• 한국정밀공학회지
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• 제16권1호통권94호
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• pp.49-60
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• 1999

This paper addresses a welding task sequencing for robot arc welding process planning. Although welding task sequencing is an essential step in the welding process planning, it has not been considered through a systematic approach, but it depends rather on empirical knowledge. Thus, an effective task sequencing for robot arc welding is required. Welding perations can be classified by the number of welding robots. Genetic algorithms are applied to tackle those welding task sequencing problems. A genetic algorithm for traveling salesman problem (TSP) is utilized to determine welding task sequencing for a MultiWeldline-SingleLayer problem. Further, welding task sequencing for multiWeldline-MultiLayer welding is investigated and appropriate genetic algorithms are introduced. A random key genetic algorithm is also proposed to solve multi-robot welding sequencing : MultiWeldline with multi robots. Finally, the genetic algorithm are implemented for the welding task sequencing of three dimensional weld plate assemblies. Robot welding operations conforming to the algorithms are simulated in graphic detail using a robot simulation software IGRIP.

• 로봇학회논문지
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• 제15권2호
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• pp.100-106
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• 2020

In the agricultural field, interests in research using robots for fruit harvesting are continuously increasing. Dual arm manipulators are promising because of its abilities like task-distribution and role-sharing. To operate it efficiently, the task sequence must be planned adequately. In our previous study, a collision-free path planning method based on a genetic algorithm is proposed for dual arm manipulators doing tasks cooperatively. However, in order to simplify the complicated collision-check problem, the movement between tasks of two robots should be synchronized, and thus there is a problem that the robots must wait and resume their movement. In this paper, we propose a heuristic algorithm that can reduce the total time of the optimal solution obtained by using the previously proposed genetic algorithm. It iteratively desynchronizes the task sequence of two robots and reduces the waiting time. For evaluation, the proposed algorithm is applied to the same work as the previous study. As a result, we can obtain a faster solution having 22.57 s than that of the previous study having 24.081 s. It will be further studied to apply the proposed algorithm to the fruit harvesting.

• 한국군사과학기술학회지
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• 제26권2호
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• pp.188-196
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• 2023

In the future battlefield centered on the concept of mosaic warfare, the need for an unmanned combat system will increase to value human life. It is necessary for Multiple/Heterogeneous Unmanned Combat Systems to have suitable mission planning method in order to perform various mission. In this paper, we propose the MTSR model for mission planning of the unmanned combat system, and introduce a method of identifying a task by a combination of services using a request operator and a method of allocating resources to perform a task using the requested service. In order to verify the performance of the proposed task-resource matchmaking algorithm, simulation using occupation scenarios is performed and the results are analyzed.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 춘계학술대회 논문집
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• pp.184-189
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• 2002

Collision free task planning for dual-arm robot which perform many subtasks in a common work space can be achieved in two steps : path planning and trajectory planning. Path planning finds the order of tasks for each robot to minimize path lengths as well as to avoid collision with static obstacles. A trajectory planning strategy is to let each robot move along its path as fast as possible and delay one robot at its initial position or reduce speed at the middle of its path to avoid collision with the other robot.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2001년도 춘계학술대회 논문집(한국공작기계학회)
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• pp.244-249
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• 2001

Collision free task planning for dual-arm robot which perform many subtasks in a common work space can be achieved in two steps : path planning and trajectory planning. Path planning finds the order of tasks for each robot to minimize path lengths as well as to avoid collision with static obstacles. A trajectory planning strategy is to let each robot move along its path as fast as possible and delay one robot at its initial position or reduce speed at the middle of its path to avoid collision with the other robot.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2000년도 추계학술대회논문집 - 한국공작기계학회
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• pp.113-118
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• 2000

Collision free task planning for dual-arm robot which perform many subtasks in a common work space can be achieved in two steps : path planning and trajectory planning. Path planning finds the order of tasks for each robot to minimize path lengths as well as to avoid collision with static obstacles. A trajectory planning strategy is to let each robot move along its path as fast as possible and delay one robot at its initial position or reduce speed at the middle of its path to avoid collision with the other robot.

• Journal of Computational Design and Engineering
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• 제3권2호
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• pp.132-139
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• 2016

In this paper, a minimum time path planning strategy is proposed for multi points manufacturing problems in drilling/spot welding tasks. By optimizing the travelling schedule of the set points and the detailed transfer path between points, the minimum time manufacturing task is realized under fully utilizing the dynamic performance of robotic manipulator. According to the start-stop movement in drilling/spot welding task, the path planning problem can be converted into a traveling salesman problem (TSP) and a series of point to point minimum time transfer path planning problems. Cubic Hermite interpolation polynomial is used to parameterize the transfer path and then the path parameters are optimized to obtain minimum point to point transfer time. A new TSP with minimum time index is constructed by using point-point transfer time as the TSP parameter. The classical genetic algorithm (GA) is applied to obtain the optimal travelling schedule. Several minimum time drilling tasks of a 3-DOF robotic manipulator are used as examples to demonstrate the effectiveness of the proposed approach.

• 패션비즈니스
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• 제8권6호
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• pp.90-102
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• 2004

The purpose of this research is to identify the phases of the fashion merchandising process and the range of the fashion designer's work as well as performing degree at each stage according to the brand types of domestic women's apparel. The preliminary research was conducted with the chief designers of five woman's apparel manufactures located in Seoul and the questionnaires were collected from 192 fashion designers. They were measured by the five point Likert-type scales. For a data analysis, the Pearson's Correlation, ANOVA, Sheffe Test, MANOVA were used with SPSS V. 11.0. The results are as follows; 1. The steps which fashion designers of domestic apparel brand take in fashion merchandising process have been identified in 7 stages- Environment Information, Target Market Planning, Design Planning, Design Development, Price Settlement, Presentation & Line Release, Production. 2. The task achievement level of fashion designers in fashion merchandising process differs in brand types as well as in fashion merchandising stages. In NB, the designer's work was conducted in order of Design Planning(M=4.58)$\to$Presentation & Line release(M=4.31)$\to$ Environment Information(M=3.83)$\to$Target Market Planning(M=3.13). In DB, in order of Price Settlement (M=4.80)$\to$Production(M=4.33)$\to$Design Development(M=4.27)$\to$Design Planning(M=3.77)$\to$Presentation & Line release(M=3.20)$\to$Environment Information (M2.70). In GB, in order of Production(M=4.38)$\to$Design Planning(M=4.22)$\to$Price Settlement(M4.16)$\to$Environment Information(M=3.83)$\to$Merchandising Target Market (M=3.72)$\to$Design Development(M=3.65). 3. Considering the other factors such as sales, the amount of owning shops, item amounts that are related to the company size, this study shows that only the brand type affects designer's task achievement.

• 영어어문교육
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• 제15권3호
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• pp.223-248
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• 2009

Previous research on the impact of pretask planning on subsequent second language (L2) production has mainly focused on the linguistic quality of planned production, while learners' thought processes and perceptions about planning have been relatively less explored. In addition, few previous planning studies have examined whether the learners did in fact follow the pretask instructions, thus leaving the role of pretask instructions in the planning process unexplored. Therefore, the present study investigated whether pretask instructions affect attentional allocation as well as what cognitive operations planners engage in and what their perceptions about planning are. Forty-three Korean EFL classroom learners were divided into two groups: before having time to plan for an oral story retelling task, one group received general instructions, while the other group received specific instructions. The findings, based on both quantitative and qualitative data analysis, indicated no large effects of pretask instructions on the planners' attentional focus. Rather, the qualitative analysis identified a number of other factors that influenced learners' decision making as well as their general processes and approaches to planning and their perceptions about planning and thinking aloud while planning. Implications for L2 teaching as well as limitations of the study are discussed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.133-136
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• 1996

The nozzle dam task is essentially needed to maintain and repair nuclear power plants. For this task, an 8-dof redundant robot is studied with a local path-planning method[l] which is effective to find the optimal joint path in the constrained environment. In this paper, the method[l] is improved practically with the weight matrix and efficient algorithm to find working set. The effectiveness of the proposed method is demonstrated by simulation and animation.