• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• v.5B no.1
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• pp.63-69
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• 2005

The motion of animals and gymnasts in the air as well as free flying space robots without thrusters are subjected to nonholonomic constraints generated by the law of conservation of angular momentum. The purpose of this paper is to derive analytical posture control laws for free flying objects in the air. We propose the bang-bang control method for trajectory planning of a 3 link mechanical system with initial angular momentum. This technique is used to reduce the DOF (degrees of freedom) at first switching phase and to determine the control inputs to steer the reduced order system to the desired position. Computer simulations for motion planning of an athlete approximated by 3 link, namely platform diving, are provided to verify the effectiveness of the proposed control scheme.

• Journal of the Korean Institute of Telematics and Electronics
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• v.27 no.9
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• pp.1364-1371
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• 1990

We propose a time-optimal path planning scheme for the robot manipulator using Hopfield neural network. The time-optimal path planning, which can allow the robot system to perform the demanded tasks with a minimum execution time, may be of consequence to improve the productivity. But most of the methods proposed till now suffers from a significant computational burden and thus limits the on-line application. One way to avoid such a difficulty is to apply the neural networke technique, which can allow the parallel computation, to the minimum time problem. This paper proposes an approach for solving the time-optimal path planning by using Hopfield neural network. The effectiveness of the proposed method is demonstrarted using a PUMA 560 manipulator.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.5
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• pp.444-449
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• 2006

Path planning is a key element in navigation of a mobile robot. Several algorithms such as a gradient method have been successfully implemented so for. Although the gradient method can provide the global optimal path, it computes the navigation function over the whole environment at all times, which result in high computational cost. This paper proposes a high-speed path planning scheme, called a gradient method with topological information, in which the search space for computation of a navigation function can be remarkably reduced by exploiting the characteristics of the topological information reflecting the topology of the navigation path. The computing time of the gradient method with topological information can therefore be significantly decreased without losing the global optimality. This reduced path update period allows the mobile robot to find a collision-free path even in the dynamic environment.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.267-274
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• 2012

We proposed the KPP (Korea university Path Planner) in our previous works. The KPP is the path planning scheme of a car-like mobile robot in parking environment. The objective of this paper is to investigate the advantage of the KPP through the quantitative and qualitative analysis compared with conventional RRT. For comparison, we proposed travel time for performance index. This paper shows that the KPP shows outstanding performances from the viewpoint of travel time and computational efficiency compared with RRT.

• Journal of Industrial Technology
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• v.18
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• pp.139-148
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• 1998

Traditionally, the problems of manufacturing technology and manufacturing management have been treated independently. In this research, we endeavor to integrate the process planning and scheduling activities as an attempt to integrate the two realms. To draw up a plan of process planning and scheduling in real manufacturing environment is not an easy task because available time to plan could be limited and the shop status could change frequently. So we propose an architecture of integrated process planing and scheduling problem within the allowed time even if sheep situations change rather frequently. We argue that we can obtain a better and practical scheduling solution by dynamically changing the processing machines and operations as the shop condition changes. The proposed system takes the initial information for alternative machines and operations represented by an AND/OR graph as its input. Other informational inputs to the system are part order and shop statues. The system then generates new process plan and schedules during permitted time. Experimental results show that the proposed scheme provides a viable solution for real world scheduling problems.

• Journal of the Korea Institute of Military Science and Technology
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• v.2 no.2
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• pp.83-91
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• 1999

Dynamic characteristic of manufacturing stage is understood and the utilization of each machine is maximized by developing on-line dynamic CAPP system to consider the overloads in the aircraft part manufacturing line. In this paper, a scheme of production planning and scheduling system was proposed through inspection about some predeveloped CAPP system. Developed production planning and scheduling system included process planning module. After precise inspection of some FMS line schema at domestic heavy industry, optimized FMS line was applied to aircraft part manufacturing and repairing factory. By virtue of considering overloads of factory and machine through on-line dynamic CAPP system, the utilization of resources is maximized and manufacturing lead time is minimized.

• Journal of Korean Society of Rural Planning
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• v.16 no.1
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• pp.35-47
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• 2010

With the cognition of the problems on propulsion system of rural development program, the requirement for accurate diagnosis of the problems and for reform scheme is increasing. This study was performed to solve the above requirement especially on the level of a local government, Chungnam province as an instance. For accurate diagnosis of the problems, the present situation of propulsion system, i.e. organization and governance, planning and policy making, implementation and supervision of rural development program was investigated, and the cognition of public officials and specialists was surveyed. From the study, it showed that the problems of propulsion system for rural development program in Chungnam province are duplication of work sphere among departments, formal administration of governance, an absence of long-term plan with vision and strategy, and absence of department in charge of comprehensive supervision and so on. As a result of the study 9 reform schemes to solve the problems were suggested.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.6
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• pp.506-513
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• 2000

This paper proposes a path planning algorithm for dispensers to increase the productivity in printed circuit board assembly lines. We analyze the assembly sequence of the dispenser, and formulate it as an integer programming problem. The mathematical formulation can accomodate multiple heads and different types of heads through extended cost matrix. The TSP algorithms are then applied to the formulated problem to find the near-optimal solution. Simulation results are presented to verify the usefulness of the proposed scheme.

• Proceedings of the Korean Society of Agricultural Engineers Conference
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• 2001.10a
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• pp.224-227
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• 2001

This research performed to compare and analyze the pattern of land-utilization of the city-planning districts in the area of Seo-myeon and Sinbuk-up, Chuncheon from 1975 to 1995. This research was peformed to suggest the efficient scheme to utilize the land and to preserve the high-quality land through analyzing the pattern of utilizing land, the natural conditions of location of land, and the present conditions of consolidation of the agricultural basis with the method, GIS.

• Proceedings of the Korean Information Science Society Conference
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• 2010.06a
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• pp.273-274
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• 2010