• International Journal of Precision Engineering and Manufacturing
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• 제1권2호
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• pp.35-42
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• 2000

To save time and cost in assembly process and to improve th quality of products, it is very important to choose and optimal assembly sequence. In this paper, we propose a methodology that generates an optimal assembly sequence by using various methods and the knowledge of experts. To illustrate the effectiveness of the proposed methodology, a knowledge-based system is developed, The built system is applied to the case of UBR(Unit Bath Room). The applying result showed the applicability of the developed system.

• 대한용접접합학회:학술대회논문집
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• 대한용접접합학회 2004년도 춘계 학술발표대회 개요집
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• pp.18-20
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• 2004

This study is to find the optimal work plan of robot welding in the subassembly process of shipbuilding and to verify the found solution through 3-D simulation. The optimal work plan was established by evenly distributing the work amount to each stage and finding the shortest work sequence. The shortest work sequence was found by using the genetic algorithm. The result was compared with the practically adopted case and verified through the 3-D simulation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1988년도 전기.전자공학 학술대회 논문집
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• pp.863-865
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• 1988

This paper presents a optimal Var allocation algorithm for minimizing transmission line losses and improving voltage profile in a given system. In this paper, nodal input data is considered as Gaussian distribution with their mean value and their variance. A Stocastic Linear programming technique based on chance constrained method is applied, to solve the var allocation problem with probabilistic constraint. The test result in 6-Bus Model system showes that the voltage distribution of load buses is improved and the power loss is more reduced than before var allocation.

• 대한산업공학회지
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• 제16권1호
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• pp.27-36
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• 1990

This study deals with the dynamic transportation-inventory model for a single product from which the optimal procurement quantities and the transportation modes are determined simultaneously over a finite planning horizon. Moreover, it covers the situation where quantity discounts are applied to the transportation cost as well as the purchase cost and disposals of the excess are possible at the end of each period. For a relevant mathematical model formulated, the theorems and properties of an optimal solution are discussed to present the efficient algorithm. A numerical example is solved to illustrate the algorithm developed.

• 전자공학회논문지SC
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• 제43권3호
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• pp.31-40
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• 2006

이동로봇의 경로 설정과 장애물 회피에 관한 문제는 이동로봇을 제어하기 위한 기본적인 문제로서 지금까지 많은 연구가 진행되어 오고 있다. 다양한 센서들로부터 얻어진 정보는 로봇이 진행하기 위한 경로에 대한 결정과 장애물에 대한 정보를 제공해준다. 제한 조건이 존재하는 경우에서 그 상황에 알맞은 방법들이 대부분이며, 다른 상황을 해결하기에는 어려움이 있다. 또한, 최적화된 경로에 대한 좋은 결과를 만들기 위해서는 복잡한 계산 과정을 통해서 시간 지연이 발생하게 된다. 이와 같은 처리 방법은 움직이는 장애물의 회피와 같이 빠른 처리를 필요로 하는 상황에서 단점으로 작용한다. 본 논문에서는 장애물과 이동 가능한 경로들의 영역을 작은 영역들이 분포하는 공간으로 변형하고 이와 같이 구성된 공간에서 밀도와 연결 상태를 통해 이동 로봇이 진행 할 수 있는 최단 경로를 결정한다. 제안된 방법을 통해 작은 영역들은 자신의 번호를 가지게 되며, 주변 영역들의 개수를 통해 이동 경로를 결정하게 된다.

• 한국지능시스템학회논문지
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• 제20권2호
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• pp.195-201
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• 2010

최근 넓은 활동 범위를 제공하고 작업 환경의 변화에 능동적으로 대처하기 위해 자율 이동 로봇에 대한 필요성이 높아지고 있다. 이 논문은 이동로봇이 장애물을 회피하여 최단 경로를 통해 목적지에 도착할 수 있는 알고리즘을 제안하고 시뮬레이션을 통해 그 유용성을 검증하도록 한다. 제안된 알고리즘은 micro-GA와 $\lambda$-geometry MRA을 사용한 알고리즘이다. 시뮬레이션 영역은 320(가로)$\times$200(세로) 픽셀로 제한하고, 한 픽셀의 단위를 1cm로 하였다. $\lambda$-geometry MRA 만을 사용하여 경로를 계획했을 경우에는 경로 계획을 위한 방향성은 제공하였지만 최단 거리 경로는 제공하지 못했다. 반면 micro-GA를 함께 사용했을 경우에는 최단 경로 탐색이 가능하였다. 따라서 제안된 알고리즘은 경로의 방향성과 함께 최단 경로 탐색을 제공하고 있다.

• 지역연구
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• 제10권2호
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• pp.45-51
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• 1994

The purpose of this paper is to present the optimal investment conditions of SOC facilities for maximizing regional social welfare in implementing the urban development project in the theoretical fashion. Particularily, SOC facilities are divided into both supply-side($P_s$) and demand-side SOC ($P_d$) in the paper. General equilibrium analysis from the intra-regional viewpoint by utilizing Pareto's Optimal Conditions and by revising Samuleson's Conditions for public goods($P_s$ and $P_d$) results in the optimum pattern of SOC investment. The following are important implications from the analysis. First, rather than the pursue social equity, SOC investment is to resolve the issue of efficiency to activate the regional economy. Second, the marginal rate of transformation (MRT) between $P_s$ and $P_d$ in the region is to play a significant role in structuring SOC investment plant of local government for social welfare maximization. Third, the optimal SOC investment policy based on this regional economy but also to generate the enhancement of soical amenities of the residents.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 추계학술대회 논문집 학회본부 A
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• pp.67-69
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• 2000

This paper deals with a method for determining an optimal operation strategy of dispersed generating sources. For effective utilization of dispersed generating sources, it is indispensable to consider their thermal merits in addition to electric power. And then the optimal operation of these sources can be determined easily by the principle of equal incremental fuel cost. This paper presents an priority method to decide the optimal location of those sources in power systems about the whole year. The validity of the proposed algorithms are demonstrated using a model system.

• 제어로봇시스템학회지
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• 제1권1호
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• pp.16-16
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• 1995

Like the usual systems, the industrial robot manipulator has some constraints for motion. Usually we hope that the manipulators move fast to accomplish the given task. The problem can be formulated as the time-optimal control problem under the constraints such as the limits of velocity, acceleration and jerk. But it is very difficult to obtain the exact solution of the time-optimal control problem. This paper solves this problem in two steps. In the first step, we find the minimum time trajectories by optimizing cubic polynomial joint trajectories under the physical constraints using the modified evolution strategy. In the second step, the controller is optimized for robot manipulator to track precisely the optimized trajectory found in the previous step. Experimental results for SCARA type manipulator show that the proposed method is very useful.

• Transactions on Control, Automation and Systems Engineering
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• 제1권1호
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• pp.16-20
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• 1999

Like the usual systems, the industrial robot manipulator has some constraints for motion. Usually we hope that the manipulators move fast to accomplish the given task. The problem can be formulated as the time-optimal control problem under the constraints such as the limits of velocity, acceleration and jerk. But it is very difficult to obtain the exact solution of the time-optimal control problem. This paper solves this problem in two steps. In the first step, we find the minimum time trajectories by optimizing cubic polynomial joint trajectories under the physical constraints using the modified evolution strategy. In the second step, the controller is optimized for robot manipulator to track precisely the optimized trajectory found in the previous step. Experimental results for SCARA type manipulator show that the proposed method is very useful.