• 한국항행학회논문지
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• 제23권5호
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• pp.352-360
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• 2019

본 논문은 센서에 불확실성이 존재하는 무인잠수정에 대한 도킹 평가 알고리즘을 제안한다. 제안된 알고리즘은 상태평가와 확률평가 두 가지의 평가로 구성된다. 상태평가는 무인잠수정이 도킹스테이션에 접근하는 과정 중 심도제어를 통해 도킹스테이션과 동일한 수심에 도달하는데 발생 예상되는 전진거리와 실제 수평거리를 비교함으로써 심도 도달 가능 여부를, 무인잠수정의 최소선회반경으로 인한 접근 불가 영역과 도킹스테이션의 위치를 비교함으로써 충돌 회피를 위한 선회 동작 수행 여부를 확인한다. 상태평가를 만족하며 무인잠수정이 도킹스테이션에 일정 거리 이상 접근한 경우 확률평가를 수행하여 무인잠수정의 방향각과 도킹스테이션에 대한 상대위치, 그리고 센서 불확실성을 기반으로 도킹 성공확률을 산출한다. 최종적으로 산출된 도킹 성공확률을 설계된 문턱 값과 비교함으로써 도킹 수행 여부를 결정한다. Matlab 기반의 시뮬레이션을 통해 무인잠수정이 도킹스테이션에 접근하는 시나리오를 구성하여 제안하는 알고리즘의 유효성을 검증한다.

• 통합자연과학논문집
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• 제2권2호
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• pp.55-58
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• 2009

A ligand-receptor docking program is an indispensible tool in modern pharmaceutical design. An accurate prediction of small molecular docking pose to a receptor is essential in drug design as well as molecular recognition. An effective docking program requires the ability to locate a correct binding pose in a surprisingly complex conformational space. However, there is an inherent difficulty to predict correct binding pose. The odds are more demanding than finding a needle in a haystack. This mainly comes from the flexibility of both ligand and receptor. Because the searching space to consider is so vast, receptor rigidity has been often applied in docking programs. Even nowadays the receptor may not be considered to be fully flexible although there have been some progress in search algorithm. Improving the efficiency of searching algorithm is still in great demand to explore other applications areas with inherently flexible ligand and/or receptor. In addition to classical search algorithms such as molecular dynamics, Monte Carlo, genetic algorithm and simulated annealing, rather recent algorithms such as tabu search, stochastic tunneling, particle swarm optimizations were also found to be effective. A good search algorithm would require a good balance between exploration and exploitation. It would be a good strategy to combine algorithms already developed. This composite algorithms can be more effective than an individual search algorithms.

• 한국해양공학회지
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• 제21권3호
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• pp.33-39
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• 2007

The more deeply the researches make progress in ocean researches including the seabed resource investigation or the oceanic ecosystem investigation, the more important the role of UUV gets. In case of study on the deep sea, there are difficulties in telecommunications between AUV and ships, and in data communication and recharging. Therefore, docking is required. In AUV docking system, the AUV should identify the position of docking device and make contact with a certain point of docking device. MOERI (Maritime & Ocean Engineering Research Institute), KORDI has conducted the docking testing on AUV ISIMI in KORDI ocean engineering water tank. As AUV ISIMI approachs the docking device, there is some cases of showing an unstable attitude, because the lights which is on Image Frame are disappeared. So we propose the docking algorithm that is fixing the rudder and stem, if the lights on image frame are reaching the specific area in the Image Frame. Also we propose the new docking device, which has a variety of position and light number. In this paper, we intend to solve the some cases of showing an unstable attitude that were found in the testing, which, first, will be identified the validity via simulation.

• 한국경영과학회:학술대회논문집
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• 한국경영과학회 2003년도 추계학술대회 및 정기총회
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• pp.325-328
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• 2003

Fierce competition in today's global markets, the heightened expectation of customers have forced business enterprises to invest in, and focus attentions on, their Supply Chains, Also Cross Docking is an essential part of SC, and integrating Cross Docking with vehicle routing scheduling is needed to smoothly link the physical flow of SC, However, there is no the mathematical model which focuses on Cross Docking with vehicle routing scheduling. Therefore, the integrating model considers Cross Docking and vehicle routing scheduling will be developed in this paper. And the solution based on Tabu algorithm to this model will be provided.

• 제어로봇시스템학회논문지
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• 제21권10호
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• pp.930-935
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• 2015

An unmanned forklift requires precise positioning and pallet detection. Therefore, conventional unmanned forklifts use high-cost sensors to find the exact position of the pallet. In this study, a docking algorithm with two cameras is proposed. The proposed method uses vision data to extract the angle difference between the pallet and the forklift. Then the control law is derived from the extracted angle for successful docking. The extracted angle is compared with the actual angle in the real environment. The control law is tested with the Lyapunov stability test and Routh-Hurwitz stability criterion. Through various experiments, the proposed docking algorithm showed the success rate high enough for real-life applications.

• 통합자연과학논문집
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• 제3권3호
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• pp.143-147
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• 2010

Since it is of great importance to know how a ligand binds to a receptor, there have been a lot of efforts to improve the quality of prediction of docking poses. Earlier efforts were focused on improving search algorithm and scoring function in a docking program resulting in a partial improvement with a lot of variations. Although these are basically very important and essential, more tangible improvements came from the reduction of search space. In a normal docking study, the approximate active site is assumed to be known. After defining active site, scoring functions and search algorithms are used to locate the expected binding pose within this search space. A good search algorithm will sample wisely toward the correct binding pose. By careful study of receptor structure, it was possible to prioritize sub-space in the active site using "receptor-based pharmacophores" or "hot spots". In a sense, these techniques reduce the search space from the beginning. Further improvements were made when the bound ligand structure is available, i.e., the searching could be directed by molecular similarity using ligand information. This could be very helpful to increase the accuracy of binding pose. In addition, if the biological activity data is available, docking program could be improved to the level of being useful in affinity prediction for a series of congeneric ligands. Since the number of co-crystal structures is increasing in protein databank, "Ligand-Guided Docking" to reduce the search space would be more important to improve the accuracy of docking pose prediction and the efficiency of virtual screening. Further improvements in this area would be useful to produce more reliable docking programs.

• 산업공학
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• 제19권1호
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• pp.26-33
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• 2006

Many Firms consider the application of a cross-docking system to reduce inventory and lead-time. However, most studies mainly concentrate on the design of a cross-docking system. This study presents the method that selects the cross-docking center under the existing logistics network. Describing the operation environment to apply the cross-docking system, the selection criteria of the cross-docking center, and the main constraints of transportation planning under the environment of multi-level logistics network, we define the selection problem of the cross-docking center applied to a logistics field. We also define the simulation model that can analyze variously the cross-docking volume and develop the selection methodology of the cross-docking center. The simulation model presents the algorithm and influence factors of the cross-docking system, the decision criteria of the system, policy parameter, and input data. In addition, this study analyzes the effect of increasing the number of simultaneous receiving and shipping docks, and the efficiency of the overnight transportation and cross-docking by evaluating each scenario after simulating the scenarios with the practical data of the logistics field.

• 한국지능시스템학회논문지
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• 제20권3호
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• pp.311-317
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• 2010

본 논문에서는 미지 환경의 비평탄 지형에서 로봇 주행에 제한이 따르는 문제를 극복하기 위해 물리적 결합을 통한 모듈형 로봇의 이동성 향상 기법을 제안한다. 모듈형 로봇 시스템은 자가 결합 기구 장치, 3자유도 로봇 결합 팔, 모듈 로봇 플랫폼, 모션제어기, 주제어기로 구성하였으며, 로봇간 결합 및 협업을 위해 RGGR구조의 결합 메카니즘을 사용하였다. 또한 실내 GPS를 사용하여 로봇의 실시간 위치 및 진행 방향을 추정하고, 추정된 정보를 기반으로 로봇의 이동 경로와 방향을 제어하여 로봇간 물리적 결합을 수행하였다. 물리적 결합을 통한 모듈형 로봇의 비평탄 지형 주행 알고리즘의 성능을 검증하기 위해 세 대의 모듈형 로봇을 제작하여 실제 끊어진 도로와 단턱이 존재하는 환경에서 실험을 통해 검증하였다.

• 한국경영과학회지
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• 제30권3호
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• pp.1-15
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• 2005

In our model, a fleet of vehicles start from docking point to collect loads at the terminals assigned to the point Then the docking points are connected to the hub by primary vehicle routes starting at the hub. This vehicle visit all the docking points to collect the loads which have been collected by the secondary vehicles. Our goal Is to minimize the long-run cost of setting up the docking Points and vehicle operation cost by deciding the location of the docking points and the routes optimally. We propose an heuristic algorithm to solve this and tested it though various experiments.

• 대한산업공학회지
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• 제37권3호
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• pp.248-257
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• 2011

Cross docking is a logistics management concept in which items delivered to a terminal by inbound trucks are immediately sorted out, routed and loaded into outbound trucks for delivery to customers. Two main advantages by introducing a cross docking terminal are to consolidate multiple smaller shipment into full truck load and remove storage and order picking processes to save up logistics costs related to warehousing and transportation costs. This research considers the scheduling problem of trucks in the cross docking terminals with multi-door in an inbound and outbound dock, respectively. The trucks sequentially deal with the storage process at the one of inbound doors and the shipping process at the one of the outbound doors. A mathematical model for an optimal solution is derived, and genetic algorithms with two different chromosome representations are proposed. To verify performance of the GA algorithms, we compare the solutions of GAs with the optimal solutions and the best solution using randomly generated several examples.