathematical function in the three-dimensional space. The RCS model is directly linked to the UAVs attitude angles in generating a desired trajectory by reducing the RCS parameter. The RCS parameter is explicitly included in a performance index for optimization. The resultant UAVs trajectory satisfies geometrical boundary conditions while minimizing a weighted combination of the flight time and the measure of ground radar threat expressed in RCS.