This paper presents a motion planning strategy for legged robots using locomotion primitives in the complex 3D environments. First, we define configuration, motion primitives and locomotion primitives for legged robots. A hierarchical motion planning method based on a combination of 2.5 dimensional maps such as an obstacle height map, a passage map, and a gradient map of obstacles to distinguish obstacles. A high-level path planner finds a global path from a 2D navigation map. A mid-level planner creates sub-goals that help the legged robot efficiently cope with various obstacles using only a small set of locomotion primitives that are useful for stable navigation of the robot. A local obstacle map that describes the edge or border of the obstacles is used to find the sub-goals along the global path. A low-level planner searches for a feasible sequence of locomotion primitives between sub-goals. We use heuristic algorithm in local motion planner. The proposed planning method is verified by both locomotion and soccer experiments on a small biped robot in a cluttered environment. Experiment results show an improvement in motion stability.

Hierarchical Planning based on Abstraction of World Elements and Operators(HiPAWO) is proposed for mobile robots task planning, where abstraction of world elements is used for hierarchical planning and abstraction of operators is used for hierarchical decomposition of abstracted actions. Especially, a hierarchical domain theory based on JAH(Joint of Action Hierarchy)-graph is proposed to improve efficiency of planning, where a number of same actions are included in both adjacent hierarchical levels of domain theories to provide relationships between adjacent hierarchical levels. To show the validities of our proposed HiPAWO, experimental results are illustrated and will be compared with two other classical planning methods.

Our Natural environment is being destroyed and green area is being reduced by industrialization and urbanization and those cause environmental problems. In result, increased play hour with TV, computer games, video games rather then spend a time in nature and plants in children’s. This problems cause children’s emotional impoverishment and passive-dependence inclination. And made children scruple thinking and judging by themselves and it makes children exposure to social problems. Therefore loss of humanity and crisis are rapidly increase educational standardization and this is the cause to decrease children’s pure sensitivity and feelings and decrease cultivate desirable humanity for advancement of physical, emotional, social, intellectual things. For solution, this paper propose Kid Garden for equally cultivate interests, concern, imagination, internal emotion and feelings and increase children’s curiosity about nature for get back into good relationship between children and nature. On this study, make a model reflects children’s suggestions includes plays what they want to do, materials, safety, color, preferences those are analyzed results through survey analysis bases on Preference-Analysis of Kid Garden, the most preferred Kid Garden is a unreal Garden showed in fairy tale "The Wizard of OZ". We propose a Kid Garden model, it based on preference-analysis to get each details of preference, for experience plays what they want to do, horticulture activities for feel five senses, harmonize with nature in limited interior space and help children to expand their dream and an ideal. Children are growing constantly. During growing process children raise their dream and hope and made healthy ego. Experience various culture and experience of nature will help to cultivate children’s, most of children who live in desolate buildings, humanity. Thus, this paper proposes a Kid Garden which is necessary to children, has various forms and contents for children’s demands. Furthermore, we need to make custom gardens consider of age, area, characteristic of space. And we need well organized and designed educational environment for help to understand about plant and increase horticulture activity time in children education curriculums.

It is dangerous that an inspector overhauls defects and condition of the inner parts of an oil tanker because of many harmful gases, complex structures, and etc. However, these inspections are necessary to many oil tankers over old years. In this study, we proposed the design of mobile robot for inspection of CAS in oil tanker. The developed CAS inspection mobile robot has four modules, a measurement module of oil tanker's thickness, a corrosion inspection module, a climbing module of the surface on a wall, and a monitoring module. In order to get over at a check position, the driving control algorithm was developed. Magnetic wheels are used to move on the surface of a wall. This study constructed a communication network and the monitoring program to operate the developed mobile robot from remote sites. In order to evaluate the inspection ability, the experiments about performance of CAS inspection using the developed mobile robot have been carried out.

Tourism and recreation spots in Korea have been developed metropolitan cities-oriented that facility construction has too much importance in local tourist site development more than satisfaction and experience. Tourism hardly seems to play its role as a motive power even in locals where tourism occupies much in their economic development. Therefore, the ministry of culture & tourism has introduced a plan to discover cultural and tourism resources as a development alternative which handles theme-ability and specialization. However, most projects of local tourism resources developed since 1999 have resulted similar features comparing to previous and existing tourist spots. And the main objectives of this paper have not been realized very well. This research hence forth suggests a program-based model development in tourism resources, with a case study of Gokun-gugok, one of the historical and cultural sites and is located in Hwachon-gun, Gangwon Province. Main points include: Since the Gokun-gugok landscape has been undermined and been loosed the traditional cultural value due to the road development, this study intends to plan to make the adventure of tourism destination including restoring the site as a cultural place. The Gokun-gugok site needs to develop combining various types of tours and adventures with instructive and educational programs to meet the visitors' needs. This research also intends to precede a development plan based on harmonizing natural, historical and cultural assets of the Gokun-gugok with facility maintains and tourism development. Meanwhile, the study stresses on realizing development of tourism resources categorizing programs by seasonality, visitor's economic class, and visit duration. Asa consequence, the research presents a "Culture & Tourism Academy" which deals with these types of adventure programs and informative educations. To assess feasibility of the development plan in terms of economy, environment and policy, the research conducted the site inspection and examined the site's surroundings, land properties and inundation. 145,000 square meters have been extracted as a feasible development area out of total 392,500 square meters. Finally, the study segmentizes target markets basedon the result of the survey on visitors and local residents. The more segmentized markets employ facilities according to their traditional characters.

The purpose of study was planning to a rural community space plan for revitalization of aging in rural society and activity of rural older adults. The rural community type was divided 5 categories by local topography characteristics and road system. According to 5 categories, the rural community space plan was consisted of space plan such as consideration for a rural topography characteristics and activity plan by space which analyzed a relations with rural resource and activity of rural older adults. Results from the rural community planning showed that to improve quality of life and to increase in economic productive activity for rural older adults, moreover to lead a retired oppidan migrate from city to country and to make full use of oppidan's intellectual capacity resource.

스무딩(Smoothing)은 가변 비트율로 저장된 비디오 데이터를 고정 비트율로 변환하는 전송 계획이다. 이러한 스무딩 알고리즘들에는 CBA, MCBA, MVBA 알고리즘 등이 있다. 그러나 이 알고리즘들에서는 서버에서 제공할 수 있는 여분의 대역폭의 크기를 고려하지 않아서 서버에서 비디오 데이터를 보다 많은 클라이언트들에게 제공하는 것을 어렵게 할 수 있다. 본 논문에서는 제한된 네트워크 대역폭을 갖는 동영상 서버에서 보다 많은 클라이언트들에게 비디오 데이터를 제공할 수 있게 하기 위하여 전송률 감소량(증가량)이 최대(최소)로 하는 스무딩 알고리즘을 제안한다. 제안 알고리즘의 성능을 평가하기 위하여 여러 가지 평가 요소를 사용하였으며, 제안 알고리즘은 기존의 다른 알고리즘들과 비교하여 최대 클라이언트 서비스 개수, 평균 클라이언트 서비스 개수 등과 같은 평가 요소에서 우수함을 보였다.

This study aims to develop a rational evaluation system which consists of the selection of evaluation items and the estimation of its weight for the Enhancement Program of the Quality of Life for Farmers and Fishermen and Rural Development. This system has two hierarchical steps. The first step shows the evaluation goals which are relevance, efficiency and effectiveness of the program. The second step stands for the evaluation items which have 11 sub-items such as necessity and externalization for the program, rationality of procedures, feedback and monitoring system, budgetary allocations, information activities, impacts on the program, achievements of the goals and so on. A tentative evaluation system was proposed by brainstorming and Delphi method of expert-group. Weighting values of evaluation items were calculated through pair-comparison works of expert group using stepwise matrix sheets by AHP(Analytic Hierarchy Process).

Indoor space is not just functional mean, it is watched with deep more concern as ecological and emotional design. Designed and executed indoor theme garden in Yawoori department store, 20 ages were major customer, with objective on differentiation of it's image. The inner side of department store is not suitable for plants growth, but establishment period is relatively short with 3 months. Its results of establishing indoor garden, all customer, clients, and employee were satisfied, and its accompanied effectiveness on event of department store. Therefore, indoor garden has potential for generation of images , and visitor or customers's amenity. And it also makes possibility of coexistence human with plans.

경관특성평가(Landscape character assessment)는 지속가능한 경관생태학적 설계 및 계획을 찾는데 있어 점점 중요한 역할을 담당하고 있다. 이 연구는 농촌경관(Rural landscape)평가방법의 잠재성에 초점을 두고 전문가에 의한 쉐필드 그린벨트의 경관가치 평가가 그린벨트 안이나 주변에 사는 거주자들의 의견을 반영했는지를 연구하였다. 쉐필드 그린벨트지역을 대상으로 경관특성평가를 하였고 설문지 조사 결과는 경관에 전문지식을 갖고 있

The objective of public works planning is being converted from economic growth to sustainable development. So, the demand for considering social & ecological influences as well as economic components had been increased in evaluation of public works planning. In evaluation of public works, its components related with benefit and cost in feasibility analysis can be classified to qualitative and qualitative elements. Qualitative elements are evaluated by qualitative methods which can manage various items, be commonly applied nationwide, and consider elements that can be calculated numerically such as environments, willingness, etc. In this study, using the concept of 'Information measure', a method to design planning of rural works is proposed. 'Information benefit model' for rural works can evaluate present plan in the side of provider's and demander's 'benefit'. And, optimizing method of rural works by 'Information benefit' can simulate present state and optimize the site and route of rural works.

The purpose of this study is to make a planning of Nosan Hasuk rural village development project based on rural amenity. The Nosan Hasuk rural village is located in Hyundo-Myun Cheongwon-Gun Chungcheongbuk-Do. For this study, investigate the amenity, make the bill of developing plan, and discuss the problems in rural integrated developing project. The developing plan is composed of basic planning, developing direction, village plans, and details projects. And, indicate the problems of rural integrated developing project those are the main body, standardization of investigated data, and insufficiency of detailed reference.

During the communication and interaction with a human using motions or gestures, a humanoid robot needs not only to look like a human but also to behave like a human to make sure the meanings of the motions or gestures. Among various human-like behaviors, arm motions of the humanoid robot are essential for the communication with people through motions. In this work, a mathematical representation for characterizing human arm motions is first proposed. The human arm motions are characterized by the elbow elevation angle which is determined using the position and orientation of human hands. That representation is mathematically obtained using an approximation tool, Response Surface Method (RSM). Then a method to generate human-like arm motions in real time using the proposed representation is presented. The proposed method was evaluated to generate humanlike arm motions when the humanoid robot was asked to move its arms from a point to another point including the rotation of its hand. The example motion was performed using the KIST humanoid robot, MAHRU.

We propose a planning algorithm to automatically generate a robust behavior plan(RBP)with which mobile robots can achive their task goal from any initial states under dynamically changing environments. For this, task description space(TDS)is formulated, where a redundant task configuration space and simulation model of physical space are employed. Successful task episodes are collected, where A algorithm is employed. Interesting TDS state vectors are extracted, where occurrence frequency is used. Clusters of TDS state vectors are found by using state transition tuples and features of state transition tuples. From these operations, characteristics of successfully performed tasks by a simulator are abstracted and generalized. Then, a robust behavior plan is constructed as an ordered tree structure, where nodes of the tree are represented by attentive TDS state vector of each cluster. The validity of our method is tested by real robot's experimentation for a box-pushing-into-a-goal task.

This study was conducted to validate the planting status of landscape plants and elements of Seoul National University of Education. Despite of long historical background of school, this type of research was seldomly conducted before as innovation strategy of university. And the purpose of this study was to offer the opportunity of design criteria of school to offer the new concept of eco-friendly design and analyzing plants species or compatibility of plants with surroundings. The natural environment was analyzed and light environment was specially investigated to compare the ability of plants. The current situation and compatibility of plants were investigated according to the site and species. So, the result of the study should be implemented as valuable resources for improving the landscape spaces and plants of school in the future. The landscape design includes the followings: a survey of the present status, a site analysis, s schematic design, and the needs of students for design development. To create the landscape spaces, we proposed school spaces by the concept of eco- friendly of nature image. The university space was designed to have educational spaces like safety, green amenity and rest areas for the students which are designed to be harmonious with other surroundings. Based on that, some of the university space was specially proposed with CAD imagination work and all the results were accomodated under the concept of new strategy of university innovation for the future. Through the university space designed by this study, the university students ,faculties and other dwellers around university will have more opportunity of contact with nature and increase the value of university effectively.

선행연구에서 제안된 건천화 방지를 위한 유역통합관리 절차를 안양천 중상류 유역에 적용한 결과이다. 특히 대상 유역에 대한 물순환 흐름을 파악하기 위한 구체적인 자료 및 취득방법을 제시하였고, 중유역별 상태파악 및 대안 선택에 PSR 모형을 사용하여 지속가능성에 대한 개념이 반영하였으며, 지수산정 방식은 다단계 다기준 의사결정알고리즘 중 하나인 복합계획법을 사용하는 등 구체적인 방법을 제시하였다. 또한 대상유역에 대해 구체적인 건천화 방지 대안을 제시하였

본 연구에서는 도시하천의 건천화 방지를 위한 지속가능한 수자원계획을 수립하기 위한 절차를 Heathcote가 제안한 다음과 같은 7단계를 토대로 제시하였다. 단계별 절차는 (1) 유역의 물순환 관련 요소 파악, (2) 문제점 도출 및 우선순위의 결정, (3) 분명하고 구체적인 목표의 설정, (4) 모든 대안의 제시, (5) 가능한 대안의 선별, (6) 선별된 대안의 효과분석, (7) 최종대안의 수립으로 이루어져 있다. 대상 유역의 정량적인 평가를 위한

컨테이너 터미널에서 컨테이너의 양 하역 작업 시 컨테이너 크레인을 정위치에 고정시키고, 돌풍으로 인해 컨테이너 크레인이 레일방향으로 미끄러지는 것을 방지하는 장치가 레일클램프이다. 쐐기형 레일클램프는 초기에는 작은 압착력으로 레일을 압착하다가 풍속이 증가하면 쐐기작용에 의해 압착력이 증가하는 방식을 취함으로서 구조적으로 안정성과 내구성이 높은 장점을 가지고 있다. 본연구에서는 레일클램프의 주요부인 조에 대해 형상최적설계를 수행하였다. 본 논문에서는 솔리드 요소로 유한요소 모델링된 조(jaw)의 경량화 설계를 위하여 강도를 고려하였다. 설계변수로는 조의 측면부의 두께, 조의 중간부의 롤러지지부의 두께, 조의 하단부의 롤러지지부의 두께, 조의 곡면부의 위치로 설정하였다. 본 연구에서는 상용프래그램인 ANSYS WORKBENCH의 최적화 기능을 이용하였다.

The objective of this study is to suggest planning directions for rural landscape management and conservation. With wide literature review, the Rural Traditional Theme Village were selected as case study areas to search for the main elements according to various spatial types. The pictures taken from the site investigation were used for a questionnaire survey to understand and to find the value of rural landscape. Finally, we found out 25 items from 3 spatial type (rural life area, agriculture production area and natural environment area), and Analyzed the Preference of rural landscape elements.

It is well known that mathematical solutions for multi-agent planning problems are very difficult to obtain due to the complexity of mutual interactions among multi-agent. Most of the past research results thus are based on the probabilistic completeness. However, the practicality and effectiveness of the solution from the probabilistic completeness is significantly reduced by heavy computational burden. In this paper, we propose a practically applicable solution technique for multi-agent planning problems, which assures a reasonable computation time and a real world application for more than 3 multi-agents for the case of general shaped paths in agent movement. First, to reduce the computation time, a collision map is utilized for detecting potential collisions and obtaining collision-free solutions for multi-agents. Second, to minimize the maximum of multi-agent task execution time, a method is developed for selecting an optimal priority order. Simulations are finally provided for more than 20 agents to emphasize the effectiveness of the proposed interactive approach to multi-agent planning problems.