• 융합신호처리학회논문지
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• 제3권4호
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• pp.57-61
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• 2002

We design Collision Avoidance System using model vehicle. The purpose of this system(Collision Avoidance System) is to maintain continuously constant distance between a forward running vehicle and a following automatic guided vehicle(AGV). For this system, we design modeling of vehicle and observe this through simulation. By sing super sonic sensors to measure the distance between vehicles and controller using 80c196kc for changing velocity of motor, we design Collision Avoidance System as maintaining continuously constant distance between vehicles.

• 로봇학회논문지
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• 제5권2호
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• pp.120-126
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• 2010

This paper presents to study the path tracking method of AGV(autonomous guided vehicle) which has a laser guidance system. An existing automatic guided vehicles(AGVs) which were able to drive on wired line only had a automatic guidance system. However, the automatic guidance systems that those used had the high cost of installation and maintenance, and the difficulty of system change according to variation of working environment. To solve such problems, we make the laser guidance system which is consisted of a laser navigation and gyro, encoder. That is robust against noise, and flexible according to working environment through sensor fusion. The laser guidance system can do a perfect autonomous driving. However, the commercialization of perfect autonomous driving system is difficult, because the perfect autonomous driving system must recognize the whole environment of working space. Hence, this paper studied the path tracking of AGV using laser guidance system without wired line. The path tracking method is consisted of virtual path generation method and driving control method. To experiment, we use the fork-type AGV which is made by ourselves, and do a path tracking experiments repeatedly on same experimental environment. In result, we verified that proposed system is efficient and stable for actual fork-type AGV.

• 디지털산업정보학회논문지
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• 제10권1호
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• pp.73-79
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• 2014

In this study, the unmanned vehicle to develop a preliminary step, we were facilities for Automated Guided Vehicle (AGV) simulator is designed and implemented. Industry is increasingly the more advanced automation and management systems need to be efficient. These studies are at least 24-hour continuous unmanned vehicles and personnel can result in reduction of labor costs. In addition, safety accidents can be minimized in the industry as an effect of intelligent AGV is essential. This study is the initial step for the development of AGV. manufactured simulator to Simulation and drives the performance of the system is evaluated. The configuration of the simulator, ultrasonic sensors, infrared sensors, and using the obstacle were to follow a given path. In addition, two-way communication between the host computer and the main processor that was. communication method that IEE802.11 meets the standard is applied to high-speed wireless LAN systems, each of the sensor information is calculated. AGV having a drive shaft 4 of the four wheels are respectively independent structure. AGV's main processor is driven using a high-performance DSP, and the controller controls the steering device of the load could be significantly reduced.

• 산업경영시스템학회지
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• 제14권23호
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• pp.47-55
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• 1991

In automated assembly line, an automatic guided vehicle system(AGVS) represents a mire versatile means of moving materials automatically. In this paper, the vehicles not only provide the transportation medium between workstations but also as mobile workstations. The objective for the developed model is the determination of the appropriate time to control AGV based assembly line in order to minimize production makespan while maximizing the efficient use of vehicles. In this paper, we consider the finished goods of two types which are produced in assembly line. The assembly line is considered with and without queue. Because no buffer are present in case 1. this model seeks to determine the point in time at which vehicles should be launched in the assembly line without experiencing a delay. The case 2 model also seek to determine the vehicle launch times while minimizing production makespan. The assumption in this model is that the maximum queue size cannot exceed 1 at any time.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 춘계학술대회
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• pp.1076-1081
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• 2004

In this study, we have developed the simulation tool in order to investigate driving trajectory of AGV for container transport. AGV for container transport is different from the indoor AGV in that it is a large size structure at being loaded the weight of 40 ton. And AGV for container transport is applied to front wheel steering, rear wheel steering, all wheel steering, and crap steering. Therefore, we have developed the simulation tool considering dynamic problems and center of turning in accordance with four way of steering modes. Throughout some computer simulations, we have confirmed that this tool is useful to analysis dynamic problems and to calculate minimum radius of turning for large size vehicles.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2000년도 추계학술대회논문집
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• pp.169-173
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• 2000

현재 컨테이너 터미널에서 사용되고 있는 하역 장비들은 크게 하역작업을 수행하는 크레인과 컨테이너를 운반하는 트레일러, 컨테이너의 하역상태를 파악하는 모니터링 시스템으로 구분할 수 있다. 각각의 장비들은 수동으로 동작되며, 모니터링 시스템에서는 컨테이너의 위치 및 수량 등을 파악한다. 이런 시스템 하에서는 모든 항만 하역 장비들을 사람이 일일이 수동으로 조작함으로써 많은 인력이 필요하다. 또한, 각 하역장비들의 상태를 평면적인 2차원 화면으로만 보여주므로써 모니터링 시스템에 대한 현실감이 떨어진다. 이와 같은 단점을 보완하기 위해 컨테이너를 자동으로 운반하는 AGV를 도입하고 트랜스퍼 크래인과 컨테이너 크레인의 일부분을 자동화하여 작업능률을 향상시키고, 여기에 3차원으로 표현된 VR 시스템을 도입하여 각 하역장비들에 대한 세세한 동작까지를 모니터링함으로써 사용자가 현장에 있는 것과 유사한 느낌을 가질 수 있도록 하였다. 본 논문에서는 이러한 3차원 VR시스템과 모형으로 만들어진 AGV와 컨테이너 크레인, 트랜스퍼 크레인간의 유기적인 데이터 송,수신 및 안정적인 통신을 위해 데이터 포맷에 대한 연구를 하였다. 이런 데이터 포맷의 결정은 손실 없는 통신을 보장하며 나아가 정확한 모니터링을 보장할 것이다.

• 산업경영시스템학회지
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• 제12권19호
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• pp.73-78
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• 1989

This paper concerns the production model that the Automatic Guided Vehicles(AGVs) is used as transporters in assembly line. The model suggests that assembly parts may inter the beginning of the line in multiple units instead entering one unit at a time. Costs are occured in proportion to the number of vehicle on the line and job flow time. Here, the objective of this model is to determine the number of vehicle to minimize the total cost for M products production. Theoretical results are proved which lead to the development of algorithm for solution search. The solution search procedure is illustrated by a numerical example.

• 한국지능시스템학회논문지
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• 제22권1호
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• pp.36-41
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• 2012

본 논문에서는 자동물류운반시스템(AGV)에 사용되는 가감속 제어를 위한 속도 프로파일 기반의 가감속 위치제어를 DC 모터 실험을 통한 토크변화에 대해서 고찰한다. 속도 프로파일을 이용한 모터의 가감속 제어는 모터에 걸리는 부하를 줄임으로써 시스템의 무리한 구동을 방지하고 수명을 연장 시키는 장점을 가지고 있다. 체계적인 설계 구조를 갖는 상태 피드백 제어기를 이용하여 속도 프로파일을 이용한 가감속 제어 기반의 DC 모터의 위치제어와 단순 위치제어를 모의실험을 통하여 비교함으로써 토크 크기를 비교 관찰한다. 또한 CEM-IP-01의 카트 위치 제어 실험을 통하여 이를 검증한다.

• 대한전기학회논문지:전력기술부문A
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• 제48권10호
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• pp.1303-1310
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• 1999

In this paper, the Timed Petri-Nets(TPN) modeling of Modular Cell Manufacturing Systems(MCMS) was investigated to overcome the limit of batch mode operation, which has been one of the most popular manufacturing types to produce an extensive industrial output and to be able to adopt to suitable and quickly changing manufacturing environments. A model of the MCMS was developed in reference to the actual TFT-LCD manufacturing system. TFT-LCD manufacturing system is not mass-productive in batch mode, but it operates in the form of MCMS which consists of a sequence of several cells with four processes of operation, including those of color filter(C/F), TFT, cell, and module. The cell process is further regrouped in those of Front-End and Back-End. For the Back-End cell process, it is reconstructed into a virtual model, consisting of three cells. The TPN modeling encompasses those properties, such as states and operations of machines, the number of buffers, and the processing time. The performance of the modeling was further examined in terms of scheduling system. The productivity in each cells was examined with respect to the change of failure rate of the cell machines and Automatic Guided Vehicles(AGV) using simulation by TPN.

• 한국정보과학회논문지:컴퓨팅의 실제 및 레터
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• 제7권2호
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• pp.141-150
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• 2001

낙공정 제어 응용은 로봇, AGV(Automatic Guided Vehicle), 컴베이어 등과 같이 능동적이면서 병행적으로 동작하는 컴포넌트들로 구성되며 이들간의 상호작용으로 수행이 이루어진다. 객체지향 기술은, 이러한 컴포넌트들을 재사용이 가능한 객체로 모델링하여, 공정 제어 응용의 생산성 및 확장성을 향상시킬 수 있다. 그러나 기존 객체지향 기술의 객체는 상태와 행위 정보만을 캡슐화하여 실세계의 객체를 표현하며, 메시지가 전달되어야만 반응하는 수동 객체(passive object)이다. 본 논문에서 소개하는 분산 능동 객체 시스템(Distributed Active Object System: DAOS) 방식은 Java/CORBA 기반의 분산 환경에서 객체의 상태와 행위 정보 뿐 아니라 객체 자신의 제어(control) 부분까지 캡슐화한 능동 객체(active object)을 지원하여, 공정 제어 컴포넌트들을 더욱 완전하게 모델링할 수 있다. 여기서, 자신의 제어란 자신의 상태뿐 아니라 인터페이스 변수(interface variable)로 연결된 타 객체의 상태까지 모니터링하고 그 상태 변화에 따라 스스로 행위를 수행할 수 있는 기능을 말한다[1, 2]. 따라서 DAOS 방식은, 메시지 전달을 이용해 각 분산 객체들의 제어를 기술하지 않고, 인터페이스 변수들을 사용하여, 스스로 기동할 수 있는 객체들을 구성적으로 조립하여 시스템을 구축한다. 즉, DAOS 방식은 객체 조립성을 지원하여 기존 객체지향 기술보다 분산 공정 제어 소프트웨어 생산성 및 확장성을 개선하고, 제어까지 캡슐화된 능동 객체를 지원하여 컴포넌트의 재사용을 향상시킨다.