• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.793-798
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• 1991

Implementation of AGVS (Automated Guided Vehicle System) in CIMS (Computer Integrated Manufacturing System) generally requires substantial study to optimize design and performance of the guide path. Traditional mathematical approaches have been used with limited success to analyze AGVS. These approaches, however, do not provide a practical opportunity to use by path designers. This paper presents a new approach based on Jules in designing and assessing AGV path to have better design of the closed-loop layout. A framework for the approach is proposed and a case study is reported to demonstrate the framework. Deletion of seldom used paths and addition of bypasses to solve the congestion problem are conducted automatically through simulation expefiments. To visualize die results a graphic control program is developed and integrated with AutoMod/AutoGram simulation package.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.21 no.4
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• pp.939-951
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• 1996

The previous study of virtual path design for one traffic class with ATM DCS only should be generalized to that for the multiple traffic class cases of being given neither virtual path candidate set nor end nodes o each virtual path. In this paper, a design model of virtual paths for the general case with multiple traffic classes is suggested. The model is represented as an optimization rpoblem with a special structure. It is solved by SQA algorithm, which is developed by authors in [3, 4]. The model and the algorithm are applied to a numerical example, and results are shown.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.7
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• pp.618-626
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• 2011

In order to complete missions in a complicated terrain or highly dangerous area, an unmanned aerial vehicle(UAV) needs a fine controller to precisely follow the desired path. A PID controller used for the path following feeds forward path curvature information to the control input to improve the path following performance. High gain for PID controller is necessary to follow path tightly. However the high gain could cause instability or performance degradation when the vehicle has slow dynamics. We present PID controller design method which considers response delay of vehicle as well as path curvature. In order to obtain path curvature the desired path is described as a 3rd order polynomial by applying cubic spline interpolation. We apply the proposed controller to the path following of a UAV which is operated in high altitude and has very slow lateral dynamics. The lateral dynamics are modelled as a first order delayed system in the controller design. Nonlinear simulation shows the UAV with proposed controller follows an arbitrary path very tightly.

• Journal of Korean Institute of Industrial Engineers
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• v.19 no.2
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• pp.43-51
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• 1993

This paper describes the flow path design of unidirectional automated guided vehicle systems. The objective is to find the flow path which will minimize total travel time of unloaded as well as loaded vehicles. The allocation of unloaded vehicles is determined by applying the transportation simplex method. The problem is solved using a branch-and-bound technique. A simple illustrative example is discussed to demonstrate the procedure.

• Proceedings of the Korean Institute of Interior Design Conference
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• 2001.05a
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• pp.157-162
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• 2001

This Research analyzed with itinerary tracking : two of each other shopping sites were selected as research point. Analyzing the result, pedestrian path choice is affected by direction of escalator, visual information of the object, plain form of passage, presence and absence of companion and proportion of spatial knowledge from experience. The factors affecting pedestrian path choice are divided into two groups which are the effects from the environment, and personal characteristics.

• Industrial Engineering and Management Systems
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• v.15 no.1
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• pp.19-31
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• 2016

A design method of the network for automated transporters mounted on rails is addressed for automated container terminals. In the network design, the flow directions of some path segments as well as routes of transporters for each flow requirement must be determined, while the total transportation and waiting times are minimized. This study considers, for the design of the network, the waiting times of the transporters during the travel on path segments, intersections, transfer points below the quay crane (QC), and transfer points at the storage yard. An algorithm, which is the combination of a modified Dijkstra's algorithm for finding the shortest time path and a queuing theory for calculating the waiting times during the travel, is proposed. The proposed algorithm can solve the problem in a short time, which can be used in practice. Numerical experiments showed that the proposed algorithm gives solutions better than several simple rules. It was also shown that the proposed algorithm provides satisfactory solutions in a reasonable time with only average 7.22% gap in its travel time from those by a genetic algorithm which needs too long computational time. The performance of the algorithm is tested and analyzed for various parameters.

• Korean Journal of Computational Design and Engineering
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• v.2 no.1
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• pp.19-27
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• 1997

This paper presents rough cut tool path planning for the fewer-axis machine consisting of a three-axis CNC machine and a rotary indexing table. In the problem dealt with in this paper, the tool orientation is "intermediately" changed, distinguished from the conventional problem where the tool orientation is assumed to be fixed. The developed rough cut path planning algorithm tries to minimize the number of tool orientation (setup) changes together with tool changes and the machining time for the rough cut by the four procedures: a) decomposition of the machining area based on the possibility of tool interference (via convex hull operation), b) determination of the optimal tool size and orientation (via network graph theory and branch-and bound algorithm), c) generation of tool path for the tool and orientation (based on zig-zag pattern), and d) feedrate adjustment to maintain the cutting force at an operation level (based on average cutting force). The developed algorithms are validated via computer simulations, and can be also used in pure fiveaxis machining environment without modification.

• Korean Journal of Computational Design and Engineering
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• v.7 no.3
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• pp.184-188
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• 2002

In 2D-Profile machining using cutter radius compensation cutter interferences are very common. To prevent the cutter interferences undercuts are inevitable in some regions of the profile. The undercut regions require cleanup machining using smaller radius tools. This paper considers a procedure of the tool path generation for the cleanup profile machining. And two methods are introduced for an efficient tool path generation. One is how to reduce the machining time by uniting adjacent tool paths of undercut regions, and the other is how to find the tool path with the minimal distance by applying TSP algorithm.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.8 no.3
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• pp.570-576
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• 2004

In this paper, we design the IFFT/FFT (Inverse fast Fourier Transform/Fast Fourier Transform) modules for IEEE 802.11a-1999, which is a standard of the High-speed Wireless LAN using the OFDM (Orthogonal Frequency Division Multiplexing). The designed IFFT/FFT is the 64-point FFT to be compatible with IEEE 802.11a and the pipelined architecture which needs neither serial-to-parallel nor parallel-to-serial converter. We compare four types of IFFT/FFT modules for the hardware complexity and operation : R22SDF (Radix-2 Single-path Delay feedback), the R2SDF (Radix-2 Single-path Delay feedback), R2SDF (Radix-4 Single-path Delay Feedback), and R4SDC (Radix-4 Single-path Delay Commutator). In order to minimize the error, we design the IFFT/FFT module to operate with additional decimal parts after butterfly operation. In case of the R22SDF, the IFFT/FFT module has 44,747 gate counts excluding RAMs and the minimized error rate as compared with other types. And we know that the R22SDF has a small hardware structure as compared with other types.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.1
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• pp.45-55
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• 1998

In this paper, a robust path tracker and depth controller of Autonomous Underwater Vehicle based on sliding mode control is presented. We have also designed augmented equivalent control inputs by analyzing the sliding mode with the reaching mode. This can enhance the reaching rate, and improve chattering problems, that is, noise caused by the control plane actuator of the vehicle, which is one of the problems that occur when sliding mode control is used. Also to resolve the steady state error generated in the path tracker under current effect, a modified sliding plane is constructed. Also a redesigned sliding plane and control input using transformation matrix is proposed to do easy design of MIMO depth controller. For state variables that cannot be measured directly, reduced order sliding mode control is used to design an observer. The performance of designed path tracker and depth controller is investigated by computer simulation. The results show that the proposed control system has robust performance to parameter variation, modelling error and disturbance.