한국 치의 공간구성의 변화에 관한 연구 - 서울시 소재 치과대학/치의학대학원과 치과병원 분석을 중심으로

정태종 ( Jeong Taejong ),최재필 ( Choi Jaepil ) 한국의료복지건축학회 2017 의료·복지 건축 Vol.23 No.1

Purpose: The analysis of space configuration of dentistry through examining Korean dental history and comparison are necessary for the development of planning of the dental healthcare system. This study has been started in order to provide basic information for the planning of hospital architecture in dentistry. Methods: Literature review of space configuration and historical background in dentistry have been conducted. The changes of site plan and space configuration of Seoul National University, Yonsei University and Kyunghee University, School of Dentistry and Dental Hospital have been analyzed in dental history of Korea and corresponding spaces. Results: The result of this study can be summarized in three points. The first one is that space configuration of dentistry in Korea is different from that of West. The clinical treatment space had been started first and the education and research space was followed after a short interval. The second one is that the space configuration in School of Dentistry and Dental Hospital shows that dental space had differentiated and specialized to dental education and clinical space in a building. It had spatially divided and separated to the education and research complex and the dental hospital and it had a branch building. The third one is that the dental public health in Korea has not been actively applied until recently and it should be developed in a near future. Implications: It is necessary to analyze space configuration of other dental schools and their hospitals to develop the relationship between space and program in healthcare system.

A Study on the Utility of Furniture Configuration for Reading Spaces in University Libraries Based on User Experience

인스후이 ( Yin Sihui ),김철수 ( Kim Chulsoo ) 한국공간디자인학회 2024 한국공간디자인학회논문집 Vol.19 No.2

(연구배경 및 목적) 대학 도서관은 캠퍼스 공간에서 결코 빼놓을 수 없는 중요한 위치를 차지하고 있다. 현대 사회가 빠르게 발전함에 따라 도서관 각 공간의 배치도 다양한 변화를 겪고 있다. 대학 도서관은 사용자 경험을 기반으로 인간 중심의 서비스를 제공해야 한다. 가구 배치의 효용은 공간 개조 과정에서 가장 먼저 고려해야 할 문제이다. 본 논문은 사용자 경험을 기반으로 부산광역시에 위치한 세 국립대학의 중앙도서관 열람 공간 가구 배치의 효용을 조사 분석하고, 최종적으로 결론을 도출하였다. 향후 도서관 개조에 참고가 되기를 바란다. (연구방법) 선행 연구 자료 등의 문헌을 통해 사용자 경험, 효용 및 가구 배치의 개념을 확립하였다. 대학도서관 열람공간의 가구 배치에 대해 사용자 경험 조사를 실시하고, 설문조사를 통해 결과를 정리 및 분석하였다. 사용자 경험과 효용을 기반으로, 대학도서관 열람공간의 가구 배치 평가 요소와 내용을 분석하고 요약하였다. 부산에 위치한 세 국립대학 중앙도서관을 사례 대상으로 하여 현장조사를 진행한 후, 이전에 도출된 요소와 평가내용을 활용하여 열람공간의 가구배치 현황을 분석하였다. 분석결과를 바탕으로 결론을 도출하고, 향후 대학도서관 개조에 대한 방향을 제시하였다. (결과)사례 대상의 비교 분석을 통해, 사례 대상의 가치성이 모두 상위 두 순위에 있다는 것을 발견했으며, 이는 부산광역시에 위치한 국립대학도서관의 열람공간 가구 배치가 모두 사용 가치가 있다는 것을 의미한다. 그러나 부산대학교와 부경대학교는 접근성에서는 최하위 점수를 받았다. 또한 부산대학교와 해양대학교의 편리성 역시 최하위 점수를 받았는데, 이는 편리성의 중요성을 입증할 뿐만 아니라 열람공간의 가구 배치에서 편리성을 고려한 시설이 아직 충분하지 않으며, 사용자 경험을 기반으로 지속적인 개선이 필요함을 나타낸다. (결론) 대학 캠퍼스의 중요한 공간으로서 대학도서관의 열람공간은 다양한 기능적 구역을 제공하여 사용자의 여러 요구를 충족시키고, 서비스의 다양성을 실현하며, 가구 배치의 효용을 높여야 한다. 사용자의 선호와 실제 사용의 편리함을 기반으로 각 지역의 크기와 면적을 개선하는 것을 가속화하고, 개인적인 열람공간의 가구를 늘려야 한다. 향후 도서관개조에서는 편리성과 접근성을 높여, 쾌적하고 편안하며 다양한 이용자의 요구를 충족시킬 수 있는 지속 가능한 공간이 되도록 노력해야 한다. (Background and Purpose) The furniture configuration of library spaces has changed in various ways due to rapid contemporary development. University libraries play an invaluable role. To provide human-centered services based on user experience, it is essential to consider the utility of furniture configuration in the whole process of space renovation. In order to offer user-centered services based on their experience, it is crucial to take into account the usefulness of furniture configuration throughout the entire process of space renovation. The purpose of this study is to analyze the evaluation elements and content based on the user experience and utility, and investigate the current situation of the research objects, in order to provide reference for the future library renovations. (Method) The concepts were established through literature on user experience, utility, and prior research data related to the types and classifications of furniture in libraries. A survey was conducted to evaluate the furniture configuration of reading spaces. The results were analyzed based on user experience and utility, and the elements and contents of the evaluation were summarized. After conducting an on-site survey, the author analyzed the current configuration of reading space furniture using previously derived elements and evaluation criteria. Then the author drew conclusions and provided recommendations for the future renovation of university libraries. (Results) The analysis reveals that all case objects were ranked within the top two in terms of value. This suggests that all furniture configurations for reading spaces in national university libraries in Busan Metropolitan City are highly useful. According to the questionnaire survey, Pusan National University and Pukyong National University received the lowest scores in accessibility, indicating that users believe the library reading space furniture configuration affects accessibility. Therefore, it is important to consider the needs of people with disabilities when configuring library reading space furniture. However, it is clear that the facilities for configuring space furniture are incomplete and require improvement to enhance accessibility. It is crucial to continuously improve these facilities based on user experience. (Conclusion) University library reading spaces are essential and should provide various functional partitions to meet diverse user needs and offer a range of effective services. Furniture configuration must be effective and diverse. To enhance user experience and convenience, it is necessary to expedite the expansion of each area and increase private study spaces in future library renovations. Efforts should be made in the future renovation of the library to improve convenience and accessibility and to make it comfortable and convenient for the needs of a diverse range of users.

국내 중규모 이상 공연문화시설 공간구조분석

서현,김선영,김석태 한국문화공간건축학회 2011 한국문화공간건축학회논문집 Vol.- No.34

According to Korea social, economic growth after 1970’s, the quality of life of the citizens changed and the cultural level improved greatly. Upon the effect, the demand expends about performing art of the citizen. Also performance cultural facility is extending rapidly. Recently domestic performance cultural facility is mixed to add the function to the inside, and the size of building is expanded because of adding various function of space. According to add the function, special layout of facility also is changing complicatedly. Therefore, the visitors are hard to understand recognizing a space to use facility. As composing elements of space increasing, many problems which relate with a space perception will more increase. But the research which graps the quality of space was overlooked relatively. The research was focused on 8 performing cultural facilities which were erected after 1970’s in domestic. These in the objects, this study analyzed spatial configuration then grasped the feature of space by analyzing by Space Syntax. The research result were summarized as follows. 1) The center of spaces is performing art facilities still while this phenomenon will continue. 2) Performing art facilities were divided into three types: types characteristics were investigated. 3) The performing art center's managers use the space, the separation of space and the audience concluded that a well placed. 4) The number of seats are help the user's space perception easy. According to Korea social, economic growth after 1970’s, the quality of life of the citizens changed and the cultural level improved greatly. Upon the effect, the demand expends about performing art of the citizen. Also performance cultural facility is extending rapidly. Recently domestic performance cultural facility is mixed to add the function to the inside, and the size of building is expanded because of adding various function of space. According to add the function, special layout of facility also is changing complicatedly. Therefore, the visitors are hard to understand recognizing a space to use facility. As composing elements of space increasing, many problems which relate with a space perception will more increase. But the research which graps the quality of space was overlooked relatively. The research was focused on 8 performing cultural facilities which were erected after 1970’s in domestic. These in the objects, this study analyzed spatial configuration then grasped the feature of space by analyzing by Space Syntax. The research result were summarized as follows. 1) The center of spaces is performing art facilities still while this phenomenon will continue. 2) Performing art facilities were divided into three types: types characteristics were investigated. 3) The performing art center's managers use the space, the separation of space and the audience concluded that a well placed. 4) The number of seats are help the user's space perception easy.

연작형 국문장편소설의 공간 구성과 그 의미 -<쌍천기봉> 연작을 중심으로-

탁원정 ( Won Jong Tak ) 한국고전문학회 2014 古典文學硏究 Vol.45 No.-

본 연구는 국문장편소설의 공간 구성 양상을 고찰함으로써 국문장편소설 연구의 한 방법론으로서 공간론을 모색해 보고자 하였다. 더불어 연작형 소설의 연속과 변이 양상 또한 공간의 측면에서 새롭게 포착될 수 있다는 전제 하에 연작형 국문장편소설 중 <쌍천기봉> 연작을 대상으로 공간구성과 그 의미를 분석하였다. 국문장편소설들의 공간 배경은 주인공 가문이 대대로 살아 온 세거지와 남녀주인공의 외부 활동에 따라 일정한 성격을 지닌 공간들로 구분될 수 있다. 파견지, 출정지, 유배지, 유람지, 의거지 등이 그런 공간이며, 이런 공간은 국문장편소설의 공간 배경을 일정하게 구분하는 기준이 되면서, 서사와 공간 배경 간의 유기적인 관계를 드러낸다고 할 수 있다. 이런 기준에서 연작형 국문장편소설의 공간 배경을 정리했을 때, 송대와 명대라는 시대적 배경에 따라 각 시대의 수도나 행정구역 등에서 다소의 차이를 보이거나 각 시대마다 부각되는 지역이 다르게 나타나지만, 특정 지역이 지닌 일정한 서사적 성격은 송대나 명대라는 시대를 불문하고 유사한 양상을 보인다고 할 수 있다. 국문장편소설은 특정 지역의 성격이나 정보를 공유하면서도 각 작품마다 교집합을 벗어나는 독자적인 공간 설정을 보인다고 할 수 있는데, 이를 ‘공유된 기억 공간과 창조된 상상 공간’으로 명명해 볼 수 있다. 본고의 대상 작품인 <쌍천기봉>연작 역시 이런 자장 안에 있다. 먼저, 토목지변이라는 역사적 사건을 가져오면서도 영종을 복귀시키려는 북방 출정의 집결지로 세거지인 금주를 설정하면서 세거지를 정치색이 강한 공간으로 만들고 있으며, 절강유역을 야선과 합병한 동오왕의 반란이 일어나는 지역으로 설정하면서 토목지변과 적벽대전이 결합, 북방과 절강 유역의 연합이라는 독특한 조합을 만들어 내고 있는 것이다. 그런가 하면 서호나 동정호 유역, 소주나 항주와 같은 기존의 명승지 이외에 남창의 등왕각을 새롭게 부각시키고 있다. 한편 연작형 작품들은 기본적으로 전후 작품에서 주요 공간이 연속되는 가운데 정치나 가문 등의 요소에 의해 변이 양상을 보여주는데, 이를 ‘가문의 연속 공간과 세대의 변이 공간’으로 명명해 볼 수 있다. 본고의 대상 작품인 <쌍천기봉>연작 또한 금주, 남창, 동정호(군산, 장사), 절강, 산동 등의 주요 공간이 연속되는 가운데 변이 양상을 담지하고 있으며, 전작인 <쌍천기봉>에서는 동경과 서경이, 후속작인 <이씨세대록>의 경우 서촉(성도)와 북경이 부각되면서 변이 양상을 뚜렷이 드러내고 있다. 이런 변이 양상을 통해, 전작인 <쌍천기봉>은 정치나 역사 같은 거대 담론의 자장 안에서 공간 또한 추상적이고 상징적인 양상을 띠는 데 비해, 후작은 가문의 구성원들의 삶에 초점이 맞춰지면서 공간 자체도 구체적이고 일상적인 양상을 띠고 있음을 확인할 수 있다. 또한 전작인 <쌍천기봉>은 명대를 배경으로 하면서도 명대만이 아니라 송대나 삼국지 속 과거가 혼습되어 나타나는 데 비해, <이씨세대록>에서는 명대에 충실할 양상을 보이고 있으며, 다른 작품들과의 공유 양상도 강하게 나타난다고 할 수 있으며, 그런 점에서 결과적으로 <쌍천기봉>연작만의 독자적인 공간 설정을 좀 더 강하게 드러내는 것은 전작인 <쌍천기봉>이라고 볼 수 있다. 이는 연작의 공간이 단순한 공간 배경이 아니라, 전후 작품의 서사가 지니는 성격이나 지향점과 긴밀히 연결된다는 점을 시사하며, 그런 점에서 <쌍천기봉>연작은 공간의 측면에서 연작 논의의 가능성과 유효함을 확인시켜 주는 작품이라 할 수 있다. The purpose of this study is to investigate the space theory as one methodology to study Korean long-piece novels by studying space configuration aspects of Korean long-piece novels. In this study, space configuration and its implication were analyzed with the target of a series of <SsangCheonGiBong> under the assumption in which sequential and variation aspects of a series of novels could be newly captured from the aspect of space. In a series of novels, main space is basically continued in previous and follow-up novels and variation aspects are shown by some factors such as politics or family. It can be named continuous space of family and variation space of generation. In a series of <SsangCheonGiBong> which is a target novel of this paper, main space such as GeumJoo, NamChang, DongJeongHo (GunSan, JangSa), JeolGang and SanDong is continued and variation aspects are contained. In <SsangCheonGiBong> which is a previous novel, DongGyeong and SeoGyeong are emerging. In <YiSsiDaeRok> which is a follow-up novel, SeoChok (SeongDo) and BukGyeong are emerging and variation aspects reveal a distinct pattern. Through this variation aspect, in <SsangCheonGiBong> which is a previous novel, space also reveals abstract and symbolic aspects in such a huge discourse such as politics or history, whereas the follow-up novel is focused on the life of family members and space reveals specific and ordinary aspects. In addition, <SsangCheonGiBong> which is a previous novel has the background in the Ming Dynasty but the past of the Song Dynasty and Three Kingdoms is sometimes mixed. However, <YiSsiDaeRok> is focused on the Ming Dynasty and reveals sharing aspects with other novels. In terms of this issue, <SsangCheonGiBong> which is a previous novel reveals the independent space setting of <SsangCheonGiBong> more strongly. It suggests that the space of a series of novels is not simple space background but a point closely linked to characteristics or orientation of narrative of previous and follow-up novels. Therefore, a series of <SsangCheonGiBong> is the novel to verify the possibility and validity of discussion of a series of novels in terms of space.

다종교공간의 공간 구성 유형과 특성에 관한 연구

김정민 한국문화공간건축학회 2017 한국문화공간건축학회논문집 Vol.- No.59

The Multifaith space is a new type of space that people of different religions, or none at all, are able to spend time for their contemplation. This space emerges as a response to a globalized world and thus Multifaith space has become a default form of religious space in public spaces such as airports and hospitals. But, its design is an open problem; there are thousands of religions in the world and each religion has its unique iconography, sanctuary geometry, or etcs. With this concerns, the purpose of this study is to provide a content that can be effectively applied as a design direction of the future Multifaith space on Korea through the classification of the type of space configuration of the Multifaith spaces and analysis of its characteristics. Ten projects which are fully designed to the whole architecture by designated architect with his contemplation—‘MIT Chapel’, ‘Chapels Field, Brandeis University’, ‘The Chapels of Tri-Faith-Plaza’, ‘Abraham Ecumenical Centre’, ‘Setre Chapel’, ‘Multi-faith centre, University of Toronto’, ‘MRI New Multifaith Centre’, ‘Haus der Stille’, ‘House of One’, ‘Surrey Multifaith centre’ — are individually analyzed and classified into 3 types of space configuration. First type is integral space. Integral space type can be divided into two types; one that has specific directional geometry that certain common religions are targeted and the other is a space purposed to be non-denominational so that any religious people can visit and use it. Second type is separate spaces. Certain religions are targeted and designed for each religion. Each space cannot be occupied by different religions; however its purpose is at admitting and respecting other religions and harmonizing through co-existing at landscape or one building. Third type is variable space. A single space can be either integral or separated space by partitions and shared with other religions. Another is multiple spaces of which any religious group can rent and manipulate by its religious manner.

안도 다다오 전시공간의 구성에 관한 연구

김민정(Kim, Min-Jung),김용성(Kim, Yong-Sung) 한국실내디자인학회 2018 한국실내디자인학회논문집 Vol.27 No.2

The exhibition space is a concept that is used to extract only the function of exhibition in an art museum combined with various cultural facilities. It mediates works, audience, and space. Therefore, it is considered that the exhibition space will not only judge the space by the form of the building, but also the true meaning will appear when the exhibition, the space and the environment coexist. His exhibition space has a story from the outside to the inside and the exhibition. In this study, we try to understand the characteristics of his space by analyzing the way of organizing exhibition and exhibition in his exhibition space. As a result of analyzing the cases suggested on this thesis through this point of view, Ando Tadao represented characteristics of his own exhibition space by harmonizing the demand of each exhibition space with his architecture language. His exhibition space provides the experiential space in the harmony of the nature and artificiality as inpouring the nature into the complex traffic line. And, the exhibition is constituted as a result of fully considering the overall situation of the space environment. He tries uniting the space and art by interpreting the work in the space rather than arranging the works. Consequently, It gives visitors the direct space experience through the intentional traffic line and is becoming an exhibition space that can express the exhibition only in that space as constituting it differently in accordance with the character of work.

대학-지역 연계 협업적 창업공간(Co-Space) 구성 요구도 분석

김인숙,양지희,리상섭 한국벤처창업학회 2023 벤처창업연구 Vol.18 No.1

The purpose of this study is to explore a collaborative start-up space(Co-Space) configuration plan in terms of university-regional linkage through demand analysis on the composition of university-regional linkage startup space. To this end, a survey was conducted for request analysis, and the collected data were analyzed through the t-test, The Lotus for Focus model. In addition, FGI was implemented for entrepreneurs, and the direction of the composition of the university-region Co-Space was derived from various aspects. The results of this study are as follows. First, as a result of the analysis of the necessity of university-community Co-Space, the necessity of opening up the start-up space recognized by local residents and the necessity of building the start-up space in the region were high. In addition, men recognized the need to build a space for start-ups in the community more highly than women did women. Second, as a result of analysis of demands for university-regional Co-Space, the difference between current importance and future necessity of university-regional Co-Space was statistically significant. Third, as a result of analysis on the composition of the startup space by cooperation between universities and regions, different demands were made for composition of the startup space considering openness and closeness, and for composition of the startup space size. The implications of the study are as follows. First, Co-Spaces need to be constructed in conjunction with universities in accordance with the demands of start-up companies in the region by stage of development. Second, it is necessary to organize a customized Co-Space that takes into account the size and operation of the start-up space. Third, it is necessary to establish an experience-based open space for local residents in the remaining space of the university. Fourth, it is necessary to establish a Co-Space that enables an organic network between local communities, start-up investment companies, start-up support institutions, and start-up companies. This study is significant in that it proposed the regional startup ecosystem and the cooperative start-up space structure for strengthening start-up sustainability through cooperation between universities and local communities. The results of this study are expected to be used as useful basic data for Co-Space construction to build a regional start-up ecosystem in a trend emphasizing the importance of start-up space, which is a major factor affecting start-up companies. 본 연구는 대학-지역 연계 창업공간 구성에 대한 요구분석을 통해 대학-지역 연계 차원의 협업적 창업공간(Co-Space) 구성방안을 탐색하는 것을 목적으로 하였다. 이를 위해 설문조사를 실시하였으며, 수집된 자료를 t검정(독립표본, 대응표본), The Locus for Focus 모델을 통해 분석하였다. 또한 창업가 대상 FGI를 실시하여 다각도에서 대학-지역 연계 창업공간 구성의 방향성을 도출하였다. 본 연구의 결과는 다음과 같다. 첫째, 대학-지역 연계 협업적 창업공간의 필요성 분석결과, 지역주민이 인식하는 창업공간 개방의 필요성과 지역 내 창업공간 구축 필요성은 높게 나타났다. 또한, 남성이 여성보다 지역 내 창업공간 개방 필요성을 높게 인식했다. 둘째, 대학-지역 연계 협업적 창업공간에 대한 요구도 분석결과, 대학-지역 연계 창업공간 구성에 대한 현재 중요도와 미래 필요도 차이는 통계적으로 유의미하게 나타났으며, 첨단공간에 대한 요구가 높게 나타났다. 셋째, 대학-지역 연계 협업적 창업공간 구성방안 분석결과, 개방성과 폐쇄성을 고려한 창업공간 구성, 창업단계 및 분야를 고려한 창업공간 구성, 창업공간 규모에 따른 상이한 공간구성 요구가 나타났다. 이상의 연구결과를 종합한 결과, 대학-지역 연계 차원의 협업적 창업공간 구성을 위한 시사점은 다음과 같다. 첫째, 협업적 창업공간은 대학과 연계하여 지역 내 창업기업의 발전단계 별 요구에 따른 공간구성이 필요하다. 둘째, 창업공간 규모와 운영방식을 고려한 맞춤형 협업적 창업공간 구성이 필요하다. 셋째, 대학의 유휴공간에 체험 기반 지역주민 개방 공간을 구축해야 한다. 넷째, 지역사회, 창업투자사, 창업지원기관, 창업기업 간 유기적인 네트워크가 가능한 협업적 창업공간 구성이 필요하다. 본 연구는 대학과 지역의 연계를 통해서 지역 창업생태계 구성과 창업지속성 강화를 위한 협업적 창업공간 구성의 시사점을 제안한 점에서 그 의의가 있다. 본 연구의 결과는 창업기업에게 영향을 미치는 주요요소인 창업공간의 중요성이 강조되고 있는 흐름 속에서 지역 창업생태계 구축을 위한 협업적 창업공간 구성의 유용한 기초자료로 활용될 것으로 기대된다.

프랭크 게리의 비정형 건축물 공간구조 속성

전범우,이낙운,김영욱 대한건축학회 2006 대한건축학회논문집 Vol.22 No.6

The purpose of this study is to analyze the spatial characteristics in the informal structure in which the exterior related inside space with the use of space syntax among Gehry's unique work. As analyze tool space syntax is work out spatial configuration data quantitatively through visual connection and physical access. The results of this study were as follows;Firstly, each fragmented space shows regular integration and grobal integration is high also. It indicates that internal spatial configuration has parallel and networking characteristics with the parts working in coordinationSecondly, public space integration and control is higher than each fragmented space. It shows public space as the center of gravity and each fragment space well organized with hierarchyThirdly, each space well organized with hierarchy through the space as the center of gravity. so it has more efficiency than modulate space

전시자료의 보존환경을 고려한 국내 역사계박물관 전시공간구성에 관한 연구

정성욱 한국문화공간건축학회 2009 한국문화공간건축학회논문집 Vol.- No.25

The purpose of this study is to suggest the environmental configuration of a exhibition space in a museum for the conservation of collections. With the purpose of this study, examined the condition of conservation which is focused on intensity of illumination, temperature and relative humidity in a exhibition space and analyzed the present condition and status of 7 facilities which is focused on domestic museum of historic relics. Hereupon, the results of this study are as follows. First, for exhibition space, the classification of collections can be performed as follow: the group for nonorganic materials subdivide metal, chinaware, earthenware, and jade․stone, the group for organic materials subdivide leather․hair․paper․fabric, bone․horn․shell mound and wood․herbage. Second, exhibition space should be equipped with sufficient ‘Filtering Space’ before the outdoor, between exhibition spaces and located central territory in a museum facility. Third, in a domestic museum, for environmental division of exhibition spaces basically has to consider that it is reasonable to plan about 3 zone in metal, jade․stone․chinaware․earthenware and organic materials. And environment has to be controlled separately so as to give buffer effect to different environment conditions between exhibition spaces or divide the environment from public space. Fourth, it is necessary to establish a ‘Reference Exhibit Room’ which is formed cellular type for the exhibit room of donation․contribution. And a special exhibit room should be located nearby filtering space. The purpose of this study is to suggest the environmental configuration of a exhibition space in a museum for the conservation of collections. With the purpose of this study, examined the condition of conservation which is focused on intensity of illumination, temperature and relative humidity in a exhibition space and analyzed the present condition and status of 7 facilities which is focused on domestic museum of historic relics. Hereupon, the results of this study are as follows. First, for exhibition space, the classification of collections can be performed as follow: the group for nonorganic materials subdivide metal, chinaware, earthenware, and jade․stone, the group for organic materials subdivide leather․hair․paper․fabric, bone․horn․shell mound and wood․herbage. Second, exhibition space should be equipped with sufficient ‘Filtering Space’ before the outdoor, between exhibition spaces and located central territory in a museum facility. Third, in a domestic museum, for environmental division of exhibition spaces basically has to consider that it is reasonable to plan about 3 zone in metal, jade․stone․chinaware․earthenware and organic materials. And environment has to be controlled separately so as to give buffer effect to different environment conditions between exhibition spaces or divide the environment from public space. Fourth, it is necessary to establish a ‘Reference Exhibit Room’ which is formed cellular type for the exhibit room of donation․contribution. And a special exhibit room should be located nearby filtering space.

Manipulation Planning with Soft Constraints by Randomized Exploration of the Composite Configuration Space

Jiangping Wang,Shirong Liu,Botao Zhang,Changbin Yu 제어·로봇·시스템학회 2021 International Journal of Control, Automation, and Vol.19 No.3

In this paper, an efficient and probabilistic complete planning algorithm called Composite-space RRT is presented to address motion planning with soft constraints for spherical wrist manipulators. Firstly, we propose a novel configuration space termed Composite Configuration Space (“Composite Space” for short), which is composed of the joint space and the task space. Then, collision-free paths are generated in the composite space by the Rapidly-exploring Random Trees (RRT) algorithm. Finally, the planned paths in the composite space are mapped into the corresponding joint-space paths by a local planner. As the analytical inverse kinematics (IK) of the spherical wrist is used in the local planner, the proposed Composite-space RRT algorithm is characterized by high efficiency and no numerical iteration. Moreover, this approach can effectively improve the smoothness of the end-effector orientation path. The effectiveness of the proposed algorithm is demonstrated on the Willow Garage’s PR2 simulation platform with two typical orientation-constrained cases.