The cut tree approach of Montreuil and Ratliff [1, 3, 12] is used to automatically draw a facility layout with aisles. The department arrangement can either minimize the rectilinear distance criterion or an aisle distance criterion. The aisles distance is measured by the door to door distance between departments. An eigenvector and cut tree approaches are implemented via branch and bound by Kim et al. [2], Tillinghast [10] and both heuristics are compared to CRAFT [4]. The proposed approach is based on the branch and bound technique, and in theory it will provide the optimal solution. If the runs are time and/or node limited, the proposed method is a strong heuristic. The technique is made further practical by the fact that the solution is constrained such that the rectangular shape dimensions length(l) and width(w) are fixed and a perfect fit is generated if a fit is possible

The cut tree approach of Montreuil and Ratliff [16] and eigenvector approach [10] are used to automatically draw a feasible facility layout with aisle structure. The department arrangement can minimize an aisle distance criterion considering door location

In this paper, a robot vision technique is presented to detect obstacles, particularly approaching humans, in the images acquired by a mobile robot that autonomously navigates in a narrow building corridor. A single low-cost color camera is attached to the robot, and a trapezoidal area is set as a region of interest (ROI) in front of the robot in the camera image. The lower parts of a human such as feet and legs are first detected in the ROI from their appearances in real time as the distance between the robot and the human becomes smaller. Then, the human detection is confirmed by detecting his/her face within a small search region specified above the part detected in the trapezoidal ROI. To increase the credibility of detection, a final decision about human detection is made when a face is detected in two consecutive image frames. We tested the proposed method using images of various people in corridor scenes, and could get promising results. This method can be used for a vision-guided mobile robot to make a detour for avoiding collision with a human during its indoor navigation.

미동산의 자원식물상 조사는 2002년 3월부터 2003년 10월까지 20개월동안 수행하였고 관속식물상은 85과 266속 349종 48변종 3품종 등 총 400종류의 식물이 확인되었다. 자원식물상 조사결과 관상용 식물은 162종(40.5％), 식용 식물은 250종(62.5％), 약용식물은 257종(64.3％), 기타 용도 식물은 167종(41.8％)으로 확인되었다. 한국 특산식 물은 매미꽃, 터리풀, 자란초, 병꽃나무, 고려엉겅퀴, 분취 등 6종류로 조사되었고 산림청 지정 희귀 및 멸종위기식물은 매미꽃과 층층둥굴레가 확인되었다.