• Journal of Institute of Control, Robotics and Systems
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• v.21 no.3
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• pp.257-264
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• 2015

This paper proposes an adaptive RRT (Rapidly-exploring Random Tree) for path planning of high DOF multibody robotic system. For an efficient path planning in high-dimensional configuration space, the proposed algorithm adaptively selects the robot bodies depending on the complexity of path planning. Then, the RRT grows only using the DOFs corresponding with the selected bodies. Since the RRT is extended in the configuration space with adaptive dimensionality, the RRT can grow in the lower dimensional configuration space. Thus the adaptive RRT method executes a faster path planning and smaller DOF for a robot. We implement our algorithm for path planning of 19 DOF robot, AMIRO. The results from our simulations show that the adaptive RRT-based path planner is more efficient than the basic RRT-based path planner.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.428-433
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• 1993

An analytic solution approach to the time-varying obstacle avoidance problem is pursued. We use the view-time concept, especially the adaptive view-time. First. we introduce the adaptive view-time and analyze its properties. Next, we propose a view-time based motion planning method. The proposed method is applied and simulated for the collision-free motion planning of a 2 DOF robot manipulator. We simulate the robot motion under several different view-time systems. Generally, the motion planning with the adaptive view-time systems has some advantages over that with the fixed view-time systems.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.50 no.2
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• pp.58-66
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• 2001

This paper presents an application of a newly designed Adaptive Genetic Algorithm (AGA) to solve the Optimal Feeder Routing (OFR) problem for distribution system planning. The main objective of the OFR problem usually is to minimize the total cost that is the sum of investment costs and system operation costs. We propose a properly designed AGA, in this paper, which can handle the horizon-year expansion planning problem of power distribution network in which the location of substation candidates, the location and amount of forecasted demands are given. In the proposed AGA, we applied adaptive operators using specially designed adaptive probabilities. we also a Simplified Load Flow (SLF) technique for radial networks to improve a searching efficiency of AGA. The proposed algorithm has been evaluated with the practical 32, 69 bus test system to show favorable performance. It is also shown that the proposed method for the OFR can also be used for the network reconfiguration problem in distribution system.

• Journal of Korea Planning Association
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• v.53 no.7
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• pp.87-107
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• 2018

With more than 10 million inhabitants, in particular, Seoul, the capital of Korea, has already experienced a number of severe heat wave. To alleviate the potential impacts of heat wave and the vulnerability to heat wave, policy-makers have generally considered the option of heat wave strategies containing adaptation elements. From the perspective of sustainable planning for adaptation to heat wave, the objective of this study is to identify the elements of vulnerability and assess heat wave-vulnerability at the dong level. This study also performs an exploratory investigation of the spatial pattern of vulnerable areas in Seoul to heat wave by applying exploratory spatial data analysis. Then this study attempts to select areas with the relatively highest and lowest level of adaptive capacity to heat wave based on an framework of climate change vulnerability assessment. In our analysis, the adaptive capacity is the relatively highest for Seongsan-2-dong in Mapo and the relatively lowest for Changsin-3-dong in Jongno. This study sheds additional light on the spatial patterns of heat wave-vulnerability and the relationship between adaptive capacity and heat wave.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.10a
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• pp.733-734
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• 2009

• IE interfaces
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• v.12 no.2
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• pp.222-236
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• 1999

This paper presents a design and implementation of an intelligent-integrated production-logistics systems. The situation considered here is that there are multiple manufacturing plants and multiple distribution centers. Effective distribution resource and production planning are required to reduce inventory cost and to avoid inventory shortage. We propose an intelligent forecasting scheme of each distribution centers, adaptive inventory replenishment planning, distribution resource planning, and integrated production planning system. In forecasting a huge number of on-line model identification is performed using neural network approximation capability. An efficient adaptive replenishment planning and distribution resource planning are also presented in connection with forecasting scheme. An appropriate production is also requested based on production lead-time and the results of distribution planning. Experimental simulations are presented to verify the proposed approach using real data.

• Korean Journal of Computational Design and Engineering
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• v.11 no.3
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• pp.223-233
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• 2006

Layered manufacturing(LM) is emerging as a new technology that enables the fabrication of three dimensional heterogeneous objects such as Multi-materials and Functionally Gradient Materials (FGMs). Among various types of heterogeneous objects, more attention has recently paid on the fabrication of FGMs because of their potentials in engineering applications. The necessary steps for LM fabrication of FGMs include representation and process planning of material information inside an FGM. This paper introduces a new process planning algorithm that takes into account the processing of material information. The detailed tasks are discretization (i.e., decomposition-based approximation of volume fraction), orientation (build direction selection), and adaptive slicing of heterogeneous objects. In particular, this paper focuses on the discretization process that converts all of the material information inside an FGM into material features like geometric features. It is thus possible to choose an optimal build direction among various pre-selected ones by approximately estimating build time. This is because total build time depends on the complexity of features. This discretization process also allows adaptive slicing of heterogeneous objects to minimize surface finish and material composition error. In addition, tool path planning can be simplified into fill pattern generation. Specific examples are shown to illustrate the overall procedure.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.170-174
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• 2003

In this research, we consider an integrated manufacturing/distribution planning problem in supply chain (SC) which has non-integer time lags. We focus on a capacitated manufacturing planning and capacity allocation problem for the system. We develop a mixed binary integer linear programming (MBLP) model and propose an efficient heuristic procedure using an adaptive genetic algorithm, which is composed of a regeneration procedure for evaluating infeasible chromosomes and the reduced costs from the LP-relaxation of the original model. The proposed an adaptive genetic algorithm was tested in terms of the solution accuracy and algorithm speed during numerical experiments. We found that our algorithm can generate the optimal solution within a reasonable computational time.

• Proceedings of the KIEE Conference
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• 2000.07a
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• pp.137-141
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• 2000

This paper presents an application of a new Adaptive Genetic Algorithms(AGA) to solve the Optimal Routing problem(ORP) for distribution system planning. In general, since the ORP is modeled as a mixed integer problem with some various mathematical constraints, it is hard to solve the problem. In this paper, we proposed a new adaptive strategy in GA to overcome the premature convergence and improve the convergence efficiency. And for these purposes, we proposed a fitness function suited for the ORP. In the proposed AGA, we used specially designed adaptive probabilities for genetic operators to consider the characteristics of distribution systems that are operated under radial configuration. The proposed algorithm has been tested in sample networks and the results are presented.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2009.10a
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• pp.731-732
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• 2009