• Journal of Welding and Joining
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• v.14 no.1
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• pp.30-37
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• 1996

조선에서 추진되어온 용접로봇의 적용은 주로 대조립 용접공정의 자동화로서, 갠트리(Gantry)에 용접토치를 장착한 로봇을 설치하여 구성하였다. 이러한 시스템에 서의 용접은 로봇을 용접부위까지 이송시킨 후 로봇의 구동으로 용접을 수행하거나, 또는 로봇과 캔트리의 동시 구동으로 용접을 수행하기도 한다. 또한 이 공정은 복잡 한 용접구조물을 OLP(Off-Line Programming)를 이용하여 교시하므로서 효과적인 자동 화 시스템의 구성이 가능할 수 있었다. 소조립 공정은 대조립공정과 비교하면 더 간단 한 부재의 용접이라 할 수 있으나 공정과 공장의 생산방법에 따라 자동화의 어려움은 따른다. 적용되는 매니프레이타는 소조립 공정의 특성에 맞게 그 형태가 설계되어야 하고 이를 운용하는 시스템은 소조립 생산방법에 맞게 통합, 개발되는 Task-Based System"이 되어야 한다. 특히 소조립 공정은 대조립 공정과 달리 여러가지 용접 판넬 을 동시에 이송시킨 후 용접함으로서 OLP의 직접 적용을 어렵게 하는 요인이 있어 이것을 해결하는 것이 생산성을 증가시키는데 적지 않은 영향을 미친다 하겠다. 이 글에서는 소조립 용접 자동화를 구성하기 위해 필요한 젓으로서 소조립 용접 공정을 소개하고, 공정의 특성에 맞도록 설계된 매니퓰레이타 시스템과, OLP, 판넬인식, 자동 교시 모들로 이루어지는 작업인식 시스템에 관해 기술한다.기술한다.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 1996.04a
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• pp.559-563
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• 1996

선박 건조는 선체를 수십에서 많게는 이백여개에 블럭으로 분활하여 각 블럭에 해당하는 원자재를 처리 가공한 후 소조립, 중조립, 그리고 대조립의 과정을 거쳐 블럭으로 완성하여 이들 블럭을 정해진 순서에 맞추어 탑재하는 과정을 거치면서 기타 공정을 완료하여 마지막으로 진수에 이르게 된다. 본 연구에서는 선박 건조 과정에서 탑재 공정 계획을 위한 블럭의 접속 관계를 체계적으로 확립하여 탑재 순서를 생성하는 방법론을 제시하고 이러한 방법론을 바탕으로 초기 탑재 네트워크을 생성 방안을 제시한다.

• Journal of the Korea Society for Simulation
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• v.19 no.1
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• pp.73-82
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• 2010

Productivity improvement is considered as one of hot potato topics in international shipyards by the increasing amount of orders. In order to improve productivity of lines, shipbuilders have been researching and developing new work method, process automation, advanced planning and scheduling and so on. An optimization approach was accomplished on short-term scheduling of subassembly lines in this research. The problem of subassembly line scheduling turned out to be a non-deterministic polynomial time problem with regard to SKID pattern’s sequence and worker assignment to each station. The problem was applied by simulated annealing algorithm, one of meta-heuristic methods. The algorithm was aimed to avoid local minimum value by changing results with probability function. The optimization result was compared with discrete-event simulation's to propose what pros and cons were. This paper will help planners work on scheduling and decision-making to complete their task by evaluation.

• Journal of the Korea Society of Computer and Information
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• v.27 no.12
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• pp.277-284
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• 2022

In this paper, we proposes a method of optimizing the processing order of skids to minimize the span time in a conveyor environment of the shipbuilding subassembly process. The subassembly process consists of a series of fixed tasks where the required work time is varied according to the skid type. The loading order of skids on a conveyor which determines the span time should be properly optimized and the problem size exponentially increases with the number of skids. In this regard, we propose a novel method called UniDev by defining a measure of the mean-absolute-deviation about the time difference among simultaneously processed tasks and iteratively improving it. Through simulations with various numbers of skids and processes, it was observed that our proposed method can efficiently reduce the overall work time compared with the multi-start and the 2-OPT methods.

• Journal of the Korea Society of Computer and Information
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• v.28 no.12
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• pp.79-87
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• 2023

In this paper, we propose a novel genetic algorithm to reduce the overall span time by optimizing the skid insertion sequence in the shipyard subassembly process. We represented a solution by a permutation of a set of skid ids and applied genetic operators suitable for such a representation. In addition, we combined the genetic algorithm and the existing heuristic algorithm called UniDev which is properly modified to improve the search performance. In particular, the slow skid search part in UniDev was changed to a greedy algorithm. Through extensive large-scaled simulations, it was observed that the span time of our method was stably minimized compared to Multi-Start search and a genetic algorithm combined with UniDev.

• Proceedings of the KWS Conference
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• 2004.05a
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• pp.18-20
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• 2004

This study is to find the optimal work plan of robot welding in the subassembly process of shipbuilding and to verify the found solution through 3-D simulation. The optimal work plan was established by evenly distributing the work amount to each stage and finding the shortest work sequence. The shortest work sequence was found by using the genetic algorithm. The result was compared with the practically adopted case and verified through the 3-D simulation.

• Journal of Korean Institute of Industrial Engineers
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• v.25 no.1
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• pp.21-34
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• 1999

We consider a scheduling problem arising in a shipyard subassembly welding process. There are four welding robots of gantry type, which perform the welding process for the subassemblies. Because the robots perform the welding operations at the same time, there is a possibility of collision between adjacent robots depending on the welding schedule. In this paper, we propose a heuristic method to find a welding schedule which does minimize the welding completion time while avoiding collision among the robots. The method consists of two phases: assignment and scheduling. In the assignment phase, we assign each welding line to a proper robot. In the scheduling phase, we determine the welding schedules for the robots so that collision is avoided. Computational experiences with the data which reflect the real situation are reported.

• Journal of Welding and Joining
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• v.14 no.2
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• pp.96-105
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• 1996

Robot systems are widely utilized in the shipbuilding industry to enhance the productivity by automating the welding process. In order to increase productivity, it is necessary to reduce the time used for robot teaching. In this work, the automatic teaching system is developed for the subassembly process in the shipbuilding industry. A alser/vision sensor is designed to detect the weld seam and the image of the fillet joint is processed using the arm method. Positions of weld seams defined in the CAD database are transformed into the robot coordinate, and the dynamic programming technique is applied to find the sub-optimum weld path. Experiments are carried out to verify the system performance. The results show that the proposed automatic teaching system performs successfully and can be applied to the robot system in the subassembly process.

• Journal of Welding and Joining
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• v.27 no.2
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• pp.57-62
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• 2009

This research was carried out to improve the productivity in the subassembly process of shipbuilding through optimal work planning for the shortest work time. The work time consist of welding time, moving time of gantry, teaching time of robot and robot motion time. The shortest work time is accomplished by even distribution of work and the shortest welding sequence. Even distribution of work was done by appling the simple algorithm. The shortest work sequence was determined by using GA. The optimal work planning decreased the total work time of the subassembly process by 4.1%. The result showed the effectiveness of the suggested simple algorithm for even distribution of work and GA for the shortest welding sequence.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.248-248
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• 2000

본 연구는 조선 소조립, 판넬조립 등의 공정에서 발생되는 필렛 용접 부위의 용접 자동화를 위한 로봇 시스템 개발에 관한 연구이다. 조선등의 중공업 분야에서는 작업이 중량이고 대형임에 따라 로봇이 부재의 특정위치로 이동하여 작업해야 한다. 또한 작업대상의 형상이나 치수가 매번 변경됨에 따라 이에 능동적으로 대처할 수 있어야 한다. 본 연구에서는 두 대의 로봇(2대x6축=12축)이 다축 문형 캔트리(4축)에 장착된 조선용 필렛용접 로봇 시스템(16축)을 개발하였다. 필렛용접부재를 중심으로 두 대의 로봇이 양쪽을 동시에 용접하는 방식으로 고속회전토치를 적용하여 위빙동작없이 원하는 용접각장(Leg Length)을 생성할 수 있다. 캔트리 시스템은 PC 기반의 별도 제어기로 구성하여 두 대의 로봇 제어기와 신호 입출력에 의해 동시동작이 가능하도록 하였으며, 작업장에 놓인 부재의 위치오차를 보장하기 위하여 시각센서를 적용하였다. 용접시작점의 위치보정을 위한 시작점 검출을 위해접촉센서(Touch Sensor)를 적용하였으며, 용접선 추적을 위해서 아크센서(Arc Sensor)를 적용하였다. 본 시스템 2000년 1월 제작 설치가 완료되어 현재 성능 테스트가 완료된 상태로 향후 생산현장에 적용될 계획이다.