n Korea, the decommissioning of nuclear power plants is being prepared, and a large amount of radioactive waste is expected to be generated. In particular, clearance level waste, which accounts for more than 90%, requires prevention of cross-contamination and prompt classification. In this study, the possible exposure route and the derivation of exposure dose for worker exposure management in a movable analysis system that can be analyzed onsite were studied. The movable radionuclide analysis system is divided into a preparatory room, a sample storage room, a radioanalysis room, a laboratory, and a waste storage room. It consists of one radioanalysis worker and one pre-treatment worker, and the main radiation exposure is expected to occur in the movement path in the sample storage room, radioanalysis room, and laboratory. The source term for the exposure evaluation, the annual usage dose presented in the radiation safety report in the movable radionuclide analysis system was used. The input data for the evaluation of the external exposure dose under normal circumstances (exposure situation, working hours, distance, etc.) is referenced at facility specifications. The internal exposure dose evaluation was assumed to be acute exposure (1 hour) assumed as internal pollution due to the drop in liquid sample during the pretreatment work. As an evaluation method, a method using a calculation formula and a method using an evaluation code was performed. For the evaluation of exposure dose using the calculation formula, a preliminary evaluation was performed using the point source method, the point kernel method, and intake and dose conversion factors. In addition, VISIPLAN and IMBA codes were used to evaluate exposure dose using the evaluation code, and the input data were supplemented for evaluation. As a result of the evaluation, the annual exposure dose limit of 20 mSv was satisfied for both normal and non-normal situations. In future research, it is planned to derive the evaluation results by particular scenarios for the detailed movement route and evaluation time according to the work process in the mobile radionuclide analysis.

보다 사실적인 대규모 게임 환경을 구축하기 위해서는 NPC(Non-Player Character)의 지능적인 경로 계획 기법이 필수적이다. 본 논문에서는 필드 기반 경로 계획 기법의 하나로 지금까지 기하 모델링에 사용되어 왔던 적분형 MLS(Moving Least Squares) 기법의 적용을 제안한다. 이 기법은 다른 필드 방식(부호 거리장 기법, SDF)에 비해서 모든 지점에서 연속, 미분 가능(C1)한 부드러운 경로를 제공하며 간단한 매개변수 하나만으로 지형 장애물과의 상대적인 거리에 따른 자연스러운 동선을 형성할 수 있다. 적분형 MLS는 GPU 기반 병렬 기법과 2차원 및 3차원에서의 해석이 상당히 진행되었으며 비교적 어려운 3차원 공간 상의 경로 계획에도 적용할 수 있다.

The most important thing for navigation of a mobile robot is to find the most suitable path and avoid the obstacles in the static and dynamic environment. This paper presents a method to search the optimal path in start space extended to time domain with considering a velocity and a direction of moving obstacles. A modified version of A* algorithm has been applied for path planning in this work and proposed a method of path search to avoid a collision with moving obstacle in space-tim domain with a velocity and an orientation of obstacles. The velocity and the direction for moving obstacle are assumed as linear form. The simulation result shows that a mobile robot navigates safely among moving obstacles of constant linear velocity. This work can be applied for not only a moving robot but also a legged humanoid robot and all fields where the path planning is required.

게임 인공지능 분야중 하나인 경로탐색은 좀더 사실적인 게임을 만들기 위한 중요한 요소이다. 경로탐색 시스템은 한정된 자원을 소비해야만 하는 제약사항 때문에 때때로 단순하게 처리되어 사실적이지 못한 경로를 생성하였다. 기존 연구에서는 정적인 지형과 장애물들을 이용하여 자연스럽게 회피하는 경로생성에 집중하였다. 하지만, 게임 공간에서는 다양한 종류의 움직이는 장애물들이 존재한다. 따라서 이러한 움직이는 장애물을 자연스럽게 회피하는 경로를 생성하는 시스템 이 필요하다. 본 논문에서는 네비게이션 메시(Navigation Mesh)로 공간을 표현하며 지형의 특성을 고려한 경로 탐색 방법을 적용하고, 움직이는 물체를 회피하기 위하여 지능적인 밀개와 끌개의 방법을 사용하여 경로 탐색을 수행한다. 제안된 시스템을 통하여 생성된 경로를 살펴보고 실제 게임에서의 활용성을 검증한다.