• 한국정보처리학회논문지
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• 제6권7호
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• pp.1817-1824
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• 1999

유연 생산시스템의 스케줄링 문제는 생산시스템의 효율성 제고에 많은 관심을 끌고 있다. 이 연구에서는 유연 생산시스템의 이산적 스케줄링 문제를 변형의 개념을 가지고 해결하고자 한다. 이산적 개념을 표현하는 데는 패트리 네트가 효율적인 방법중의 하나이다. 패트리 네트의 변형이란 기존의 모델이 가지고 있는 기본적인 성질들을 변형시키지 아니하고 해석하고 분석하기가 편리한 사이즈로 기존의 모델링 변형시키는 것이다. 특히 본 연구에서는 타임 패트리 네트의 변형을 이용하여 대기시간과 완료시간을 혼합하여 스케줄링 문제를 분석하는 기법을 제시하였다.

• 디지털산업정보학회논문지
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• 제12권1호
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• pp.1-12
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• 2016

The current economic crisis is making new demands on manufacturing industry, in particular, in terms of the flexibility and efficiency of production processes. This requires production and administrative processes to be meshed with each other by means of IT systems to optimise the use and capacity utilisation of machines and lines but also to be able to respond rapidly to wrong developments in production and thus to minimise adverse impacts on the business. The future scenario of the "smart factory" represents the zenith of this development. The factory can be modified and expanded at will, combines all components from different manufacturers and enables them to take on context-related tasks autonomously. Integrated user interfaces will still be required at most for basic functionalities. The complex control operations will run wirelessly and ad hoc via mobile terminals such as PDAs or smartphones. The comnination of IoT, and Big Data optimisation is bringing about huge opportunities. these processes are not just limited to manufacturing, anywhere a supply chain environment exists can benefit from information provided by linked devices and access to big data to inform their decision support. Building a smart factory with smart assets at its core means reaching those desired new levels of productivity and efficiency. It means smart products that leverage advanced traceability, connectivity and intelligence. For businesses, it means being able to address the talent crunch through more autonomous. In a Smart Factory, machinery and equipment will have the ability to improve processes through self-optimization and autonomous decision-making.

• 한국정보통신학회논문지
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• 제26권10호
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• pp.1545-1550
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• 2022

본 논문에서는 최근 물류, 제조업 등 다양한 산업군에서 활용되는 AMR(Autonomous Mobile Robot)의 LiDAR 고장 시 교체 시간을 최소화하는 방법에 대해 연구하였다. 이를 위해 일반적인 LiDAR 교체 프로세스를 정의하고 퀵-체인지 기구에 기반한 새로운 프로세스를 제안하였다. 실험은 자동차 제조 기업 공장 내 적용을 위해 개발된 AMR을 활용해 수행하였으며, 새로운 프로세스 적용 시 24분 내 LiDAR 교체가 가능하며 일반적 프로세스 대비 약 76% 이상 단축됨을 확인할 수 있었다. 결과적으로, 제안된 프로세스의 적용을 통해 AMR의 비가동 및 전체적인 공정 지연을 최소화할 수 있다.

• 대한산업공학회지
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• 제22권4호
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• pp.719-739
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• 1996

A common control model used to implement computer integrated manufacturing(CIM) is based on the hierarchical decomposition of the shop floor activities, in which supervisory controllers are responsible for all the interactions among subordinates. Although the hierarchical control philosophy provides for easy understanding of complex systems, an emerging manufacturing paradigm, agile manufacturing, requires a new control structure necessary to accommodate the rapid development of a shop floor controller. This is what is called autonomous agent-based heterarchical control. As computing resources and communication network on the shop floor become increasingly intelligent and powerful, the new control architecture is about to come true in a modern CIM system. In this paper, heterarchical control is adopted and investigated, in which a controller for a unit of device performs three main functions - planning, scheduling and execution. Attention is paid to the planning function and all the detailed planning activities for heterarchical shop floor control are identified. Interactions with other functions are also addressed. In general, planning determines tasks to be scheduled in the future. In other words, planning analyzes process plans and transforms process plans into detailed plans adequate for shop floor control. Planning is also responsible for updating a process plan and identifying/resolving replanning activities whether they come from scheduling or execution.

• 한국산업융합학회 논문집
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• 제22권3호
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• pp.281-292
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• 2019

This paper proposed a new technology to control a path forging parts in limited narrow space of manufacturing process automation for smart factory. In the motion control, we adapted the obstacle avoidance technology based on ultrasonic sensors. The new motion control performance test for a mobile robot is experimented in narrow space environments. The travelling path control is performed by a fuzzy control logic. which plays a role for selecting an appropriate behavior in accordance with the situation in the vicinity of the mobile robot. Ultrasonic sensors installed at the front face of the mobile robot are used. In order to update the current position and heading angle of the mobile robot, a new approch is adapted. The reliability is illustrated by simulation and experiments.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 1999년도 춘계종합학술대회
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• pp.340-347
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• 1999

최근 산업화로 인하여 물류 자동화에 많은 관심이 집중되고 있다. 지금까지는 컨베이어 벨트가 물류 자동화에 있어서 가장 많이 사용되었지만 이 시스템은 공간을 많이 차지하고, 비용이 많이 든다는 단점을 가지고 있다. 본 논문은 퍼지를 이용한 새로운 자율 주행 제어 알고리즘을 소개한다. 이 이동로봇은 바닥 위에 설치된 선을 따라가도록 되어있다. 그리고 3개의 근접센서로부터 정보가 입력된다. 이러한 획득된 정보를 자율 주행을 위하여 퍼지로 제어하였다. 그러므로 현존하는 시스템과는 달리, 열악한 환경 조건하에서도 높은 신뢰성을 보증하고, 라인의 유지 보수를 낮은 비용으로 쉽게 설치할 수 있다. 이 자율이동로봇의 이용은 공장이나 병원 내의 물류자동화를 실현시키고, 사무실 내에서 서류배달 등의 여러분야에 응용되어 질 수 있다.

• 대한기계학회논문집A
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• 제32권11호
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• pp.937-942
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• 2008

This research investigated to find out the possibilities of applying FRPs to the AUVs. In this study, two kinds of metal materials, which is one of the popularly used materials for manufacturing AUVs, and 6 kinds of FRP materials were considered. Material properties of FRPs were derived by tensile tests and chemical analysis. Moreover, various types of AUVs were designed by 8 kinds of materials. From structural analysis, we can find out that the weights of AUV by CFRP-Autoclave could be reduced by 60% in comparison with the weights of AUV by Al 7075-T6. Also, 40% weight reduction could be expected compared to the AUV by Ti-6Al-4V. In this result, we could conclude that the material of CFRP-Autoclave have various merits and potentialities as one of the AUV materials.

• 한국해양공학회지
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• 제21권2호
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• pp.67-74
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• 2007

Maritime and Ocean Engineering Research Institute (MOERI), a branch of KORDI, has designed and manufactured a model of an autonomous underwater vehicle (AUV) named ISiMI (Integrated Submergible for Intelligent Mission Implementation). ISiMI is an AUV platform to satisfy the various needs of experimental test required for development of challenging technologies newly investigated in the field of underwater robot; control and navigational algorithms and software architectures. The main design goal of ISiMI AUV is downsizing which will reduce substantially the operating cost compared to other vehicles previously developed in KORDI such as VORAM or DUSAUV. As a result of design and manufacturing process, ISiMI is implemented to be 1.2 m in length, 0.17 m in diameter and weigh 20 kg in air. A series of tank test is conducted to verify the basic functions of ISiMI in the Ocean Engineering Basin of MOERI, which includes manual control with R/F link, auto depth, auto heading control and a final approach control for underwater docking. This paper describes the implementation of ISiMI system and the experimental results to verify the function of ISiMI as a test-bed AUV platform.

• 디지털융복합연구
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• 제15권8호
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• pp.195-202
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• 2017

Unmanned Aerial Vehicle (UAV)는 군사적 목적으로 주로 이용되었지만 ICT의 발전과 저렴해진 제작비용으로 인해 다양한 민간 서비스에서도 점차 이용되고 있다. UAV는 앞으로 스스로 임무를 수행하는 자율비행을 할 것이라 기대되고 있는데, 복잡한 임무를 수행하기 위해서는 군집 비행이 필수적이다. UAV 군집 비행은 기존 UAV 시스템과 네트워크 및 인프라 구조가 달라 국내외에서 많은 연구가 이루어지고 있지만, 아직 안전한 UAV 군집 비행을 위한 보안위협 및 보안요구사항에 대한 연구가 이루어지지 않고 있다. 본 논문에서는 이러한 문제점을 해결하기 위하여 UAV 자율비행기술을 미 공군 연구소와 미국 육군 공병대를 기반으로 정의하고 UAV 군집비행기술 및 보안위협을 분류하였다. 그리고 각 UAV 군집비행기술의 보안위협에 따른 보안요구사항을 정의하여 비교 분석함으로써 향후 안전한 UAC 자율비행 기술 발전에 기여할 수 있도록 하였다.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2006년 창립20주년기념 정기학술대회 및 국제워크샵
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• pp.347-350
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• 2006

Maritime and Ocean Engineering Research Institute (MOERI), a branch of KORDI, has designed and manufactured a model of an autonomous underwater vehicle (AUV) named ISiMI(Integrated Submergible for Intelligent Mission Implementation). ISiMI is an AUV platform to satisfy the various needs of experimental test required for development of challenging technologies newly investigated in the field of underwater robot; control and navigational algorithms and software architectures. The main design goal of ISiMI AUV is downsizing which will reduce substantially the operating cost compared to other vehicles previously developed in KORDI such as VORAM or DUSAUV. As a result of design and manufacturing process, ISiMI is implemented to be 1.2m in length, 0.17m in diameter and weigh 20 kg in air. A series of tank test is conducted to verify the basic functions of ISiMI in the Ocean Engineering Basin of MOERI, which includes manual control with R/F link, auto depth, auto heading control and a final approach control for underwater docking. This paper describes the implementation of ISiMI system and the experimental results to verify the function of ISiMi as a test-bed AUV platform.