• Journal of Information Technology Services
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• v.11 no.sup
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• pp.165-176
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• 2012

Context-Awareness system provides an appropriate service to user by recognizing situation from surrounding environment. There are many successful studies on this framework, but still has some limitations. In this paper, we are describing a context-awareness middleware that can enhance the limitation of the previous approaches. We first defined a new concept of context-awareness environment as a social intelligence. This concept implies that intelligent objects can make relationships, can aware of situation from surrounding environment, and can collaborate to accomplish a given task. The significance of the study is as follows. First, the system is capable of multi context-awareness since it is designed with a structure that supports multiple lines of reasoning. Second, the system is capable of context planning by adapting AI planning mechanism. Third, the system is capable of making the intelligent objects as a group for collaboration, and provides adaptive service to user. We have developed a prototype of the system and tested with a virtual scenario.

• Proceedings of the KIEE Conference
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• 2003.07a
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• pp.139-141
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• 2003

The outage cost has very important position for determination of the optimal level or optimal range of reliability in power system expansion planning. Establishing the worth of service reliability is a very difficult and subjective task. This paper addresses the role, need and assessment algorithm and methodology of the outage cost on power system expansion planning. Furthermore outage cost has been assessed using macro approach for our country 15years(1986-2001) in the case study.

• Journal of the Korean Institute of Landscape Architecture International Edition
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• no.1
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• pp.127-130
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• 2001

Suzhou historic gardens include classical gardens, places of interest and palaces built by hills and waters. They are geographically distributed in the ancient city and the suburbs. Considered as both chinese and world class historic cultural heritage, these precious tourist resources have been included in the systematic urban planning of Suzhou and they are an integral part of the urban green plan and symbol and characteristic of the urban view. These gardens are also important for tourist industry-one of the pillar industries Suzhou. Therefore, historic gardens play an especially important role in the city's continuous development and it becomes an important task to make good protection, planning, construction and management of these historic gardens.

• Proceedings of the KIEE Conference
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• 2003.11a
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• pp.479-483
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• 2003

The outage cost has very important position for determination of the optimal level or optimal range of reliability in power system expansion planning. Establishing the worth of service reliability is a very difficult and subjective task. This paper suggests strategies for the role, need and assessment algorithm and methodology of the outage cost in power system expansion planning. Organization, data collections and method about D/B for outage cost assessment is proposed in the this study.

• Journal of the Korea Institute of Military Science and Technology
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• v.22 no.5
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• pp.667-673
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• 2019

We present an orienteering problem with unknown stochastic reward(OPUSR) model for persistent monitoring tasks with unknown event probabilities at each point of interest. Prior studies on orienteering problem for persistent monitoring task assume that rewards and event probabilities are known as a prior. In this paper, we propose a stochastic reward model with unknown event statistics and a path re-planning algorithm based on Bayesian reward inference. Experiments demonstrate the efficiency of our method.

• The Journal of Korea Robotics Society
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• v.17 no.3
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• pp.359-364
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• 2022

This study presents a nonlinear model predictive control (NMPC)-based obstacle avoidance and whole-body motion planning method for the mobile manipulators. For the whole-body motion control, the mobile manipulator with an omnidirectional mobile base was modeled as a nine degrees-of-freedom (DoFs) serial open chain with the PPR (base) plus 6R (arm) joints, and a swept sphere volume (SSV) was applied to define a convex hull for collision avoidance. The proposed receding horizon control scheme can generate a trajectory to track the end-effector pose while avoiding the self-collision and obstacle in the task space. The proposed method could be calculated using an interior-point (IP) method solver with 100[ms] sampling time and ten samples of horizon size, and the validation of the method was conducted in the environment of Pybullet simulation.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.7
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• pp.49-58
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• 1997

In process planning for pocket machining, the selection of tool size, tool path, overlap distance, and the calculation of machining time are very important factors to obtain the optimal process planning result. Among those factors, the tool size is the most important one because the others depend on tool size. And also, it is not easy to determine the optimal tool size even though the shape of pocket is simple. Therefore, the optimal selection of tool size is the most essential task in process planning for machining a pocket. This paper presents a method for selecting optimal toos in pocket machining. The branch and bound method is applied to select the optimal tools which minimize the machining time by using the range of feasible tools and the breadth-first search.

• International Journal of Control, Automation, and Systems
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• v.1 no.1
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• pp.68-75
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• 2003

This paper presents an effective trajectory planning algorithm for industrial robot manipulators. Given the end-effector trajectory in Cartesian space, together with the relevant constraints and task specifications, the proposed method is capable of planning the optimum end-effector trajectory. The proposed trajectory planning algorithm considers the joint acceleration limit, end-effector velocity limits, and trajectory allowance. A feedforward compensator is also incorporated in the proposed algorithm to counteract the delay in joint dynamics. The algorithm is carefully designed so that it can be directly adopted with the existing industrial manipulators. The proposed algorithm can be easily programmed for various tasks given the specifications and constraints. A three-dimensional test trajectory was planned with the proposed algorithm and tested with the Performer MK3s industrial manipulator. The results verified effective manipulator performance within the constraints.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.4 s.175
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• pp.848-857
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• 2000

A pick-and-place operation in 3-dimensional environment is basic operation for human and multi-purpose manipulators. However, there may be a difficult problem for such manipulators. Especially, if the object cannot be moved with a single grasp, regrasping, which can be a time-consuming process, should be carried out. Regrasping, given initial and final pose of the target object, is a construction of sequential transition of object poses that are compatible with two poses in the point of grasp configuration. This paper presents a novel approach for solving regrasp problem. The approach consists of a preprocessing and a planning stage. Preprocessing, which is done only once for a given robot, generates a look-up table which has information of kinematically feasible task space of end-effector through all the workspace. Then, using the table planning automatically determines possible intermediate location, pose and regrasp sequence leading from the pick-up to put-down grasp. Experiments show that the presented is complete in the total workspace. The regrasp planner was combined with existing path.

• Journal of the Korean Society for Railway
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• v.12 no.1
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• pp.135-143
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• 2009

The majority of development projects fail to meet their target schedule and cost, with the overrun typically between 40 and 200 percent. These overruns happen because the planners underestimate the work or do not consider the need to rework at project planning. Representative schedule planning/management techniques such as Gantt Chart, PERT/CPM etc. that are used in domestic project planning are unable to reflect rework. This paper proposes a method to consider rework to provide more realistic estimates at schedule planning. Additionally, to prevent the underestimation of the work this paper proposes a simulation method that calculates a probabilistic estimated schedule and the associated variance based on the random variable modeling of individual task completion dates.