• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1609-1614
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• 2003

This paper presents a new method driving multiple robots to their goal position without collision. To consider the movement of the robots in a work area, we adopt the concept of avoidability measure. To implement the concept in collision avoidance of multiple robots, relative distance between the robots is proposed. The relative distance is a virtual distance between robots indicating the threat of collision between the robots. Based on the relative distance, the method calculates repulsive force against a robot from the other robots. Also, attractive force toward the goal position is calculated in terms of the relative distance. The proposed method is simulated for several cases. The results show that the proposed method steers robots to open space anticipating the approach of other robots. The proposed method works as a local collision-free motion coordination method in conjunction with higher level of task planning and path planning method for multiple robots to do a collaborative job.

• Journal of the Korea Society of Computer and Information
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• v.14 no.11
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• pp.31-40
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• 2009

The most common cleaning methods of cleaning robot can be divided into two categories: the random and the boustrophedon method. A cleaning robot using the random method moves straight until it bumps into an obstacle. If it collides with an obstacle, the cleaning robot turns a specific angle and continues moving straight. Therefore, the random method often tends to clean the already clean area repeatedly. In addition, it takes a long time to complete cleaning. A cleaning robot using the boustrophedon method moves straight until it collides with an obstacle. If it meets an obstacle, the cleaning robot moves to the next uncleaned space through turning and moving ahead. when resuming cleaning from the new region, a cleaning robot moves in the direction opposite to the direction of the previous cleaning. Because the boustrophedon method cleans a cleaning space more densely, its performance is excellent in an obstacle-free space or a small space. However, In a space with obstacles or a complex structure, it takes a long time to complete the cleaning work. Cleaning should be systematically approached with a good understanding of the work area. The virtual map-based cleaning robot proposed in this paper cleaned a work space efficiently. The efficiency of the proposed method was measured through simulation.

• Korean Journal of Construction Engineering and Management
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• v.20 no.2
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• pp.95-104
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• 2019

EPC plant projects are large and complex, requiring systematic working methodologies, accumulated data, and thorough planning through communications between the entities. In this study, the method of extracting the process planning information using asset data of the plant project and using it to present the initial process plan is presented through the concept of IAP(Interactive Planning). In order to carry out the effective IAP at the early stage of the project, this study extracted the schedule element information from the asset data, created the process plan for each work package, and applied it to the sample project case. Through the proposed IAP methodology, it is possible to promote the utilization of asset data, to identify schedule risks, and to develop countermeasures, which can form the basis for establishing the process management strategy to successfully complete the project.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.3
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• pp.317-328
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• 2000

This paper presents an effective approach to collision-free motion planning of a robot in the work-space including time-varying obstacles. The free arc is defined as a set composed of the configuration points of the robot satisfying collision-free motion constraint at each sampling time. We represent this free arc with respect to the new coordinate frame centered at the goal configuration and there for the collision-free path satisfying motion constraint is obtained by connecting the configuration points of the free arc at each sampling mined from the sequence of free arcs the optimality is determined by the performance index. Therefore the complicated collision-free motion planning problem of a robot is transformed to a simplified SUB_Optimal Collision Avoidance Problem(SOCAP). We analyze the completeness of the proposed approach and show that it is partly guaranteed using the backward motion. Computational complexity of our approach is analyzed theoretically and practical computation time is compared with that of the other method. Simulation results for two cally and practical computation time is compared with that of the other method. Simulation results for two SCARA robot manipulators are presented to verify the efficacy of the proposed method.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.33 no.6
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• pp.2519-2528
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• 2013

The standard of estimate is being used as basic material for appropriating construction expenses of public institutions and private institutions. The present thesis aims to propose a new form of a standard of estimate and a calculation method of work amount of equipment by targeting a representative construction type selected at river reservation work. The present thesis expects that the convenience of users can be expanded by improving applicability of a standard of estimate and simplifying a calculation process of work amount of equipment in a process planning stage so that the provision of work crew lineup information and daily productivity information is possible by a standard of estimate. In case of river conservation work, because the variables called work conditions act very largely, there exists much difficulty for generalizing productivity information and work amount of equipment, but if its accuracy could be enhanced by improving continuous productivity information and work amount information of equipment, the simplification of process planning establishment and cumulative process through a standard of estimate would be possible.

• IE interfaces
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• v.25 no.2
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• pp.216-228
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• 2012

BIM-based 4D simulation makes people easily understand complex construction process using 3D graphics model and helps them review and identify the construction schedule in each phase of the construction process. Moreover, 4D simulation can be used as reference data to determine the validity of the process in the design phase and will be utilized as a measure for checking the construction process. Therefore 4D simulation of construction improves efficiency of project management. However, current commercial applications available for 4D simulation do not provide sufficient functions for connection of 3D models and process information. In this paper, we propose an automated generation method through the definition of the process based on a work method template and developed the template based schedule generation system (TSGS).

• Korean Management Science Review
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• v.11 no.3
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• pp.129-151
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• 1994

This paper focuses on method of setting priorities for telecommunications Standardization in which usually includes prioritization, resource allocation, standardization schedule for each SWA is based on prioritization of SWAs. We mainly used the Analytic Hierarchy Process(AHP) and a modified Delphi technique as a method for planning process. Recently, rapid technology evolution in telecommunications fields increases the necessity of developing more and more new standards. Also increased complexity of technologies makes standards more complicated, more specified and more thick than the past ones. As a result, the number of SWAa(Standardization Work Areas) and SWIs(Standardization Work Iterms) is being increased continuously. Furthermore, rapid telecommunication environment changes such as deregulation, liberalization, privatization, regionalization, and globalization surrounding telecommunications standardization grows increasingly important. To cope with these challenges and to make the more efficient use of the limited standardization resources, i.e., time, financial, personal resources, we will suggest logical and rational approach that is a backbone of strategic plan for telecommunication standardization. The telecommunication standardization planning process involves a MCDM(Multi-Criteria Decision Making) process. The Analytic Hierarchy Process(AHP) is a kind of MCDM approach. Our method is based on a combination of a modified Delphi technique and an application of AHP(spreadsheet model). Analyzed data from Delphi technique is used as inputs to AHP. In addition we also focus on the technique how to combine group judgments and to handle a large number of comparisons.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.11
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• pp.110-117
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• 2017

In the construction of high-rise residential buildings in which the finishing works are done repetitively in each housing unit, the construction period and cost can be reduced, while maintaining the quality, if the work process is properly managed in order for the resources to be input continuously. Time management methods such as the Bar Chart, CPM and LOB are not appropriate, due to the difficulties involved in the diagraming of repetitive works and applying them to the project. The Tact method also has difficulties in maintaining a constant work flow and needs significant effort and cooperation from the subcontractors to allocate the resources consistently. Partitioning, base works for finishing, floor mortar plastering and the final finishing work are done sequentially in residential buildings projects, and there are many repetitive activities which differ in terms of the work method, work area and productivity. If these repetitive activities are synchronized or converged toward the last work area, the goal of process management can be achieved effectively. Therefore, a process planning method for the finishing works of residential building projects is proposed, which takes into consideration elements, such as the sequential relation between the activities in each housing unit and classification of repetitive works in terms of their management method, work area and production rate, for the continuous input of resources into the housing units.

• Transactions of Materials Processing
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• v.7 no.3
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• pp.225-232
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• 1998

This article is aimed primarily at establishing a process planning method for complex circular shells. For the deep drawing of complex shaped shell, the optimum process design is required to reduce the trial cost improve the quality, increase the productivity and shorten the delivery. The present approach which is related to the optimum process planning is based on the empirical knowledge through trial and error in the industrial field. In order to check the validity and the effectiveness of proposed work a sample process design has been applied to the multi-stepped deep drawing of com-plex shell considering the process variables such as drawing rate radius and blank development. In particular the difference between the limiting drawing rate and to optimum drawing rate has been discussed and the usefulness of present suggestion has been shown.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 1998.03a
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• pp.160-167
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• 1998

This article is aimed primarily at establishing a process planning method for complex circular shells. For the deep drawing of complex shaped shell, the optimum process design is required to reduce the trial cost, improve the quality, increase the productivity and shorten the delivery. The present approach which is related to the optimum process planning is based on the empirical knowledge through trial and error in the industrial field. In order to check the validity and the effectiveness of proposed work, a sample process design has been applied to the multi-stepped deep drawing of complex shell considering the process variables such as drawing rate, radius and blank development. In particular, the difference between the limiting drawing rate and the optimum drawing rate has been discussed and has been shown the usefulness of present suggestion.