• Nuclear Engineering and Technology
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• 제54권4호
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• pp.1374-1381
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• 2022

Under the influence of nuclear radiation, the reliability of steam generators (SGs) is an important factor in the efficiency and safety of nuclear power plant (NPP) reactors. Motion planning that remotely manipulates an SG mobile tube-inspection robot to inspect SG heat transfer tubes is the mainstream trend of NPP robot development. To achieve motion planning, conditional traversal is usually used for base position optimization, and then the A^* algorithm is used for path planning. However, the proposed approach requires considerable processing time and has a single expansion during path planning and plan paths with many turns, which decreases the working speed of the robot. Therefore, to reduce the calculation time and improve the efficiency of motion planning, modifications such as the matrix method, improved parent node, turning cost, and improved expanded node were proposed in this study. We also present a comprehensive evaluation index to evaluate the performance of the improved algorithm. We validated the efficiency of the proposed method by planning on a tube sheet with square-type tube arrays and experimenting with Model SG.

• 전기학회논문지
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• 제63권1호
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• pp.115-122
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• 2014

Mobile robot has been studied for long time due to its simple structure and easy modeling. Regarding path planning of the mobile robot, we suggest real-time hybrid path planning algorithm which is the combination of optimal path planning and real-time path planning in this paper. Real-time hybrid path planning algorithm modifies, finds best route, and saves calculating time. It firstly plan the route with real-time path planning then robot starts to move according to the planned route. While robot is moving, update the route as the best outcome which found by optimal path planning algorithm. Verifying the performance of the proposed method through the comparing real-time hybrid path planning with optimal path planning will be done.

• 대한전기학회논문지:전력기술부문A
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• 제48권7호
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• pp.889-897
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• 1999

In this paper, we propose a new method of path planning for autonomous mobile robot in mapped circumstance. To search the optimal path, we adopt the genetic algorithm which is based on the natural mechanics of selection, crossover and mutation. We propose a method for generating the path population, selection and evaluation in genetic algorithm. Simulations show the efficiency for the global path planning, if we adopt the proposed GA method

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2006년도 하계종합학술대회
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• pp.939-940
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• 2006

Many researches on path planning and obstacle avoidance for the fundamentals of mobile robot have been done. In this paper, we propose the algorithm of path planning and obstacle avoidance for mobile robot. We call the proposed method Random Access Sequence(RAS) method. RAS method using obstacle information from variable sensors is useful to get minimum path length to goal.

• 제어로봇시스템학회논문지
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• 제10권8호
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• pp.711-717
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• 2004

We propose a path planning method to improve the productivity of SMT (surface mount technology) inspection machines with an area camera. A unified method is newly proposed to determine the FOV clusters and camera sequence simultaneously. The proposed method is implemented by a hybrid genetic algorithm to increase the convergence speed. Comparative simulation results are then presented to verify the usefulness of the proposed algorithm.

• 산업경영시스템학회지
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• 제38권3호
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• pp.159-168
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• 2015

Aggregate Production Planning determines levels of production, human resources, inventory to maximize company's profits and fulfill customer's demands based on demand forecasts. Since performance of aggregate production planning heavily depends on accuracy of given forecasting demands, choosing an accurate forecasting method should be antecedent for achieving a good aggregate production planning. Generally, typical forecasting error metrics such as MSE (Mean Squared Error), MAD (Mean Absolute Deviation), MAPE (Mean Absolute Percentage Error), and CFE (Cumulated Forecast Error) are utilized to choose a proper forecasting method for an aggregate production planning. However, these metrics are designed only to measure a difference between real and forecast demands and they are not able to consider any results such as increasing cost or decreasing profit caused by forecasting error. Consequently, the traditional metrics fail to give enough explanation to select a good forecasting method in aggregate production planning. To overcome this limitation of typical metrics for forecasting method this study suggests a new metric, WACFE (Weighted Absolute and Cumulative Forecast Error), to evaluate forecasting methods. Basically, the WACFE is designed to consider not only forecasting errors but also costs which the errors might cause in for Aggregate Production Planning. The WACFE is a product sum of cumulative forecasting error and weight factors for backorder and inventory costs. We demonstrate the effectiveness of the proposed metric by conducting intensive experiments with demand data sets from M3-competition. Finally, we showed that the WACFE provides a higher correlation with the total cost than other metrics and, consequently, is a better performance in selection of forecasting methods for aggregate production planning.

• 한국콘텐츠학회논문지
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• 제18권4호
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• pp.38-47
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• 2018

새로운 콘텐츠를 기획하는 방법에 대한 논의가 활발해지는 가운데, 여전히 새로운 콘텐츠를 기획하는 구체적인 방법론에 대한 미디어 학계의 논의는 활발하지 않다. 본 연구에서는 새로운 콘텐츠를 기획하는 방법으로서 강제연결법과 의미론의 유용성을 자기문화기술지 방식을 통해 검토하며, 인문학이 콘텐츠 생산 현장과 어떻게 접합되는 지 검토해보았다. 연구자가 2007년 방송사 재직 당시 기획했던 시사 인터뷰 프로그램인 <단박인터뷰> 기획 과정을 자기 문화기술지 방식으로 기술하고, 그 경험을 사회문화적 의미와 연결시키고자 했다. 시사 프로그램 제작 경험이 없었던 연구자는 강제연결법을 사용하여 낯선 단어의 의미를 결합하여 '단박인터뷰'를 기획했고, '곧바로', '지체 없이', '현장에서', '솔직하게'를 뜻하는 '단박'이라는 의미를 충실하게 나열함으로써 제작방식과 출연자를 결정하게 되었다. 연구자의 이와 같은 기획방법은 단어의 의미를 기술한 뒤 의미에 맞게 제작 메커니즘을 모색한, 이른 바 의미론에 의한 콘텐츠 기획방식이라 할 수 있다. 의미론에 의한 기획은 단기간에 적은 인원으로 새로운 프로그램을 기획해야 하는 한계상황이 만들어낸 기획 법으로, 콘텐츠 기획에서 인문학적 접근이 유효하다는 것을 보여주는 증거라 하겠다.

• 제어로봇시스템학회논문지
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• 제22권3호
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• pp.192-198
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• 2016

Motion planning problem is still one of the important issues in robotic applications. In many real-time motion planning problems, it is advisable to find a feasible solution quickly and improve the found solution toward the optimal one before the previously-arranged motion plan ends. For such reasons, sampling-based approaches are becoming popular for real-time application. Especially the use of a rapidly exploring random $tree^*$ ($RRT^*$) algorithm is attractive in real-time application, because it is possible to approach an optimal solution by iterating itself. This paper presents a modified version of informed $RRT^*$ which is an extended version of $RRT^*$ to increase the rate of convergence to optimal solution by improving the sampling method of $RRT^*$. In online motion planning, the robot plans a path while simultaneously moving along the planned path. Therefore, the part of the path near the robot is less likely to be sampled extensively. For a better solution in online motion planning, we modified the sampling method of informed $RRT^*$ by combining with the sampling method to improve the path nearby robot. With comparison among basic $RRT^*$, informed $RRT^*$ and the proposed $RRT^*$ in online motion planning, the proposed $RRT^*$ showed the best result by representing the closest solution to optimum.

• 산업경영시스템학회지
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• 제38권4호
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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.

• 융복합기술연구소 논문집
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• 제6권2호
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• pp.9-13
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• 2016

Robot usually requires spline motion to move through multiple knots. In this paper, catmull-rom spline method is applied to the trajectory planning of industrial robot in task space. Centripetal catmull-rom is selected to avoid self-intersection and slow motion which can be occurred in uniform and chordal spline. The method to set two control points are proposed to satisfy velocity conditions of initial and final knots. To optimize robot motion, time scaling method is presented to minimize margin between real robot value and maximum value in velocity and acceleration. The simulation results show that the proposed methods are applied to trajectory planning and robot can follow the planned trajectory while robot motion does not exceed maximum value of velocity and acceleration.