• 대한교통학회지
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• 제33권6호
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• pp.520-530
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• 2015

본 논문은 장기적 및 단기적 관점에서 도시내 도로의 최적 혼잡통행료를 추정하는 방법론을 구축하고, 이를 서울시의 주요 도로에 적용하였다. 장기적 관점의 최적 혼잡통행료는 도로 건설 유지비용과 통행자비용을 합한 총비용을 극소화하는 최적 교통량-용량 비율을 구한 다음 추정된다. 반면 단기적 관점의 최적 혼잡통행료는 통행시간-교통량 함수와 개별수단선택모형을 이용해 공급-수요 균형점을 구한 다음 추정된다. 도시고속도로인 서부간선도로에 대한 장기적 관점의 분석 결과 최적 교통량-용량비율과 승용차-km당 최적 혼잡통행료는 1.35와 503원인 반면, 도시간선도로인 미아로에 대한 단기적 관점의 분석 결과는 1.31과 420원인 것으로 나타났다. 이러한 분석 결과는 어느 정도 할인율과 시간 가치에 영향을 받으나, 혼잡통행료를 부과하면 사회후생이 증가하는 것은 변함이 없는 것으로 나타났다.

• Journal of Electrical Engineering and Technology
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• 제6권6호
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• pp.786-792
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• 2011

The present paper presents an optimal capacitor placement (OCP) algorithm for voltagestability enhancement. The OCP issue is represented using a mixed-integer problem and a highly nonlinear problem. The hybrid particle swarm optimization (HPSO) algorithm is proposed to solve the OCP problem. The HPSO algorithm combines the optimal power flow (OPF) with the primal-dual interior-point method (PDIPM) and ordinary PSO. It takes advantage of the global search ability of PSO and the very fast simulation running time of the OPF algorithm with PDIPM. In addition, OPF gives intelligence to PSO through the information provided by the dual variable of the OPF. Numerical results illustrate that the HPSO algorithm can improve the accuracy and reduce the simulation running time. Test results evaluated with the three-bus, New England 39-bus, and Korea Electric Power Corporation systems show the applicability of the proposed algorithm.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 A
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• pp.513-515
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• 2000

This paper deals with a method for determining an optimal operation strategy of dispersed generating sources considering thermal merits. The optimal operation of these sources can be determined by the principle of equal incremental fuel cost. This paper presents an optimal operation strategy using the Kuhn-Tucker's optimal conditions and also an priority method to decide the optimal location of those sources in power systems. The validity of the proposed algorithms are demonstrated using a model system.

• 제어로봇시스템학회논문지
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• 제20권12호
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• pp.1272-1277
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• 2014

This article describes a path planning algorithm for fixed-wing UAVs when a real terrain should be considered. Nowadays, many UAVs are required to perform mission flights near given terrain for surveillance, reconnaissance, and infiltration, as well as flight altitude of many UAVs are relatively lower than typical manned aerial vehicles. Therefore, real terrain should be considered in path planning algorithms of fixed-wing UAVs. In this research, we have extended a spline-$RRT^*$ algorithm to three-dimensional planner. The spline-$RRT^*$ algorithm is a $RRT^*$ based algorithm, and it takes spline method to extend the tree structure over the workspace to generate smooth paths without any post-processing. Direction continuity of the resulting path is guaranteed via this spline technique, and it is essential factor for the paths of fixed-wing UAVs. The proposed algorithm confirm collision check during the tree structure extension, so that generated path is both geometrically and dynamically feasible in addition to direction continuity. To decrease degrees of freedom of a random configuration, we designed a function assigning directions to nodes of the graph. As a result, it increases the execution speed of the algorithm efficiently. In order to investigate the performance of the proposed planning algorithm, several simulations are performed under real terrain environment. Simulation results show that this proposed algorithm can be utilized effectively to path planning applications considering real terrain.

• 대한조선학회논문집
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• 제32권1호
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• pp.9-16
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• 1995

탑재 공정 계획은 도크 공기를 만족토록 탑재 전략과 탑재 블록 순서를 결정하는 것이며, 탑재일정 계획은 결정된 탑재 순서에 따라 블록의 탑재일을 결정하는 것이다. 일정 계획에 따라 부하 분포가 다양한 양상을 보이며, 이는 생산 비용에 영향을 미친다. 제한된 가용 자원을 효율적으로 사용하면서 최단 공기에 탑재를 완료할 수 있는 최적의 공정 계획을 수립하기 위해서는 공정 계획과 일정 계획의 다양한 조합에 대해 시뮬레이션해 볼 수 있어야 한다. 최적 탑재 공정 계획 시스템 구축을 위해서는 탑재 순서를 자동으로 생성하는 시스템과 부하 평준화 시스템이 요구된다. 본 논문에서 탑재 순서 자동 생성 방안을 약술하였다. 부하 평준화는 같은 도크 기간에 건조하는 모든 선박에 대해 동시에 행하여야 신뢰성 있는 결과를 얻을 수 있다. 이럴 경우 탐색 범위가 매우 넓어짐으로 효율적인 최적화 기법이 필요하다. 본 연구에서는 유전 알고리즘을 이용한 부하 평준화 시스템을 구현하였다. 본 시스템 개발로 일정 계획이 고려된 다양한 공정 계획 시뮬레이션이 가능하다.

• 한국시뮬레이션학회논문지
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• 제27권1호
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• pp.1-13
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• 2018

토목 공정 계획은 건설 공정 관리에서 중요한 과제 중 하나이다. 수학적 방법론에 기반을 둔 최적화 기법, 휴리스틱에 기반을 둔 최적화 기법 그리고 행위자 기반의 시뮬레이션 등의 방법론이 건설 공정 관리를 위해 적용되어왔다. 본 연구에서는 가상의 토목 공정 환경을 개발하고, 가상의 토목 공정 환경에서 강화학습을 이용한 시뮬레이션을 통해 토목 공정의 최적 경로를 찾는 방법을 제안하였다. 강화학습에 있어 본 연구에서는 상호작용 하며 서로 다른 행동을 하는 굴삭기와 트럭 에이전트들 에 대해 순차적 학습과 독립적 학습에 기반을 둔 두 가지의 Markov decision process (MDP)를 사용하였다. 가상의 토목 공정 환경에서 두 가지 방법 모두 최적에 가까운 토목 공정 계획을 만들어 낼 수 있음을 시뮬레이션 결과에 따라 알 수 있었으며, 이 계획은 건설 자동화의 기초가 될 수 있을 것이다.

• 한국정밀공학회지
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• 제27권1호
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• pp.76-83
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• 2010

There have been many studies regarding development of autonomous excavation system which is helpful in construction sites where repetitive jobs are necessary. Unfortunately, bucket trajectory planning was excluded from the previous studies. Since, the best use of excavator is to dig efficiently; purpose of this research was set to determine an optimized bucket trajectory in order to get best digging performance. Among infinite ways of digging any given path, criterion for either optimal or efficient bucket moves is required to be established. One method is to adopt work know-how from experienced excavator operator; However the work pattern varies from every worker to worker and it is hard to be analyzed. Thus, other than the work pattern taken from experienced operator, we developed an efficiency model to solve this problem. This paper presents a method to derive a bucket trajectory from optimization theory with empirical CLUB soil model. Path is greatly influenced by physical constraints such as geometry, excavator dimension and excavator workspace. By minimizing a energy function under these constraints, an optimal bucket trajectory could be obtained.

• Journal of Biosystems Engineering
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• 제24권4호
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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.

• 산업경영시스템학회지
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• 제21권48호
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• pp.37-52
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• 1998

In many distribution systems important cost reductions and/or service improvements may be achieved by adopting an efficient inventory policy and proper selection of facilities. These efficiency improvements and service enhancements clearly require an integrated approach towards various logistical planning functions. The areas of inventory control and transportation planning need to be closely coordinated. The purpose of this paper is to construct an integrated model that can minimize the total cost of the transportation and inventory systems between multiple origin and destination points, where in origin point i has the supply of commodities and in destination point j requires the commodities. In this case, demands of the destination points are assumed random variables which have a known probability distribution. Using the lot-size reorder-point policy and the safety stock level that minimize total cost we find optimal distribution centers which transport the commodities to the destination points and suggest an optimal inventory policy to the selected distribution center. We also show if a demand greater than one unit will occur at a particular time, we describe the approximate optional replenishment policy from computational results of this lot-size reorder-point policy. This model is formulated as a 0-1 nonlinear integer programming problem. To solve the problem, this paper proposes heuristic computational procedures and a computer program with UNIX C language. In the usefulness review, we show the meaning and validity of the proposed model and exhibit the results of a comparison between our approach and the traditional approach, respectively.

• 제어로봇시스템학회논문지
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• 제21권5호
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• pp.471-476
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• 2015

This paper presents a maximum velocity trajectory planning algorithm for differential mobile robots with wheel velocity constraint to cope with physical limits in the joint space for two-wheeled mobile robots (TMR). In previous research, the convolution operator was able to generate a central velocity that deals with the physical constraints of a mobile robot while considering the heading angles along a smooth curve in terms of time-dependent parameter. However, the velocity could not track the predefined path. An algorithm is proposed to compensate an error that occurs between the actual and driven distance by the velocity of the center of a TMR within a sampling time. The velocity commands in Cartesian space are also converted to actuator commands to drive two wheels. In the case that the actuator commands exceed the maximum velocity the trajectory is redeveloped with the compensated center velocity. The new center velocity is obtained according to the curvature of the path to provide a maximum allowable velocity meaning a time-optimal trajectory. The effectiveness of the algorithm is shown through numerical examples.