• International Journal of Precision Engineering and Manufacturing
• /
• v.1 no.2
• /
• pp.35-42
• /
• 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.

• Proceedings of the KWS Conference
• /
• 2004.05a
• /
• pp.18-20
• /
• 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.

• Proceedings of the KIEE Conference
• /
• 1988.07a
• /
• pp.863-865
• /
• 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.

• Journal of Korean Institute of Industrial Engineers
• /
• v.16 no.1
• /
• pp.27-36
• /
• 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.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.43 no.3 s.309
• /
• pp.31-40
• /
• 2006

Many researches on path planning and obstacle avoidance for the fundamentals of mobile robot have been done. Informations from various sensors can find obstacles and make path. In spite of many solutions of finding optimal path, each can be applied to only a constrained condition. This means that it is difficult to find a universal algorithm. A optimal path with a complicated computation generates a time delay which cannot avoid moving obstacles. In this paper, we propose the algorithm of path planning and obstacle avoidance for mobile robot. We call the proposed method Random Access Sequence(RAS) method. In the proposed method, a small region is set first and numbers are assigned to its neighbors, then the path is selected using these numbers. It has an advantage of fast planning and simple operation. This means that new path selection may be possible within short time and that helps a robot to avoid obstacle in any direction. When a robot meets moving obstacles, it avoids obstacles in a random direction. RAS method using obstacle information from variable sensors is useful to get minimum path length to goal.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.20 no.2
• /
• pp.195-201
• /
• 2010

Recently, the necessity of the autonomous mobile robot is emphasized in order to enlarge the scope of activity and actively cope with the change of work environment. This paper proposes the algorithm which enables the mobile robot to avoid obstacles and lead it to the destination by the shortest path. And we verify the usability by a simulation. We made the algorithm with micro-GA and $\lambda$-geometry MRA. The area of simulation is limited to 320(width)$\times$200(length) pixels and one pixel is one centimeter. When we planned the path with only $\lambda$-geometry MRA, we could find the direction for path planning but could not find the shortest path. But when we planned the path with $\lambda$-geometry MRA and micro-GA, we could find the shortest path. So the algorithm enables us to find the direction for path planning and the shortest path.

• Journal of the Korean Regional Science Association
• /
• v.10 no.2
• /
• pp.45-51
• /
• 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.

• Proceedings of the KIEE Conference
• /
• 2000.11a
• /
• pp.67-69
• /
• 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.

• ICROS
• /
• v.1 no.1
• /
• pp.16-16
• /
• 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
• /
• v.1 no.1
• /
• pp.16-20
• /
• 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.