• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.414-414
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• 2000

This paper presents a method for building a real-time kernel of autonomous mobile robot control systems. Until now, most of robots have their own operation softwares dedicated only for their use. Sometimes, operation softwares were developed based on MS-DOS or other real -time kernel based on UNIX. However, MS-DOS has many restrictions for use as a robot operation system. Also, mix based real-time kernel has some Limitations for use with mobile robots. So, in this paper, we focus on building a real-time kernel based on Linux. The in this paper, the software modules of Task Management, Memory Management, Intertask Communication, and Synchronization are redesigned. To show the efficiency of the paper, it was applied to run Nomad Super Scout II avoiding obstacles detected by sonar sensor array.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.3
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• pp.258-263
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• 2011

In the bilateral tele-operation system, time delay may be a critical problem. Even if system modeling error or time delay occurs, when applied to wave transformation system, the system's stability can be achieved. Using the characteristic b which is an important parameter of wave transformation, the system can display robust performance for time delay. However, since assuming and that the time delay was fixed developing a theory, a stability cannot be guaranteed about the time-varying delay. Therefore, In the paper, Therefore, in this paper, we studied for the method that controls this by applying the fuzzy algorithm which surveyed the timevarying delay characteristics and can adjust the b according to it adaptively.

• Journal of Navigation and Port Research
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• v.30 no.6 s.112
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• pp.457-464
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• 2006

Remarshalling operation is one of the operations considered important in an automated container terminal to perform quickly loading operations and delivery operations. It arranges the containers scattered at a verticla yard block in order to reduce the transfer time and the rehandling time of ATC(Automated Transfer Crane)s. This paper deals with the remarshalling planning problem minimizing the weighted operation time. This problem can be decomposed into 2 subproblems, storage space assignment problem and operation sequencing problem Storage space assignment problem decides to where containers are transported in terms of transportation time cost.. With results of a previous subproblem, operation sequence problem determines the ATC operation sequence, which minimizes the dead-heading of ATC This study formulates each subproblem with mixed integer program and dynamic program. To illustrate the proposed model, we propose an instance to explain the process of remarshalling planning.

• Architectural research
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• v.19 no.3
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• pp.71-77
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• 2017

Dynamic pricing refers to a system in which a tariff varies, according to a level of charging and applied time depending on time change. The power billing system used in the Korean Electric Power Corporation (KEPCO) is based on time of use (TOU) pricing, which is one of the dynamic pricing systems. This paper aimed to determine the operational results of a variable refrigerant flow system, to which a new control algorithm was applied, in order to respond to dynamic pricing, in summer and the utility of the new control. To do this, real measured data was acquired from a VRF system installed in a building for educational purposes, where dynamic pricing was applied for about 100 days during summer time. At the maximum load operation time period in TOU, the new control minimized operation within the indoor comfort range, an increase in refrigerant evaporation temperature in the indoor unit and the number of revolutions in a compressor in the outdoor unit was limited. As a result, power usage was decreased by 11%, and the operational cost by 14.6%. Furthermore, measurement results using the Predicted Mean Vote (PMV) model, that represented satisfaction of thermal environment, showed that 82.8% to 90.4% of the occupants of the building were satisfied during operation when the new control was applied.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.37 no.4
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• pp.63-71
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• 2014

As power consumption increases, more power utilities are required to satisfy the demand and consequently results in tremendous cost to build the utilities. Another issue in construction of power utilities to meet the peak demand is an inefficiency caused by surplus power during non-peak time. Therefore, most power company considers power demand management with time-based electricity rate policy which applies different rate over time. This paper considers an optimal machine operation problem under the time-based electricity rates. In TOC (Theory of Constraints), the production capacities of all machines are limited to one of the bottleneck machine to minimize the WIP (work in process). In the situation, other machines except the bottleneck are able to stop their operations without any throughput loss of the whole manufacturing line for saving power utility cost. To consider this problem three integer programming models are introduced. The three models include (1) line shutdown, (2) block shutdown, and (3) individual machine shutdown. We demonstrate the effectiveness of the proposed IP models through diverse experiments, by comparing with a TOC-based machine operation planning considered as a current model.

• Proceedings of the KSR Conference
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• 2008.06a
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• pp.559-571
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• 2008

Platform Screen Door(PSD) has been installed and operated at seoul subway line $1\sim4$ in the manual train operation mode(ATS/ATC) by SeoulMetro since 2005. SeoulMetro uses the wireless (RF) communication system and the train door detection system for the link between the train and PSD doors opening/closing motion in the manual train operation mode. For the convenience and safety of passengers, the train doors and the PSD doors opening/closing shall be synchronized as much as possible. In ATO(Automatic Train Operation) mode which provides the interface between train control system and PSD system, ATO signaling system makes the train doors and PSD doors open/close command signals systematically, so PSD doors can be opened/closed almost simultaneously with the train doors. But, in the manual train control(ATS/ATC) mode, PSD system needs to detect the train doors open/close operation and make PSD open/close command signals to actuate PSD doors. These PSD open/close commanding process cause time delay of PSD doors opening/closing motion in response to the train doors opening/closing motion. Sometimes the response delay time can be over 1 second, which is not proper to operate PSD, and need to be reduced This paper presents the reduction method of the PSD response delay time to improve the convenience and safety of passengers.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.43 no.3
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• pp.10-20
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• 2020

This paper presents a method to measure the similarity of assigned jobs in the gravure printing operation based on the chromaticity and color sequence, and order the jobs accordingly. The proposed dispatching rule can be used to fulfill diverse manufacturing site requirements because the parameters can be adjusted to prioritize chromaticity and color sequence. In general, dispatching rules either ignore the job-changing time or require that the time be clearly defined. However, in the gravure printing operation targeted in this study, it is difficult to apply the general dispatching rule because of the difficulties in quantifying the job-changing time. Therefore, we propose a method for generalizing assignment rules of the job planner, allocating relative similarity among assigned jobs, and determining the sequence of jobs accordingly. Chromaticity priority is determined by the arrangement of the color assignments in the printing operation; color sequence priority is determined by the addition, deletion, or change in a specific color sequence. Finally, the job similarity is determined by the dot product of the chromaticity and color sequence priorities. Implementation of the proposed dispatching rule at an actual manufacturing site showed the planner present the same job order as that obtained using the proposed rule. Therefore, this rule is expected to be useful in industrial sites where clear quantification of the job-changing time is not possible.

• Journal of Biosystems Engineering
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• v.24 no.4
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• pp.301-308
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• 1999

Path planning for field operation of agricultural machinery is an indispensible part for precision farming or autonomous field operation. In this study, two algorithms (I, II) of generating a time-based shortest operation path were suggested to plan an optimal operation of an agricultural tractor-implement in a rectangular shaped field. The algorithms were based on modification of a minimum spanning tree algorithm, and applied for tractor-implement operations. the generated path was consisted of round operation and returning operation sections. The number of round operation was determined from the condition that a tractor can turn smoothly at headlands. The performance of the algorithms was evaluated by the calculation number for path generation and the total path length generated. Their stability was affected by the number of returning operation, but the algorithm II was considered to be more stable. In addition, the performances of the developed algorithms were compared with those of the conventional field operations at selected field sizes and shapes. The results showed that the algorithms could reduce field operation time greatly. For a 100m$\times$40m field, the reduced path length was 78m. The study also included an user interface program for implementing the algorithms and generating GPS coordinates that could be used in GIS softwares for precision farming.

• Journal of Korean Society of Forest Science
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• v.101 no.3
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• pp.344-355
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• 2012

This study was conducted to analyze on the operational time and productivities of logging operations in whole-tree logging operation system by tower-yarder and swing-yarder, and in cut-to-length logging operation system by excavator with grapple in order to establish the efficient logging operation system and to spread logging operation technique. In the analysis of operational time, in case of whole-tree logging operation system, the felling time was 46.6 sec/cycle by chain saw, the yarding time was 480.6 sec/cycle by tower-yarder, the yarding time was 287.4 sec/cycle by swing-yarder and the bucking time was 155.14 sec/cycle by chain saw. In case of the cut-to-length logging operation system, the felling and bucking time was 225.65 sec/cycle by chain saw, the cut-to-length extraction time was 4,972 sec/cycle by excavator with grapple, the branches and leaves extraction time was 3,143 sec/cycle by excavator with grapple. The forwarding time was 4,688 sec/cycle by wheel type mini-forwarder, the forwarding time was 2,118 sec/cycle by excavator with grapple and small forwarding vehicle. In the analysis of operational productivities, in case of whole-tree logging operation system, the average felling performance was $57.89m^3/day$ by chain saw, the average yarding performance was $20.3m^3/day$ by tower-yarder, $31.55m^3/day$ by swing-yarder respectively, the average bucking performance was $20.3m^3/day$ by chain saw. In case of the cut-to-length logging operation system, the average felling and bucking performance was $11.96m^3/day$ by chain saw, the average cut-to-length extraction performance was $34.75m^3/day$ by excavator with grapple, the average branches and leaves extraction performance was $37.66m^3/day$ by excavator with grapple, the average length of operation road construction was 73.8 m/day by excavator with grapple. The average forwarding performance by wheel type mini-forwarder and the average forwarding performance by excavator with grapple and small forwarding vehicle was $15.73m^3/day$ and $65.03m^3/day$, respectively.

• Journal of the Korean Society of Safety
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• v.35 no.1
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• pp.12-17
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• 2020

This paper analyzes functions of component parts of D-Urban Railway's door system along with operation obstacle risks on frequency(the number of occurrences/year) and severity(delay time/the number of occurrences). Based on this, the paper presents improvements and current system's problems after obstacle risks of EMU and door system are appled. The obstacle of door system causes corrosion of main parts such as DCU due to heat problem of operation environment, problems of maintenance methods and deterioration. DCUs on PCBs with more than 50% pattern corrosion cause problems. Even though the number of door system's obstacle occurrences for the last 5 years is 42, along with 104 minutes of operation obstacle, EMU operation obstacle risk is low(Level 1), which indicates there is limit in matrix of railway risks presented by the standard of railway safety management system. Therefore, it is necessary to have railway risk matrix suitable for the field. Finally, the paper deducts the obstacle risks through frequency and severity. Since 2017 when the risks of EMU and door system's obstacle, that of EMU has been 24(47% reduced) and that of door system has been average 9.5 per year(23% reduced).