• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.147-152
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• 2000

In this paper we propose a Genetic Algorithm for the path planning of an autonomous mobile robot. Genetic Algorithms(GAs) have advantages of the adaptivity such as GAs work even if an environment is time-varying or unknown. Therefore, we propose the path planning algorithms using the GAs-based approach and show more adaptive and optimal performance by simulation.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.7
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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

• Journal of Korean Society of Industrial and Systems Engineering
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• v.14 no.24
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• pp.43-52
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• 1991

The short-term production planning of an automated manufacturing system is to determine the production rate of each part type or family of part types. The purpose of this paper is to develop an optimal algorithm for solving the short-term production planning problem while machine failures, repairs. and changes in demand requirements are anticipated. The problem is formulated by LP and it shows that the production surplus is approached or stays at the hedging point. In addition, the long-term average frequencies of set-us with relation to a multilevel hierarchical production planing scheme are considered An example to show the effectiveness of the algorithm is presented.

• Journal of the Korea Institute of Military Science and Technology
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• v.2 no.2
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• pp.13-23
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• 1999

This paper deals with manufacturing process design of a simplified gun tube applying CE principle. A concept and characteristics of CE, mathematical model for understanding interaction between design and manufacturing, basic elements and related equations for process planning and cost estimating are introduced. A Knowledge-based Computer-Aided Process Planning System(KCAPPS) is constructed, yielding optimal production cost/time for the shape input and selection of appropriate machines and tools.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2007.04a
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• pp.7-10
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• 2007

This paper presents a fuzzy footstep planner for humanoid robots in complex environments. First, we define locomotion primitives for humanoid robots. A global planner finds a global path from a navigation map that is generated based on a combination of 2.5 dimensional maps of the 3D workspace. A local planner searches for an optimal sequence of locomotion primitives along the global path by using fuzzy footstep planning. We verify our approach on a virtual humanoid robot in a simulated environment. Simulation results show a reduction in planning time and the feasibility of the proposed method.

• Proceedings of the KIEE Conference
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• 1999.07c
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• pp.1447-1449
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• 1999

The KEPCO is developing the load forecasting system using land-use simulation method and distribution planning system. A distribution planning needs the data of present loads, forecasted loads and substations. distribution lines information. By the distribution planning system, the distribution line designer determines the substations and feeder lines plan. This paper presents the method of formulation process for the long term load forecasting and optimal distribution planning, and describes the case study of long term distribution planning of Suwon-city according to the newly applied method.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2001.04a
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• pp.244-249
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• 2001

Collision free task planning for dual-arm robot which perform many subtasks in a common work space can be achieved in two steps : path planning and trajectory planning. Path planning finds the order of tasks for each robot to minimize path lengths as well as to avoid collision with static obstacles. A trajectory planning strategy is to let each robot move along its path as fast as possible and delay one robot at its initial position or reduce speed at the middle of its path to avoid collision with the other robot.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.743-747
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• 1996

A Potential Field Method is applied to the proposed algorithm for the planning of collision-free paths of redundant manipulators. The planning is carried out on the base of kinematic configuration. To make repulsive potentials, sources are distributed on the boundaries of obstacles. To escape from local minimum of the main potential and to attack other difficulties of the planning, various potentials are defined simultaneously, Inverse Kinematics Problems of the redundant manipulators are solved by unconstrained optimization method. Computer simulation result of the path planning is presented.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.10a
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• pp.113-118
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• 2000

Collision free task planning for dual-arm robot which perform many subtasks in a common work space can be achieved in two steps : path planning and trajectory planning. Path planning finds the order of tasks for each robot to minimize path lengths as well as to avoid collision with static obstacles. A trajectory planning strategy is to let each robot move along its path as fast as possible and delay one robot at its initial position or reduce speed at the middle of its path to avoid collision with the other robot.

• Journal of the Korean Society of Industry Convergence
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• v.19 no.2
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• pp.75-80
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• 2016

This study proposes a efficient technology to control the optimal trajectory planning and real-time implementation method which can perform autonomous travelling for unmaned factory automation. Online path planning should plan and execute alternately in a short time, and hence it enables the robot avoid unknown dynamic obstacles which suddenly appear on robot's path. Based on Route planning and control algorithm, we suggested representation of edge cost, heuristic function, and priority queue management, to make a modified Route planning algorithm. Performance of the proposed algorithm is verified by simulation test.