• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.2
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• pp.704-710
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• 2017

Our research team is developing a 6-DOF manipulator that is adequate for the narrow workspace of press forming processes. This paper addresses the task sequence optimization methods for the manipulator to minimize the task-finishing time. First, a kinematic model of the manipulator is presented, and the anticipated times for moving among the task locations are computed. Then, a mathematical model of the task sequence optimization problem is presented, followed by a comparison of three meta-heuristic methods to solve the optimization problem: an ant colony system, simulated annealing, and a genetic algorithm. The simulation shows that the genetic algorithm is robust to the parameter settings and has the best performance in both minimizing the task-finishing time and the computing time compared to the other methods. Finally, the algorithms were implemented and validated through a simulation using Mathworks' Matlab and Coppelia Robotics' V-REP (virtual robot experimentation platform).

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.392-395
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• 1995

This paper presents a time efficient method for determining a sequence of locations of a mobile manipulator that facilitates tracking of continuous path in cluttered environment. Given the task trajectory in the form of octree data structure, the algorithm performs characterization of task space and subsequent multistage optimization process to determine task feasible locations of the robot. Firstly, the collision free portion of the trajectory is determined and classified according to uniqueness domains of the inverse kinematics solutions. Then by implementing the extent of task feasible subspace into an optimization criteria, a multistage optimization problem is formulated to determines the task feasible locations of the mobile manipulator. The effectiveness of the proposed method is shown through a simulation study performed for a 3-d.o.f. manipulator with generic kinematic structure.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.6
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• pp.3046-3070
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• 2017

Nowadays, the utilization of multiprocessor environments has been increased due to the increase in time complexity of application programs and decrease in hardware costs. In such architectures during the compilation step, each program is decomposed into the smaller and maybe dependent segments so-called tasks. Precedence constraints, required execution times of the tasks, and communication costs among them are modeled using a directed acyclic graph (DAG) named task-graph. All the tasks in the task-graph must be assigned to a predefined number of processors in such a way that the precedence constraints are preserved, and the program's completion time is minimized, and this is an NP-hard problem from the time-complexity point of view. The results obtained by different approaches are dominated by two major factors; first, which order of tasks should be selected (sequence subproblem), and second, how the selected sequence should be assigned to the processors (assigning subproblem). In this paper, a hybrid proposed approach has been presented, in which two different artificial ant colonies cooperate to solve the multiprocessor task-scheduling problem; one colony to tackle the sequence subproblem, and another to cope with assigning subproblem. The utilization of background knowledge about the problem (different priority measurements of the tasks) has made the proposed approach very robust and efficient. 125 different task-graphs with various shape parameters such as size, communication-to-computation ratio and parallelism have been utilized for a comprehensive evaluation of the proposed approach, and the results show its superiority versus the other conventional methods from the performance point of view.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.4
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• pp.111-117
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• 1998

In order to increase productivity of an assembly system composed of multiple robots along a conveyer line, an efficient sequence planning is necessary because the assembly time is dependent upon the assembly sequence. In this paper, a two-robot assembly system is considered in which two robots operate simultaneously and transfer parts from the part feeders to the workpiece on the conveyer one by one. In this case, the distance from the feeder to the workpiece varies with time because the workpiece moves at a constant speed on the conveyer. Hence, the sequence programming is not a trivial problem. Also, the two robots may interfere with each other kinematically and dynamically due to the simultaneous operation, so the sequence should be programmed to avoid the interferences. In this paper, the task sequence optimization problem is formulated and is solved by employing the simulated annealing which has been shown to be effective for solving large combinatorial optimizations.

• International conference on construction engineering and project management
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• 2022.06a
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• pp.608-615
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• 2022

Construction projects are large-scale projects that require extensive construction costs and resources. Especially, scheduling is considered as one of the essential issues for project success. However, the schedule and resource management are challenging to conduct in high-tech construction projects including complex design of MEP and architectural finishing which has to be constructed within a limited workspace and duration. In order to deal with such a problem, this study suggests resource and sequence optimization using constraint programming in construction projects. The optimization model consists of two modules. The first module is the data structure of the schedule model, which consists of parameters for optimization such as labor, task, workspace, and the work interference rate. The second module is the optimization module, which is for optimizing resources and sequences based on Constraint Programming (CP) methodology. For model validation, actual data of plumbing works were collected from a construction project using a five-minute rate (FMR) method. By comparing actual data and optimized results, this study shows the possibility of reducing the duration of plumbing works in construction projects. This study shows decreased overall project duration by eliminating work interference by optimizing resources and sequences within limited workspaces.

• Structural Engineering and Mechanics
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• v.3 no.4
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• pp.359-372
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• 1995

This study presents an efficient method for optimum design of plate and shell structures, when the design variables are continuous or discrete. Both sizing and shape design variables are considered. First the structural responses such as element forces are approximated in terms of some intermediate variables. By substituting these approximate relations into the original design problem, an explicit nonlinear approximate design task with high quality approximation is achieved. This problem with continuous variables, can be solved by means of numerical optimization techniques very efficiently, the results of which are then used for discrete variable optimization. Now, the approximate problem is converted into a sequence of second level approximation problems of separable form and each of which is solved by a dual strategy with discrete design variables. The approach is efficient in terms of the number of required structural analyses, as well as the overall computational cost of optimization. Examples are offered and compared with other methods to demonstrate the features of the proposed method.

• Journal of the Korea Society of Computer and Information
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• v.24 no.11
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• pp.119-126
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• 2019

The partial inverse optimization problem is an interesting variant of the inverse optimization problem in which the given instance of an optimization problem need to be modified so that a prescribed partial solution can constitute a part of an optimal solution in the modified instance. In this paper, we consider the traveling salesman problem defined on the line (TSP on the line) which has many applications such as item delivery systems, the collection of objects from storage shelves, and so on. It is worth studying the partial inverse TSP on the line, defined as follows. We are given n requests on the line, and a sequence of k requests that need to be served consecutively. Each request has a specific position on the real line and should be served by the server traveling on the line. The task is to modify as little as possible the position vector associated with n requests so that the prescribed sequence can constitute a part of the optimal solution (minimum Hamiltonian cycle) of TSP on the line. In this paper, we show that the partial inverse TSP on the line and its variant can be solved in polynomial time when the sever is equiped with a specific internal algorithm Forward Trip or with a general optimal algorithm.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.32 no.3
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• pp.40-48
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• 2009

In this article, scheduling of a casting sequence is studied in a casting foundry which must deliver products according to the Just-in-time(JIT) production policy of a customer. When a foundry manufactures a variety of casts with an identical alloy simultaneously, it frequently faces the task of production scheduling. An optimal casting schedule should be emphasized in order to maximize the production rate and raw material efficiency under the constraints of limited resources; melting furnaces and operation time for a casting machine. To solve this practical problem-fulfilling the objectives of casting the assigned mixed orders for the highest raw material efficiency in a way specified by the customer's JIT schedule, we implement simple integer programming. A simulation to solve a real production problem in a typical casting plant proves that the proposed method provides a feasible solution with a high accuracy for a complex, multi-variable and multi-constraint optimization problem. Employing this simple methodology, a casting foundry having an automated casting machine can produce a mixed order of casts with a maximum furnace utilization within the due date, and provide them according to their customer's JIT inventory policy.

• Proceedings of the KIEE Conference
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• 1997.11a
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• pp.600-602
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• 1997

In this study, a hybrid neural net consisting of an Adaptive LVQ(ALVQ) algorithm and MLP is proposed to perform speaker identification task. ALVQ is a new learning procedure using adaptively feature vector sequence instead of only one feature vector in training codebooks initialized by LBG algorithm and the optimization criterion of this method is consistent with the speaker classification decision rule. ALVQ aims at providing a compressed, geometrically consistent data representation. It is fit to cover irregular data distributions and computes the distance of the input vector sequence from its nodes. On the other hand, MLP aim at a data representation to fit to discriminate patterns belonging to different classes. It has been shown that MLP nets can approximate Bayesian "optimal" classifiers with high precision, and their output values can be related a-posteriori class probabilities. The different characteristics of these neural models make it possible to devise hybrid neural net systems, consisting of classification modules based on these two different philosophies. The proposed method is compared with LBG algorithm, LVQ algorithm and MLP for performance.

• Journal of the Korea Society for Simulation
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• v.19 no.1
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• pp.73-82
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• 2010

Productivity improvement is considered as one of hot potato topics in international shipyards by the increasing amount of orders. In order to improve productivity of lines, shipbuilders have been researching and developing new work method, process automation, advanced planning and scheduling and so on. An optimization approach was accomplished on short-term scheduling of subassembly lines in this research. The problem of subassembly line scheduling turned out to be a non-deterministic polynomial time problem with regard to SKID pattern’s sequence and worker assignment to each station. The problem was applied by simulated annealing algorithm, one of meta-heuristic methods. The algorithm was aimed to avoid local minimum value by changing results with probability function. The optimization result was compared with discrete-event simulation's to propose what pros and cons were. This paper will help planners work on scheduling and decision-making to complete their task by evaluation.