• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.186-190
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• 2003

In this paper, we propose an algorithm for planning an optimal path to capture a moving object by a mobile robot in real-time. The direction and rotational angular velocity of the moving object are estimated using the Kalman filter, a state estimator. It is demonstrated that the moving object is tracked by using a 2-DOF active camera mounted on the mobile robot and then captured by a mobile manipulator. The optimal path to capture the moving object is dependent on the initial conditions of the mobile robot, and the real-time planning of the robot trajectory is definitely required for the successful capturing of the moving object. Therefore the algorithm that determines the optimal path to capture a moving object depending on the initial conditions of the mobile robot and the conditions of a moving object is proposed in this paper. For real-time implementation, the optimal representative blocks have been utilized for the experiments to show the effectiveness of the proposed algorithm.

• Proceedings of the KIEE Conference
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• 2003.11b
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• pp.11-14
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• 2003

In this paper, we use Fuzzy Logic and Potential field method for optimal path planning of an autonomous mobile robot and apply to navigation for real-time mobile robot in 2D dynamic environment. For safe navigation of the robot, we use both Global and Local path planning. Global path planning is computed off-line using sell-decomposition and Dijkstra algorithm and Local path planning is computed on-line with sensor information using potential field method and Fuzzy Logic. We can get gravitation between two feature points and repulsive force between obstacle and robot through potential field. It is described as a summation of the result of repulsive force between obstacle and robot which is considered as an input through Fuzzy Logic and gravitation to a feature point. With this force, the robot fan get to desired target point safely and fast avoiding obstacles. We Implemented the proposed algorithm with Pioneer-DXE robot in this paper.

• Journal of the Korean Operations Research and Management Science Society
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• v.34 no.3
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• pp.71-84
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• 2009

This paper considers a remanufacturing and purchasing planning problem, in which either used products(or wastes) are remanufactured or remanufactured products(or final products) are purchased to satisfy dynamic demands of remanufactured products over a discrete and finite time horizon. Also, as remanufactured products are purchased more than or equal to a special quantity Q, a discount price policy is applied. The problem assumes that the related cost(remanufacturing and inventory holding costs of used products, and the purchasing and inventory holding costs of remanufactured products) functions are concave and backlogging is not allowed. The objective of this paper is to determine the optimal remanufacturing and purchasing policy that minimizes the total cost to satisfy dynamic demands of remanufactured products. This paper characterizes the properties of the optimal policy and then, based on these properties, presents a dynamic programming algorithm to find the optimal policy. Also, a network-based procedure is proposed for the case of a large quantity of low cost used products. A numerical example is then presented to demonstrate the procedure of the proposed algorithm.

• Proceedings of the KIEE Conference
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• 1999.07c
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• pp.1117-1119
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• 1999

This paper presents a new approach for the optimal routing problem of distribution system planning using the well known Hopfield Neural Network(HNN) method. The optimal routing problem(ORP) in distribution system planning(DSP) is generally formulated as combinational mixed integer problem with various equality and inequality constraints. For the exceeding nonlinear characteristics of the ORP most of the conventional mathematical methods often lead to a local minimum. In this paper, a new approach was made using the HNN method for the ORP to overcome those disadvantages. And for this approach, a appropriately designed energy function suited for the ORP was proposed. The proposed algorithm has been evaluated through the sample distribution planning problem and the simulation results are presented.

• Proceedings of the SAREK Conference
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• 2009.06a
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• pp.1061-1064
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• 2009

The objective of this study is to find the optimal operational planning of the hybrid cooling system, which is combined by ice storage system and the absorption chiller. The optimization technique used in this study is dynamic programming. The objective function is summed cost during a day including charge and discharge periods of ice storage system and operation time of absorption chiller. Assuming that initially ice storage tank is stored fully and the cooling load is perfectly predicted for the operational planning. This method provides the most efficient and economic combination of equipment operational planning for cooling with respect to energy consumption cost.

• IE interfaces
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• v.20 no.2
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• pp.204-215
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• 2007

This paper addresses vehicle routing planning in freight container transportation systems where a number of loaded containers are to be delivered to their destination places. The system under consideration is static in that all transportation requirements are predetermined at the beginning of a planning horizon. A two-phased procedure is presented for freight container transportation. In the first phase, the optimal model is presented to determine optimal total time to perform given transportation requirements and the minimum of number of vehicles required. Based on the results from the optimal model, in the second phase, ASA(Accelerated Simulated Annealing) algorithm is presented to perform all transportation requirements with the least number of vehicles by improving initial vehicle routing planning constructed by greedy method. It is found that ASA algorithm has an excellent global searching ability through various experiments in comparison with existing methods.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.168-173
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• 2003

In this paper, we will present a deeper look on optimal design methods that are related to path-planning for a mobile robot. To control the motion of a mobile robot in a clustered environment, it's necessary to know a suitable trajectory assuming certain start and goal point. Up to now, there are many literatures that concern optimal path planning for an obstacle avoided mobile robot. Among those literatures, we have chosen 2 novel methods for our further analysis. The first approach [4] is based on HJB(Hamilton-Jacobi-Bellman) equation whose solution is the return-function that helps to generate a shortest path to the goal. The later [5] is called polynomial-path-planning approach, in this method, a shortest polynomial-shape path would become a solution if it was a collision-free path. The camera network plays the role as sensors to generate updated map which locates the static and dynamic objects in the space. Therefore, the exhibition of both path planning and dynamic obstacle avoidance by the updated map would be accomplished simultaneously. As we mentioned before, our research will include the motion control of a true mobile robot on those optimal planned paths which were generated by above algorithms. Base on the kinematic and dynamic simulation results, we can realize the affection of moving speed to the stable of motion on each generated path. Also, we can verify the time-optimal trajectory through velocity tuning. To simplify for our analysis, we assumed the obstacles are cylindrical circular objects with the same size.

• Proceedings of the KSME Conference
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• 2007.05b
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• pp.3359-3364
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• 2007

The smart energy system is the integrated power system in which the power components including central station generation, distributed generation, renewable power generation, energy storage, and communications and controls are complexly connected with each other. In smart energy system, it is very important how to configure the diverse power generations and how to determine the operation mode of the chosen components with economic feasibility. In this study, we introduce the optimal planning method based on both economic feasibility and load profiles and its applications for the smart energy system in apartment. This method was considered very useful to determine the configuration and to decide the optimal operation mode of the smart energy system.

• Journal of the Korean Operations Research and Management Science Society
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• v.34 no.2
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• pp.77-90
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• 2009

Total profit level Increases if a company increase the cost for achieving R&D related goals of equipment productivity enhancement, production cost saving, or for achieving equipment scale target, sales volume goal. But how much money should be invested to achieve a certain level of profit? We formulated the model to set the optimal goal levels to minimize the investment cost under the constraint that certain level of total profit should be guaranteed. This model derived from a case of P steel company. We found that this should be considered in relation with the production sales planning (known as optimal product mix problem) to guarantee the profit. We suggested a nonlinear programming model, 3 valiant form of the p+roduct mix problem. We can find the optimal Investment level for the R&D related goals or sales volume goal, equipment scale target for the P steel company using the model.

• 한국신재생에너지학회:학술대회논문집
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• 2007.06a
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• pp.113-116
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• 2007

The fuel cell which converts directly chemical energy of fuel into electric energy has higher efficiency than the conventional power generation which involves several additional processes. Especially, polymer electrolyte membrane fuel cell (PEMFC) of which the electrolyte is a thin proton conductive polymer membrane is affordable for portable power applications and small-scale distributed power generation including household and small building. It is very important to not only increase the efficiency of FC itself but determine the optimal operation mode. The optimal operational planning of lkW household PEMFC system based on the daily electricity and heat demand patterns was performed. The estimated economic gain was up to 20% by adoption of PEMFC system.