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

• 한국정밀공학회지
• /
• 제24권4호
• /
• pp.84-92
• /
• 2007

Dynamic process planning requires not only more flexible capabilities of a CAPP system but also higher utility of the generated process plans. In order to meet the requirements, this paper develops an algorithm that can select machines for the machining operations by calculating the machine loads. The developed algorithm is based on the multi-objective genetic algorithm that gives rise to a set of optimal solutions (in general, known as the Pareto-optimal solutions). The objective is to satisfy both the minimization number of part movements and the maximization of machine utilization. The algorithm is characterized by a new and efficient method for nondominated sorting through K-means algorithm, which can speed up the running time, as well as a method of two stages for genetic operations, which can maintain a diverse set of solutions. The performance of the algorithm is evaluated by comparing with another multiple objective genetic algorithm, called NSGA-II and branch and bound algorithm.

• 한국경영과학회지
• /
• 제20권2호
• /
• pp.39-60
• /
• 1995

In this paper, an integration of stochastic dynamic programming (SDP), integer goal programming (IGP) and analytic hierarchy process (AHP) is proposed to handle multiobjective-multicriteria sequential decision making problems under uncertainty inherent in R & D investment planning. SDP has its capability to handle problems which are sequential and stochastic. In the SDP model, the probabilities of the funding levels in any time period are generated using a subjective model which employs functional relationships among interrelated parameters, scenarios of future budget availability and subjective inputs elicited from a group of decision makers. The SDP model primarily yields an optimal investment planning policy considering the possibility that actual funding received may be less than anticipated one and thus the projects being selected under the anticipated budget would be interrupted. IGP is used to handle the multiobjective issues such as tradoff between economic benefit and technology accumulation level. Other managerial concerns related to the determination of the optimal project portifolio within each stage of the SDP model. including project selection, project scheduling and annual budget allocation are also determined by the IGP. AHP is proposed for generating scenario-based transformation probabilities under budgetary uncertainty and for quantifying the environmental risk to be considered.

• 산업경영시스템학회지
• /
• 제37권4호
• /
• pp.63-71
• /
• 2014

As power consumption increases, more power utilities are required to satisfy the demand and consequently results in tremendous cost to build the utilities. Another issue in construction of power utilities to meet the peak demand is an inefficiency caused by surplus power during non-peak time. Therefore, most power company considers power demand management with time-based electricity rate policy which applies different rate over time. This paper considers an optimal machine operation problem under the time-based electricity rates. In TOC (Theory of Constraints), the production capacities of all machines are limited to one of the bottleneck machine to minimize the WIP (work in process). In the situation, other machines except the bottleneck are able to stop their operations without any throughput loss of the whole manufacturing line for saving power utility cost. To consider this problem three integer programming models are introduced. The three models include (1) line shutdown, (2) block shutdown, and (3) individual machine shutdown. We demonstrate the effectiveness of the proposed IP models through diverse experiments, by comparing with a TOC-based machine operation planning considered as a current model.

• 대한전기학회논문지
• /
• 제37권5호
• /
• pp.272-281
• /
• 1988

The problem of optimal transmission system planning is to find the most economical locations and time of transmission line construction under the various constraints such as available rights-of-way, finances, the technical characteristics of power system, and the reliability criterion of power supply, and so on. In this paper the constraint of right-of-way is represented as a finite set of available rights-of-way. And the constructed for a unit period. The electrical constraints are represented in terms of line overload and steady state stability margin. And the reliability criterion is dealt with the suppression of failure cost and with single-contingency analysis. In general, the transmission planning problem requires integer solutions and its objective function is nonlinear. In this paper the objective function is defined as a sum of the present values of construction cost and the minimum operating cost of power system. The latter is represented as a sum of generation cost and failure cost considering the change of yearly load, economic dispatch, and the line contingency. For the calculation of operating cost linear programming is adopted on the base of DC load flow calculation, and for the optimization of main objective function nonlinear Branch-and-Bound algorithm is used. Finally, for improving the efficiency of B & B algorithm a new sensitivity analysis algorithm is proposed.

• 대한전기학회논문지:전력기술부문A
• /
• 제53권5호
• /
• pp.285-295
• /
• 2004

The outage cost assessment has an important position for determination of the optimal level or optimal range of reliability for power system expansion planning. Establishing the worth of service reliability is a very difficult and subjective task. While the utility cost(reliability cost) will generally increase as consumers are provided with higher reliability, the consumer costs(reliability worth) associated with supply interruptions will decrease as the reliability increases. The total costs to society are the sum of these two individual costs and the optimum or target level of reliability is achieved at minimum point of the total cost curve. This paper addresses the role, need and assessment algorithms and methodologies of the outage cost in power system expansion planning. In a case study, the outage cost has been assessed using macro approach for our country 15years(1986-200l) in the case study. Additionally, determination processing of optimum reliability level is presented in another case study with the five buses MRBTS.

• 한국기계가공학회지
• /
• 제12권6호
• /
• pp.84-92
• /
• 2013

This study improves the formability in fine-blanking the lock plate of car seat belts using a low carbon steel(SM35C) plate. The optimal die design for the forming process is proposed using rules for process planning based on theories and field experiences. The optimal design is analyzed using commercial finite element software in order to solve the fracture problems in the extrusion process. Through the improved layout based on the FEM results, the fracture of the extruded part and the roll over problem are solved. Furthermore, it is demonstrated through the shown from experiments that the extruded part does not break in the modified die.

• 제어로봇시스템학회논문지
• /
• 제8권2호
• /
• pp.142-150
• /
• 2002

This paper presents a systematic method of the zigzag gait planning for quadruped walking robots. When a robot walks with a zigzag gait, its body is allowed to move from side to side, while the body movement is restricted along a moving direction in conventional continuous gaits. The zigzag movement of the body is effective to improve the gait stability margin. To plan a zigzag gait in a systematic way, the relationship between the center of gravity(COG) and the stability margin is firstly investigated. Then, new geometrical method is introduced to plan a sequence of the body movement which guarantees a maximum stability margin as well as monotonicity along a moving direction. Finally, an optimal swing-leg sequence is chosen for a given arbitrary configuration of the robot. To verify the proposed method, computer simulations have been performed for both cases of a periodic gait and a non-periodic gait.

• 농촌계획
• /
• 제20권2호
• /
• pp.23-43
• /
• 2014

This study aims to analyze the affecting factors-construction of collaborative planning process and effect on Comprehensive Rural Village Development Project. To this end, targeting the 36 districts which were selected for 2004 Comprehensive Rural Village Development Project and completed their 2010 5-year projects, components of collaborative planning process and planning effect will be drawn and the affecting factors-construction of collaborative planning and effect on Comprehensive Rural Village Development Project will be analyzed below. According to the results of this study, the affecting factors of collaborative planning process of Comprehensive Rural Village Development Project on planning effect, The level of effect of individual component on endogenous variable appeared greatest mostly in the upper groups. In terms of the level of individual component effect, social learning process and interaction among participants affected greatest. The process of Comprehensive Rural Village Development Project is evaluated that it reflected collaborative planning theory of Healey enough. Therefore, in the course of Comprehensive Rural Village Development Project progress, collaborative planning model must pass social learning process and interaction among participants which are the most important components out of collaborative planning process as we saw in the upper groups. And in order to maximize the performance and results of Comprehensive Rural Village Development Project, the following sequential affecting factors model as Figure 7 must be suggested as optimal collaborative planning models of Comprehensive Rural Village Development Project. Based on the results of the study, the policy implication was drawn as follows. First, systematic supplementations in the form of a consultative body are required to perform Comprehensive Rural Village Development Project efficiently. Second, network needs to be built among different participants in Comprehensive Rural Village Development Project process. Third, systematic mechanism is required to improve social learning among different participants. Fourth, systematic rearrangement is required to guarantee the residents' realistic participation in the course of Comprehensive Rural Village Development Project process.

• Structural Engineering and Mechanics
• /
• 제11권2호
• /
• pp.151-170
• /
• 2001

With increasing competition, the engineering industry is in need of optimization of designs that would lead to minimum cost or weight. Recent developments in Genetic Algorithms (GAs) makes it possible to model and obtain optimal solutions in structural design that can be put to use in industry. The main objective of this paper is to illustrate typical applications of GAs to practical design of structural systems such as steel trusses, towers, bridges, reinforced concrete frames, bridge decks, shells and layout planning of buildings. Hence, instead of details of GA process, which can be found in the reported literature, attention is focussed on the description of the various applications and the practical aspects that are considered in Genetic Modeling. The paper highlights scope and future directions for wider applications of GA based methodologies for optimal design in practice.