• 한국실내디자인학회논문집
• /
• 제18권4호
• /
• pp.97-104
• /
• 2009

This thesis analyzed arrangement and mixture method of function elements, which are getting more important in museum planning. It used quantitative method, Space Syntax and Visibility Graph Analysis tool to analyze five case museums. Through this analysis, advantages and disadvantages of two methods were derived and case museums' arrangement and mixture attributes were grasped. Results of the analysis were derived differently by two kinds of plan form which were room to room type and open type. Open typed museum recorded similar graphs of Integration, Visual Integration and Visual Connectivity. Since whole space structures were relatively simple and structure of exhibition halls were opened, the results of Space Syntax and Visibility Graph Analysis had similar graphs. Room to room typed museum showed differences in Integration, Visual Integration and Visual Connectivity. In the result, the most accessible space was lobby and Mediation Space became the center of visibility. Also, the exhibition hall, where the opening of room to room typed exhibition hall was penetrated visually, became a center of visibility. Lobby space, which was close to entrance, had the highest Visibility Connectivity. As Space Syntax could analyze the museum as whole space structure, Space Syntax showed strength in room to room typed museum analysis compared to open typed museum analysis which has relatively simple structure. Visibility Graph Analysis could expect the flow of exhibit distance including visibility analysis unlike the flow of exhibit distance with space arrangement. The exhibition hall, which secures the sight to penetration of an opening, couldn't be analyzed in existing Space Syntax. However, it became the biggest advantages in Visibility Graph Analysis of room to room typed museum. Visibility Graph Analysis derived detailed results in exhibit arrangement so it will be the useful method not only for architecture but also for planning of exhibit arrangement in open typed museum. Through this study, various possibilities on Quantitative Analysis Method of Museum Architecture could be verified. However, the analysis still has limitation of second dimension. Therefore, diverse and liberal following study will be expected to accomplish.

• 한국국방경영분석학회지
• /
• 제16권2호
• /
• pp.56-74
• /
• 1990

Programming-in-the-Large refers to software development environment and includes the organization and representation of a system structure, module decomposition, component dependence analysis, seperate compilation, subsystem and composition identification. The most intricate problem in this environment is the mastery of the structural complexity of large software systems. Ada programming language is tailored to the needs for building of large, integrated software systems from many program units. The visibility graph generating model presented in this paper transforms Ada source program into a visibility graph with nodes for program units and edges for visibility relations among program units. The system description in terms of program units and their visibility relations produced by this model can be utilized for some apects of Programming-in-the-Large environment and also assists designeers, programmers, integrators and maintainers in defining, understanding and exploring the structure of evolving software systems. The model designed and implemented in Ada programming language runs on PCs and will remain useful both in practice and as experimental tool.

• 제어로봇시스템학회논문지
• /
• 제16권1호
• /
• pp.48-52
• /
• 2010

In this paper, we introduce a new path planning algorithm which combines the merits of a visibility graph algorithm and an adaptive cell decomposition. We quantize a given map with empty cells, blocked cells, and mixed cells, then find the optimal path on the quantized map using a visibility graph algorithm. For reducing the number of the quantized cells we use the quad-tree technique which is used in an adaptive cell decomposition, and for improving the performance of the visibility checking in making a visibility graph we propose a new visibility checking method which uses the property of the quad-tree instead of the well-known rotational sweep-line algorithm. For the more efficient visibility checking, we propose two additional improvements for our suggested method. Both of them are used for reducing the visited cells in the quad-tree. The experiments for a performance comparison of our algorithm with other well-known algorithms show that our proposed method is superior to others.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.1939-1944
• /
• 2003

This paper presents a global path planning algorithm based on a visibility graph method, and applies additionally various constraints for constructing the reduced visibility graph. The modification algorithm for generating the rounded path is applied to the globally shortest path of the visibility graph using the robot size constraint in order to avoid the obstacle. In order to check the visibility in given 3D map data, 3D CAD data with VRML format is projected to the 2D plane of the mobile robot, and the projected map is converted into an image for easy map analysis. The image processing are applied to this grid map for extracting the obstacles and the free space. Generally, the tree size of visibility graph is proportional to the factorial of the number of the corner points. In order to reduce the tree size and search the shortest path efficiently, the various constraints are proposed. After short paths that crosses the corner points of obstacles lists up, the shortest path among these paths is selected and it is modified to the combination of the line path and the arc path for the mobile robot to avoid the obstacles and follow the rounded path in the environment. The proposed path planning algorithm is applied to the mobile robot LCAR-III.

• 한국항공우주학회지
• /
• 제47권12호
• /
• pp.874-880
• /
• 2019

본 논문에서는 무인기의 경로 계획을 위한 맵 분할 방법론 중 하나인 Visibility Graph를 산악지형, 방공망, 그리고 레이더 등의 장애물이 존재하는 실제적인 3차원 환경에서 효율적으로 사용하기 위한 방안에 대해 서술한다. 기존의 가시성 그래프는 빌딩 사이를 주행하는 자율주행 자동차와 같이 주로 2차원 환경에서 간단한 형상의 장애물에 대해 연구되어왔다. 무인기 분야에서 사용하기 위해서는 고도 변화를 위해 3차원 가시성 그래프가 적용되어야 하는데, 3차원 가시성 그래프의 경우 2차원 환경에 비해 가시성을 판단해야 하는 노드 쌍이 매우 많아진다. 이에 더해 복잡한 다각형으로 이루어진 산악 지형은 가시성 그래프의 계산 시간을 더욱 상승시키는 요인으로 작용한다. 이러한 문제를 해결하기 위해 본 논문에서는 맵을 일정 고도로 분할하는 계층형 가시성 그래프 방식을 기반으로 복잡한 산악 지형을 Convex Hull 개념을 활용하여 노드 수를 감소시켜 계산 시간을 줄이는 방법에 대해 서술하며, 노드 수를 감소시키지 않은 상태와의 계산 시간을 비교한 결과 계산 시간이 약 99.5% 감소하였음을 확인하였다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
• /
• pp.418-418
• /
• 2000

This paper proposes a path planning algorithm for mobile robot. To generate an optimal path and minimum time path for a mobile robot, we use the Genetic Algorithm(GA) and Visibility Graph. After finding a minimum-distance between start and goal point, the path is revised to find the minimum time path by path-smoothing algorithm. Simulation results show that the proposed algorithms are more effective.

• 한국시뮬레이션학회논문지
• /
• 제15권2호
• /
• pp.31-39
• /
• 2006

가시성그래프는 최소 탐색 공간으로 게임환경을 모델링하여 효과적으로 길을 찾을 수 있도록 하는 방법으로 잘 알려져 있다. 일반화 가시성그래프는 가시성그래프의 가장 큰 단점으로 지적되는 "벽-껴안기" 문제를 해결하기 위해 확장된 장애물의 경계 위에 생성된 가시성그래프이다. 일반화 가시성그래프에 의해 구해진 경로는 근사 최적이며 자연스럽게 보이는 장점이 있다. 본 논문에서는 변화하는 출발점과 목표점과 정적인 장애물 사이를 움직이는 게임 캐릭터에 효과적으로 일반화 가시성그래프를 적용하는 방법을 제안한다. 일반화 가시성그래프는 일단 생성되면 최소 탐색공간을 보장하지만 그 생성 자체는 노드사이의 링크의 교차 여부론 일일이 체크하여야 하므로 시간이 많이 소요된다. 아이디어는 먼저 정적인 장애물만으로 지도를 생성해 놓고 출발점과 목표점을 빠르게 포함시키는 것이다. 출발점과 목표점의 포함 부분이 여러 번 반복되어야 하는 과정이므로 출발점과 목표점을 빠르게 포함시키는데에 연산 기하학 분야의 회전 plane-sweep 알고리즘을 이용할 것을 제안한다. 시뮬레이션 결과는 전체 그래프를 매번 생성하는 것보다 제안한 방법의 실행시간이 39%-68% 정도 향상되었음을 보여준다.

• 한국실내디자인학회논문집
• /
• 제23권2호
• /
• pp.166-173
• /
• 2014

This study analyzed visual-perceptual centrality as a measure to solve the confusion that might occur in visitor's movement in analyzing contemporary museums that have recently expand. Also, this study proposed a new methodology to understand the relationships of the occurrence and convergence of visual-perceptual power. The existing visibility graph analysis mostly ends up in identifying nodes corresponding to the physical environment of museums while the newly proposed visibility graph analysis is a methodology that can analyze the landmark on which the visual-perceptual power occurs and converges, by setting visible space elements as analysis variables, which showed a possibility to draw more reliable results in parallel to the existing analysis, and the results of this analysis are as follows. A public museum located in downtown has a limitation that it cannot but be multi-layered as a way to enlarge for the accommodation of a variety of programs on a limited site. Also, this study found that the problem of visitor orientation occurring in the multi-layer process was solved by a major space which was visual-perceptually void. Also, its types can be summarized into two types: One is setting parameter spaces (ramps, staircases, hallways) linked visual-perceptually to the major space and the other is solving the confusion of the visitor's movement by composing a simple exhibition space. In particular, it is judged that the type solving the confusion of the visitor's movement by composing a simple exhibition space also had a relationship with changes in the characteristics of the exhibited works by period. In addition, it was found that the entrance also appeared in two types: dependent type and independent type in the major space according to the characteristics of the major space.

• International Journal of Aeronautical and Space Sciences
• /
• 제8권2호
• /
• pp.107-120
• /
• 2007

Coordination of multiple UAVs is an essential technology for various applications in robotics, automation, and artificial intelligence. In general, it includes 1) waypoints assignment and 2) trajectory generation. In this paper, we propose a new method for this problem. First, we modify the concept of the standard visibility graph to greatly improve the optimality of the generated trajectories and reduce the computational complexity. Second, we propose an efficient stochastic approach using simulated annealing that assigns waypoints to each UAV from the constructed visibility graph. Third, we describe a method to detect collision between two UAVs. FinallY, we suggest an efficient method of controlling the velocity of UAVs using A* algorithm in order to avoid inter-UAV collision. We present simulation results from various environments that verify the effectiveness of our approach.

• 국제초고층학회논문집
• /
• 제12권1호
• /
• pp.83-91
• /
• 2023

Under the dual pressure of population growth and land shortage, threedimensional development is the inevitable choice for cities in China. In such a scenario, a mixed-use complex has considerable potential in its realization and research. Based on space syntax and the three-dimensional visibility graph analysis, this paper describes the spatial and functional layout of the Shanghai Super Brand Mall and studies the relationship between spatial visibility and user behaviour through linear regression analysis and correlation analysis. This paper studies three different types of user behaviour, namely, path selection, staying selection, and store selection, and finds that spatial visibility and accessibility have different effects on user behaviour depending on the type and purpose of the activity. This paper reveals the influence of spatial and functional layout on user behaviour and puts forward the corresponding design strategy under the three-dimensional environment.