• 산업공학
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• 제3권2호
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• pp.23-38
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• 1990

The use of robots for painting operations is a powerful alternative as a means for automation and quality improvement. A typical method being used for motion planning of the painting robot is to guide the robot along the desired path : the "lead-through" method. Although this method is simple and has been widely used, it has several drawbacks a) The robot cannot be used during the teaching period, b) A human is exposed to a hostile environment, c) The motions taught are, at best, human's skill level. To deal with the above problems, an integrated robot-trajectory planning scheme is presented. The new scheme takes CAD data describing the shape and geometry of the objects, and outputs an optimal trajectory in the sense of coating thickness and painting time. The purpose of this paper is to investigate theoretical backgrounds for such a scheme including geometric modeling, painting mechanics and robot trajectory planning, and develop algorithms for generating spray gun paths and minimum-time robot trajectories. Future study is to implement these algorithms on an workstation to develop an integrated software system ; ATPS(Automatic Trajectory Planning System) for spray painting robots.

• 한국자동차공학회논문집
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• 제22권3호
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• pp.241-249
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• 2014

This paper presents a path planning algorithm of an autonomous vehicle (ADAM III) for collision avoidance in the presence of multiple obstacles. Under the requirements that a low-cost GPS is used and its computation should be completed with a sampling time of sub-second, heading angle estimation is proposed to improve performance degradation of its measurement and a hierarchical structure for path planning is used. Once it is decided that obstacle avoidance is necessary, the path planning consists in three steps: waypoint generation, trajectory candidate generation, and trajectory selection. While the waypoints and the corresponding trajectory candidates are generated based on position of obstacles, the final desired trajectory is determined with considerations of kinematic constraints as well as an optimal condition in a term of lateral deviation. Finally the proposed algorithm was validated experimentally through field tests and its demonstration was performed in Autonomous Vehicle Competition (AVC) 2013.

• 한국지능시스템학회논문지
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• 제15권4호
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• pp.418-424
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• 2005

선박의 안전 운항과 운항 경비의 절감을 위해 선박의 운항 자동화 및 지능화 기술이 요구된다. 선박의 자동화를 위해서는 GPS와 전자해도에 기반한 항해시스템의 항로 계획이 선행되어야 한다. 본 논문에서는 항해시스템의 자동화된 항로 계획을 위해 장애물의 접점 산출 기법과 이를 이용한 트리 생성 기법, 그리고 생성된 트리 구조를 기반으로 한 항로 산출 기법을 제안한다. 제안한 항로 산출 기법의 효율성 검증을 위해 최적화 관점에서 대표적 항로 계획 기법인 A*기법과 비교$\cdot$분석한다.

• 제어로봇시스템학회논문지
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• 제16권1호
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• pp.53-60
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• 2010

We propose a motion planning method for autonomous mobile robots. In order to minimize traveling time, a smooth path and a time optimal velocity profile should be generated under kinematic and dynamic constraints. In this paper, we develop an effective and practical method to generate a good solution with lower computation time. The initial path is obtained from voronoi diagram by Dijkstra's algorithm. Then the path is improved by changing the graph and path simultaneously. We apply the dynamic programming algorithm into the stage of improvement. Simulation results are presented to verify the performance of the proposed method.

• 산업경영시스템학회지
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• 제33권1호
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• pp.71-79
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• 2010

This paper addresses capacity expansion planning model of distribution center under usability of public distribution center. For discrete and finite time periods, demands for distribution center increase dynamically. The capacity expansion planning is to determine the capacity expansion size of private distribution center and usage size of public distribution center for each period through the time periods. The capacity expansion of private distribution center or lease usage of public distribution center must be done to satisfy demand increase for distribution center. The costs are capacity expansion cost and excess capacity holding cost of private distribution center, lease usage cost of public distribution center. Capacity expansion planning of minimizing the total costs is mathematically modelled. The properties of optimal solution are characterized and a dynamic programming algorithm is developed. A numerical example is shown to explain the problem.

• 로봇학회논문지
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• 제1권1호
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• pp.46-57
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• 2006

It is well known that mathematical solutions for multi-agent planning problems are very difficult to obtain due to the complexity of mutual interactions among multi-agent. Most of the past research results thus are based on the probabilistic completeness. However, the practicality and effectiveness of the solution from the probabilistic completeness is significantly reduced by heavy computational burden. In this paper, we propose a practically applicable solution technique for multi-agent planning problems, which assures a reasonable computation time and a real world application for more than 3 multi-agents for the case of general shaped paths in agent movement. First, to reduce the computation time, a collision map is utilized for detecting potential collisions and obtaining collision-free solutions for multi-agents. Second, to minimize the maximum of multi-agent task execution time, a method is developed for selecting an optimal priority order. Simulations are finally provided for more than 20 agents to emphasize the effectiveness of the proposed interactive approach to multi-agent planning problems.

• 산업공학
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• 제19권4호
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• pp.270-280
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• 2006

The shipping plan for an efficient augmentation of terminal is NP-hard problem which is subordinate to a shipping quantity. The load location problem and stowage planning problem are two important tactical problems for the efficient operations of container terminals. This paper is concerned with reduction of feasible region in constraints for stowage planning. After designing model which minimizes the number of shifting and the travel distance of the transfer crane, the simulated annealing algorithm is employed to search optimal solution quickly and accurately. In order to apply more realistic approach, the partial restriction through adding hatch is complemented to stowage planning decision problem applied in cluster. A variety of numerical experiments demonstrated that solutions by simulated annealing algorithm are useful and applicable in practice.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 하계학술대회 논문집 A
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• pp.73-75
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• 2004

This paper presents the ability and the application of software packages for distribution planning which are DISPLAN(Distribution Planning System) and DLPLAN(Distribution Line Planning System) developed in KEPCO. After calculating size and position of maximum load by administration section for distribution, it forecasts the demand of distribution load considering growth location, increment, new load plan, etc of load by annual. Also it calculates distribution loss, voltage drop using modeled distribution line by you, and support for establishment and enlargement plan of substation and distribution line, decision of most optimal path. And it presents the abstract of used algorithm to develop this system.

• 대한기계학회논문집
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• 제15권2호
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• pp.515-522
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• 1991

Determining the motion using optimal technique about traveling time and trajectory planning has been studied often in recent years, but the study of determining the optimal robot dimensions is rare, the authors attempt to find out the least driving torques and energy as the optimization of link length ratio referred to 2R SCARA and 3R robot manipulators. For the given linear path with triangular velocity profile, the inverse kinematic and dynamic problems are examined in order to lead into solution of problem, which is suggested for optimal design of link lengths. Accordingly, optimal link length ratio is obtained with respect to each case.

• 산업공학
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• 제24권3호
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• pp.173-186
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• 2011

In this paper, we evaluate life annuity plans for Korean pre-retired single and married couple participating Korea National Pension (KNP) and find optimal life annuity strategy by using utility-based measurements called AEW (Annuity Equivalent Wealth). Specifically, we extend a previous study to obtain a detailed optimal combination of annuitizing age and wealth in terms of percentage of net wealth at the time of retirement. A nonlinear optimization model is formulated with the objective of maximizing utility on consumption and bequest, and the dynamic programming (DP) technique is used to solve this problem. We find that there exist consistent patterns in optimal combinations of annuitizing age and wealth. Also, for all cases the optimal combination is significantly better than several other combinations. The results indicate that using the optimal approach can be beneficial to practitioners in insurance industry and prospective purchasers of life annuity. We conclude the paper with some discussions and suggestions.