• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2007.11a
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• pp.350-353
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• 2007

복잡하고 다원화되어 있는 재택건강관리 계획 모델링을 계층적 작업 네트워크 계획을 기반으로 설계하여 분산 네트워크의 성능을 최대한으로 활용한 자동화 계획 설계를 제안하였다. 이를 위하여 SHOP라는 계층적 작업 도구를 이용하여 응급, 주의, 비정상, 정상과 같은 4가지 시나리오 모델에 따른 맞춤형 건강관리 계획 설계를 구현하여 재택건강관리 시스템의 상태분류에 대한 보조 의사 결정 도구로써 적용하였다.

• Journal of Intelligence and Information Systems
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• v.6 no.2
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• pp.29-40
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• 2000

Process planning (selection and ordering of processes) and material selection for product manufacturing are two key things determined before taking full-scale manufacturing. Knowledge on product design. material characteristics, processes, time and cost all-together are mutually related and should be considered concurrently. Due to the complexity of problem, human experts have got only one of the feasilbe solutions with their field knowledge and experiences. We propose a hierarchical expert system framework of knowledge representation and reasoning in order to overcome the complexity. Manufacturing processes have inherently hierarchical relationships, from top level processes to bottom level operation processes. Process plan of one level is posted in process blackboard and used for lower level process planning. Process information on blackboard is also used to adjust the process plan in order to resolve the dead-end or inconsistency situation during reasoning. Decision variables for process, material, tool, time and cost are represented as object frames, and their relationships are represented as constraints and rules. Constraints are for relationship among variables such as compatibility, numerical inequality etc. Rules are for causal relationships among variables to reflect human expert\`s knowledge such as process precedence. CRSP(Constraint and Rule Satisfaction Problem) approach is adopted in order to obtain solution to satisfy both constraints and rules. The trade-off procedure gives user chances to see the impact of change of important variables such as material, cost, time and helps to determine the preferred solution. We developed the prototype system using visual C++ MFC, UNIK, and UNlK-CRSP on PC.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.10 no.3
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• pp.203-209
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• 2010

This paper presents a hierarchical fuzzy motion planner for humanoid robots in 3D uneven environments. First, we define both motion primitives and locomotion primitives of humanoid robots. A high-level planner finds a global path from a global navigation map that is generated based on a combination of 2.5 dimensional maps of the workspace. We use a passage map, an obstacle map and a gradient map of obstacles to distinguish obstacles. A mid-level planner creates subgoals that help the robot efficiently cope with various obstacles using only a small set of locomotion primitives that are useful for stable navigation of the robot. We use a local obstacle map to find the subgoals along the global path. A low-level planner searches for an optimal sequence of locomotion primitives between subgoals by using fuzzy motion planning. We verify our approach on a virtual humanoid robot in a simulated environment. Simulation results show a reduction in planning time and the feasibility of the proposed method.

• Journal of Korean Institute of Industrial Engineers
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• v.22 no.4
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• pp.719-739
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• 1996

A common control model used to implement computer integrated manufacturing(CIM) is based on the hierarchical decomposition of the shop floor activities, in which supervisory controllers are responsible for all the interactions among subordinates. Although the hierarchical control philosophy provides for easy understanding of complex systems, an emerging manufacturing paradigm, agile manufacturing, requires a new control structure necessary to accommodate the rapid development of a shop floor controller. This is what is called autonomous agent-based heterarchical control. As computing resources and communication network on the shop floor become increasingly intelligent and powerful, the new control architecture is about to come true in a modern CIM system. In this paper, heterarchical control is adopted and investigated, in which a controller for a unit of device performs three main functions - planning, scheduling and execution. Attention is paid to the planning function and all the detailed planning activities for heterarchical shop floor control are identified. Interactions with other functions are also addressed. In general, planning determines tasks to be scheduled in the future. In other words, planning analyzes process plans and transforms process plans into detailed plans adequate for shop floor control. Planning is also responsible for updating a process plan and identifying/resolving replanning activities whether they come from scheduling or execution.

• Journal of Positioning, Navigation, and Timing
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• v.10 no.3
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• pp.215-220
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• 2021

As the role of robots expands, flexible task planning methods are attracting attention from various domains. Many task planning frameworks are introduced to efficiently work in a wide range of areas. In order to work well in a broad region with multiple robots, various communication conditions should be controlled by task planning frameworks. However, few methods are proposed. In this paper, we propose mission planning methods according to the communication status of robots. The proposed method was verified through experiments assuming different communication states with a multi-robot system.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.38 no.4
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• pp.159-167
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• 2015

We consider a wafer lot transfer/release planning problem from semiconductor wafer fabrication facilities to probing facilities with the objective of minimizing the deviation of workload and total tardiness of customers' orders. Due to the complexity of the considered problem, we propose a two-level hierarchical production planning method for the lot transfer problem between two parallel facilities to obtain an executable production plan and schedule. In the higher level, the solution for the reduced mathematical model with Lagrangian relaxation method can be regarded as a coarse good lot transfer/release plan with daily time bucket, and discrete-event simulation is performed to obtain detailed lot processing schedules at the machines with a priority-rule-based scheduling method and the lot transfer/release plan is evaluated in the lower level. To evaluate the performance of the suggested planning method, we provide computational tests on the problems obtained from a set of real data and additional test scenarios in which the several levels of variations are added in the customers' demands. Results of computational tests showed that the proposed lot transfer/planning architecture generates executable plans within acceptable computational time in the real factories and the total tardiness of orders can be reduced more effectively by using more sophisticated lot transfer methods, such as considering the due date and ready times of lots associated the same order with the mathematical formulation. The proposed method may be implemented for the problem of job assignment in back-end process such as the assignment of chips to be tested from assembly facilities to final test facilities. Also, the proposed method can be improved by considering the sequence dependent setup in the probing facilities.

• IE interfaces
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• v.19 no.1
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• pp.34-42
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• 2006

This paper presents a scheme for a hierarchical production scheduling and control system for a refrigerator factory with mixed model assembly lines. The setting of the factory is as follows. There are three mixed-model assembly lines called main line A, B and C and two batch lines that supply parts to the main lines. For each of the main lines, three work-centers are dedicated to them. The sub-lines and work-centers produce parts in batch type. An incoming production order from the master planner is characterized by its product type, amount, and due date. Under this situation, the proposed scheme has several features to schedule and control the above mentioned factory; 1) select the starting time and the place (assembly line) for an order processing, 2) devise a way to control orders to be processed as scheduled, and 3) reschedule orders when something unexpected happen. Finally, this paper provides a case study where the proposed scheme is applied to.

• ETRI Journal
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• v.40 no.4
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• pp.458-470
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• 2018

This paper proposes a hierarchical roadmap (HRM) and its construction process to efficiently represent navigable areas in an indoor environment. HRM is adopted to solve the path-planning problems of mobile robots in indoor environments. HRM has a multi-layered graphical structure that enables it to abstract and cover navigable areas using a smaller number of nodes and edges than a probabilistic roadmap. During the incremental process of constructing HRM, information on navigable areas is abstracted using a sonar gridmap when the mobile robot navigates an unexplored area. The HRM-based planner efficiently searches for paths to answer queries by reducing the search space size using the multi-layered graphical structure. The benefits of the proposed HRM are experimentally verified in real indoor environments.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 1990.04a
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• pp.195-208
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• 1990

Flexible Manufacturing System(FMS) is an integrated, computer controlled complex of automated material handling devices and numerically controlled machine tools that can simultaneously process medium-sized volumes of a variety of part types. This paper discusses planning problems that can be solved for efficient use of an FMS and present an integrated decision support system for FMS production planning and scheduling problems. FMSDS(Flexible Manufacturing Systems Decision Support System) consists of data handling modules, part selection module, loading module, load adjusting module, scheduling module and simulation module etc. This paper presents the solution methodology of each subproblems and integrated interfaces between subproblems using hierarchical approaches and loop controls considering the relationships between subproblems. A case study by this model is presented.

• The KIPS Transactions:PartB
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• v.16B no.6
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• pp.489-496
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• 2009

Hierarchical Task Network(HTN) planning, a typical planning method for effectively taking advantage of domain-specific control knowledge, has been widely used in complex real applications for a long time. However, it still lacks theoretical formalization and standardization, and so there are some differences among existing HTN planners in terms of principle and performance. In this paper, we present an effective way to translate a HTN planning domain specification into the corresponding standard PDDL specification. Its main advantage is to allow even many domain-independent classical planners to utilize domain-specific control knowledge contained in the HTN specifications. In this paper, we try our translation-based approach to three different domains such as Blocks World, Office Delivery, Hanoi Tower, and then conduct some experiments with a forward-chaining heuristic state-space planner, FF, to analyze the efficiency of our approach.