• 산업공학
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• 제3권2호
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• pp.23-38
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• 1990

The use of robots for painting operations is a powerful alternative as a means for automation and quality improvement. A typical method being used for motion planning of the painting robot is to guide the robot along the desired path : the "lead-through" method. Although this method is simple and has been widely used, it has several drawbacks a) The robot cannot be used during the teaching period, b) A human is exposed to a hostile environment, c) The motions taught are, at best, human's skill level. To deal with the above problems, an integrated robot-trajectory planning scheme is presented. The new scheme takes CAD data describing the shape and geometry of the objects, and outputs an optimal trajectory in the sense of coating thickness and painting time. The purpose of this paper is to investigate theoretical backgrounds for such a scheme including geometric modeling, painting mechanics and robot trajectory planning, and develop algorithms for generating spray gun paths and minimum-time robot trajectories. Future study is to implement these algorithms on an workstation to develop an integrated software system ; ATPS(Automatic Trajectory Planning System) for spray painting robots.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.256-256
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• 2000

In this parer, we present a real-time path planning algorithm which is integrated the artificial potential field(APF) and simulated annealing(SA) methods for mobile robot. The APF method in path planning has gained popularity since 1990's. It doesn't need the modeling of the complex configuration space of robot, and is easy to apply the path planning with simple computation. However, there is a major problem with APF method. It is the formation of local minima that can trap the robot before reaching its goal. So, to provide local minima recovery, we apply the SA method. The effectiveness of the proposed algorithm is verified through simulation.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2002년도 추계학술대회 논문집
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• pp.654-658
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• 2002

The purpose of this paper is to establish an effective featured based inspection planning system for OMM(On-Machine Measurement) process. In this system, an effective inspection process planning is accomplished by determining the number of measuring points, their locations and probing paths using fuzzy logic, Hammersley method and TSP problem. Also, an effective collision-free algorithm Is proposed based on the EZ-map analysis. All the inspection planning processes are performed based on the defined inspection features those are derived from the CAD database. Proposed inspection planning method is simulated for the given sample wrokpieces, and the results are analyzed. The results show that the proposed method can be successfully implemented in real OMM process.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2007년도 정기 학술대회 논문집
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• pp.78-83
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• 2007

The paper focuses on the establishment of optimized bucket path planning and trajectory control designated for force-reflecting backhoe reacting to excavation environment, such as potential obstacles and ground characteristics. The developed path planning method can be used for precise bucket control, and more importantly for obstacle avoidance which is directly related to safety issues. The platform of this research was based on conventional papers regarding the kinematic model of excavator. Jacobian matrix was constructed to find optimal joint angles and rotation angles of bucket from position and orientation data of excavator. By applying Newton-Raphson method optimal joint angles and bucket orientation were derived simultaneously in the way of minimizing positional errors of excavator. The model presented in this paper was intended to function as a cornerstone to build complete and advanced path planning of excavator by implementing soil mechanics and further study of excavator dynamics together.

• 제어로봇시스템학회논문지
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• 제16권1호
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• pp.53-60
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• 2010

We propose a motion planning method for autonomous mobile robots. In order to minimize traveling time, a smooth path and a time optimal velocity profile should be generated under kinematic and dynamic constraints. In this paper, we develop an effective and practical method to generate a good solution with lower computation time. The initial path is obtained from voronoi diagram by Dijkstra's algorithm. Then the path is improved by changing the graph and path simultaneously. We apply the dynamic programming algorithm into the stage of improvement. Simulation results are presented to verify the performance of the proposed method.

• Industrial Engineering and Management Systems
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• 제14권4호
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• pp.401-412
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• 2015

In this paper, we present a modeling approach to production planning for an actual production line and a heuristic method. We also illustrate the successful implementation of the proposed method on the production line. A heuristic algorithm called the push-back algorithm was designed for a single machine earliness/tardiness production planning with distinct due date. It was developed by combining a minimum slack time rule and shortest processing time rule with a push-back procedure. The results of a numerical experiment on the heuristic's performance are presented in comparison with the results of IBM ILOG CPLEX. The proposed algorithm was applied to an actual case of production planning at Woongjin Chemical, a leading manufacturer of filter products in South Korea. The seven-month execution of our algorithm led to a 24.5% decrease in the company's inventory level, thus demonstrating its practicality and effectiveness.

• 한국정밀공학회지
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• 제11권4호
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• pp.88-98
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• 1994

A new local path planning algorithm for free-ranging robots is proposed. Considering that a laser range finder has the excellent resolution with respect to angular and distance measurements, a simple local path planning algorithm is achieved by a directional weighting method for obtaining a heading direction of nobile robot. The directional weighting method decides the heading direction of the mobile robot by estimating the attractive resultant force which is obtained by directional weighting function times range data, and testing whether the collision-free path and the copen parthway conditions are satisfied. Also, the effectiveness of the established local path planning algorithm is estimated by computer simulation in complex environment.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 제36회 하계학술대회 논문집 A
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• pp.301-303
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• 2005

This paper presents long-term shunt capacitor planning using optimal power flow. OPF allows the planning engineer to find feasible solution with minimal amount of engineering time. We used OPF for Shunt capacitor planning to get an optimal solution. The result of OPF is compared to the analysis by the conventional loadflow method and it is proved that OPF gives more cheaper and better planning solution. With the result, we analyzed the operational perspective for the reactive power supply and demand.

• Journal of Positioning, Navigation, and Timing
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• 제10권3호
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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.

• 한국실내디자인학회논문집
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• 제20권1호
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• pp.190-198
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• 2011

The purpose of this research is to suggest the direction of the school planning for the future that could respond actively to fast-changing circumstances of the times. The specific purpose is as follows. First, this research creates the education spatial model for the future that could prepare the education for globalization, informationization, liberalization and suggests the direction of the school planning that would correspond to the revised curriculum in 2009. Based on the research findings, establish the fundamental architectural planning guidelines and provide a blueprint of the advanced school for the future. Second, this research suggests diverse layout method of the school building blocks for the future. Key factors, which are method of teaching, planning for eco-school, planning for ubiquitous computing environment, planning of mixed-use school facilities that would give direction of the school planning for the future are determined through theoretical consideration about the social structure, direction of education for the future and case study. Based on these keys factors, this research suggests directions of the school planning for the future.