• Journal of the Korea Society for Simulation
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• v.15 no.3
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• pp.39-47
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• 2006

In most of supply chain planning practices, the estimated demands, which are forecasted for each individual period in a forecasting window, are regarded as deterministic. But, in reality, the forecasted demands for the periods of a given horizon are stochastically distributed. Instead of using a safety stock, this study considers a direct control of service level by choosing the demand used in planning from the distributed forecasted demand values for the corresponding period. Using the demand quantile and echelon stock concept, we propose a simple but efficient heuristic algorithm for multi-echelon serial systems under service level constraints. Through a comprehensive simulation study, the proposed algorithm was shown to be very accurate compared with the optimal solutions.

• International Journal of Control, Automation, and Systems
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• v.4 no.4
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• pp.405-413
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• 2006

A novel approach based on genetic algorithms (GA) is developed to find a global minimum-jerk trajectory of a space robotic manipulator in joint space. The jerk, the third derivative of position of desired joint trajectory, adversely affects the efficiency of the control algorithms and stabilization of whole space robot system and therefore should be minimized. On the other hand, the importance of minimizing the jerk is to reduce the vibrations of manipulator. In this formulation, a global genetic-approach determines the trajectory by minimizing the maximum jerk in joint space. The planning procedure is performed with respect to all constraints, such as joint angle constraints, joint velocity constraints, joint angular acceleration and torque constraints, and so on. We use an genetic algorithm to search the optimal joint inter-knot parameters in order to realize the minimum jerk. These joint inter-knot parameters mainly include joint angle and joint angular velocities. The simulation result shows that GA-based minimum-jerk trajectory planning method has satisfactory performance and real significance in engineering.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.12
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• pp.1232-1239
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• 2009

This paper proposes an exploration strategy to efficiently find a specific place in large unknown environments with wall-following based path planning. Many exploration methods proposed so far showed good performance but they focused only on efficient planning for modeling unknown environments. Therefore, to successfully accomplish the room finding task, two additional requirements should be considered. First, suitable path-planning is needed to recognize the room number. Most conventional exploration schemes used the gradient method to extract the optimal path. In these schemes, the paths are extracted in the middle of the free space which is usually far from the wall. If the robot follows such a path, it is not likely to recognize the room number written on the wall because room numbers are usually too small to be recognized by camera image from a distance. Second, the behavior which re-explores the explored area is needed. Even though the robot completes exploration, it is possible that some rooms are not registered in the constructed map for some reasons such as poor recognition performance, occlusion by a human and so on. With this scheme, the robot does not have to visit and model the whole environment. This proposed method is very simple but it guarantees that the robot can find a specific room in most cases. The proposed exploration strategy was verified by various experiments.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1651-1654
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• 2003

The process equipment for handling high level radioactive materials, such as spent nuclear fuel, is operated within a sealed facility, called a hot cell, due to high radioactivity. Thus, this equipment should be maintained and repaired by remotely operated manipulator. In this study, to carry out the sale and effective maintenance of the process equipment installed in the hot cell by a servo type manipulator, a collision free motion planning method of the manipulator using virtual prototyping technology is suggested. To do this, the parts are modelled in 3-D graphics, assembled, and kinematics are assigned and the virtual workcell is implemented in the graphical environment which is the same as the real environment. The method proposed in this paper is to find the optimal path of the manipulator using the function of the collision detection in the graphic simulator. The proposed path planning method and this graphic simulator of manipulator can be effectively used in designing of the maintenance processes for the hot cell equipment and enhancing the reliability of the spent fuel management.

• Proceedings of the SAREK Conference
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• 2009.06a
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• pp.940-945
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• 2009

Energy planning for hybrid energy system is important to increase the flexibility in the urban community and national energy systems. Expected maximum loads, load profiles and yearly energy demands are important input parameters to plan for the technical and environmental optimal energy system for a planning area. The method for energy demand prediction has been based on artificial neural networks(ANN). The advantage of ANN with respect to the other method is their ability of modeling a multivariable problem given by the complex relationships between the variables. This method can produce 10% of errors hourly load profile from individual building to urban community. As the results of this paper, energy demand prediction system has been developed based on simulink.

• Journal of Korean Institute of Industrial Engineers
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• v.31 no.3
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• pp.180-193
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• 2005

This paper deals with a multiobjective process planning problem of flexible assembly systems(FASs). The FAS planning problem addressed in this paper is an integrated one of the assignment of assembly tasks to stations and the determination of assembly routing, while satisfying precedence relations among the tasks and flexibility capacity for each station. In this research, we consider two objectives: minimizing transfer time of the products among stations and absolute deviation of workstation workload(ADWW). We place emphasis on finding a set of diverse near Pareto or true Pareto optimal solutions. To achieve this, we present a new multiobjective coevolutionary algorithm for the integrated problem here, named a multiobjective symbiotic evolutionary algorithm(MOSEA). The structure of the algorithm and the strategies of evolution are devised in this paper to enhance the search ability. Extensive computational experiments are carried out to demonstrate the performance of the proposed algorithm. The experimental results show that the proposed algorithm is a promising method for the integrated and multiobjective problem.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.3
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• pp.251-260
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• 2009

Hybrid locomotive UGV with actively articulated legs along with wheeled ends has high traversability to travel over rough terrain. The behavior control method was usually adapted for the controlling of the suspension configuration which determines the traversability of the UGV. In this study, we are proposing a method of configuration planning of the legs without any detail geometric data about the terrain. The terrain was estimated by the traces of each wheel and the leg configurations for the desired posture of the vehicle were set up against the constraints of the terrain. Also, an optimal leg configuration was calculated based on the quasi-static stability and power consumption, and plans for the leg behavior were made. Validity of the proposed method was checked by simulations using some off-the-shelf programs, and showed that the orientation control without geometric features of terrains and simplification of the behavior planning for obstacle negotiation were possible.

• Journal of Korea Society of Digital Industry and Information Management
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• v.13 no.3
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• pp.65-73
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• 2017

The fifth generation(5G) of wireless networks will connect not only smart phone but also unimaginable things. Therefore, 5G cellular network is facing the soaring traffic demand of numerous user devices. To solve this problem, a huge amount of 5G base stations will need to be installed. The base station positioning problem is an NP-hard problem that does not know how long it will take to solve the problem. Because, it can not find an answer other than to check the number of all cases. In this paper, to solve the NP hard problem, we compare the tabu search and the genetic algorithm using real maps for optimal cell planning. We also perform Monte Carlo simulations to study the performance of the Tabu search and Genetic algorithm for 5G cell planning. As a results, Tabu search required 2.95 times less computation time than Genetic algorithm and showed accuracy difference of 2dBm.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2015.05a
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• pp.202-203
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• 2015

To promote the remodeling project it is important to get apartment residents' consent. It is significant variable to determine project to progress smoothly from planning stage which committee of association establishment sets up to establishment stage of association. On average, it takes about 1~1.6 year in planning phase which means before construction phase of remodeling. Therefore, it is very important issue to get apartment residents' consent in planning phase. In this research, we focused on residents' opinion and proposed solution of conflict with gathering residents' opinion to proceed remodeling project. By setting particular remodeling situation, related residents represented as agents made effort to efficient coordination to reduce total duration of decision making. Therefore, we proposed multi-agent based on fuzzy inference to simulate behavior of decision making on remodeling project effectively. From this method, optimal alternative is selected by considering each agents' attributes which represented by fuzzy set. This research will develope to further research for realizing concrete multi-agent based on fuzzy inference considering all stakeholders in remodeling project.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.5
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• pp.405-411
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• 2011

This paper presents a hierarchical trajectory planning method which can handle a collision-free of the planned path in complex and dynamic environments. A PV (Path & Velocity profile) planning method minimizes a sharp change of orientation and waiting time to avoid a collision with moving obstacle through detour path. The path generation problem is solved by three steps. In the first step, a smooth global path is generated using $A^*$ algorithm. The second step sets up the velocity profile for the optimization problem considering the maximum velocity and acceleration. In the third step, the velocity profile for obtaining the shortest path is optimized using the fuzzy and genetic algorithm. To show the validity and effectiveness of the proposed method, realistic simulations are performed.