• 산업경영시스템학회지
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• 제27권3호
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• pp.106-112
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• 2004

This paper presents a new heuristic algorithm for the machine cell(MC) formation problem. MC formation problem is represented as an unbalanced k-way network partition and the proposed algorithm uses four stage-approach to solve the problem. Four stages are natural sub-network formation, determination of intial vertexes for each sub-network, determination of initial partition, and improvement of initial partition. Results of experiments show that the suggested algorithm provides near optimal solutions within very short computational time.

• 한국정보과학회논문지:정보통신
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• 제31권3호
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• pp.314-326
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• 2004

블루투스는 휴대폰을 비롯한 디지털 디바이스간의 탄력적이고 확장성 있는 무선 ad-hoc 네트워크를 제공할 수 있는 기술로 가능성을 인정받아왔다. 이러한 네트워크가 지원되기 위해서는 블루투스 스캐터넷(Scatternet)은 필수적인 요소이다. 그러므로 블루투스 스캐터넷과 관련되어서 현재까지 다양한 방법론이 제시되고 있다. 하지만 기존의 연구들은 시뮬레이션을 통한 방법론을 제시하는데 그치는 경우가 대부분이며, 스캐터넷의 탄력성과 확장성을 확보하지 못하고 그 복잡성으로 인해 하드웨어 구현에 제약이 있는 경우들이 많다. 본 논문에서는 실제 하드웨어 구현이 용이하고, 스캐터넷의 탄력성과 확장성을 확보할 수 있는 노드 링 스캐터넷(Node Ring Scatternet:NRS) 알고리즘을 제안하였다. 이 알고리즘은 초기 형성과 재형성 부분으로 구성이 되어 있다. 초기 형성과 관련되어 제한적 SEEK/SCAN 알고리즘을 제안하였고, 재형성과 관련되어서는 DIAC 알고리즘과 예약 복구 노드(Reserved Recovery Node) 알고리즘을 제안하였다. 또 실제 시스템 상에서 스캐터넷 알고리즘을 운용하기 위한 SFMP(Scatternet Formation & Management Protocol)을 설계하고, 상용 블루투스 하드웨어로 구현을 하여 20개의 디바이스까지의 스캐터넷 실험을 수행하였다. 실험 결과 기존의 유사 알고리즘에 비해 스캐터넷 형성 시간과 그 확률이 높은 결과를 얻었다.

• 전기학회논문지
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• 제60권11호
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• pp.2147-2151
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• 2011

In this paper, we propose the formation control algorithm for swarm robots. The proposed algorithm uses the artificial potential field(APF) to plan the global path of swarm robots and to control the formation movement. The navigation function generates a global APF for a leader robot to reach a given destination and an avoidance function generates a local APF for follow robots to avoid obstacles. Finally, some simulations show the validity of the proposed method.

• 경영과학
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• 제19권1호
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• pp.189-196
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• 2002

Data clustering is often one of the first steps in data mining analysis. It Identifies groups of related objects that can be used as a starling point for exploring further relationships. This technique supports the development of population segmentation models, such as demographic-based customer segmentation. This paper Purpose to present the development of two phase hierarchical clustering algorithm for group formation. Applications of the algorithm for product-customer group formation in customer relationahip management are also discussed. As a result of computer simulations, suggested algorithm outperforms single link method and k-means clustering.

• 경영과학
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• 제16권1호
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• pp.157-171
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• 1999

In a increasingly competitive marketplace, the manufacturing companies have no choice but looking for ways to improve productivity to sustain their competitiveness and survive in the industry. Recently cellular manufacturing has been under discussion as an option to be easily implemented without burdensome capital investment. The objective of cellular manufacturing is to realize many aspects of efficiencies associated with mass production in the less repetitive job-shop production systems. The very first step for cellular manufacturing is to group the sets of parts having similar processing requirements into part families, and the equipment needed to process a particular part family into machine cells. The underlying problem to determine the part and machine assignments to each manufacturing cell is called the cell formation. The purpose of this study is to develop a clustering algorithm based on the neural network approach which overcomes the drawbacks of ART1 algorithm for cell formation problems. In this paper, a generalized learning vector quantization(GLVQ) algorithm was devised in order to transform a 0/1 part-machine assignment matrix into the matrix with diagonal blocks in such a way to increase clustering performance. Furthermore, an assignment problem model and a rearrangement procedure has been embedded to increase efficiency. The performance of the proposed algorithm has been evaluated using data sets adopted by prior studies on cell formation. The proposed algorithm dominates almost all the cell formation reported so far, based on the grouping index($\alpha$ = 0.2). Among 27 cell formation problems investigated, the result by the proposed algorithm was superior in 11, equal 15, and inferior only in 1.

• 대한임베디드공학회논문지
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• 제17권2호
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• pp.115-121
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• 2022

This paper proposes a distributed model predictive formation control algorithm for a group of unmanned ground vehicles (UGVs) with guaranteeing collision avoidance between UGVs. Generally, the model predictive control based formation control has a disadvantage in that it takes a long time to compute control inputs when considering collision avoidance between UGVs. In this paper, in order to overcome this problem, the formation control algorithm is implemented in a distributed manner so that it could be individually controlled. Also, a collision-avoidance method considering real-time is proposed. The proposed formation control algorithm is implemented based on robot operating system (ROS), open source-based middleware. Through the various simulation tests, it is confirmed that the formation control of five UGVs is successfully performed while avoiding collisions between UGVs.

• 제어로봇시스템학회논문지
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• 제16권3호
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• pp.207-214
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• 2010

This paper proposes about decentralized control approach based Leader-Follower formation control using LOS (Line of Sight) algorithm and unknown input observer. The position of robots which is a basic information in multi-robot or single robot motion control is determined by localization algorithm fusing UPS (Ultrasonic Position System) and kinematics model. For formation control, a decentralized control approach individually installing a local controller in leader and follower robot is adopted. Leader robot is controlled to track a specified trajectory by LOS algorithm, and the other robots follow the leader by local controller based on tracking platoon level function, self-sensing data and estimated information from unknown input observer. The performance of proposed method is proven through the formation experiment of two vehicle models.

• Journal of Astronomy and Space Sciences
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• 제30권1호
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• pp.1-10
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• 2013

An integrated orbit and attitude control algorithm for satellite formation flying was developed, and an integrated orbit and attitude software-in-the-loop (SIL) simulator was also developed to test and verify the integrated control algorithm. The integrated algorithm includes state-dependent Riccati equation (SDRE) control algorithm and PD feedback control algorithm as orbit and attitude controller respectively and configures the two algorithms with an integrating effect. The integrated SIL simulator largely comprises an orbit SIL simulator for orbit determination and control, and attitude SIL simulator for attitude determination and control. The two SIL simulators were designed considering the performance and characteristics of related hardware-in-the-loop (HIL) simulators and were combined into the integrated SIL simulator. To verify the developed integrated SIL simulator with the integrated control algorithm, an orbit simulation and integrated orbit and attitude simulation were performed for a formation reconfiguration scenario using the orbit SIL simulator and the integrated SIL simulator, respectively. Then, the two simulation results were compared and analyzed with each other. As a result, the user satellite in both simulations achieved successful formation reconfiguration, and the results of the integrated simulation were closer to those of actual satellite than the orbit simulation. The integrated orbit and attitude control algorithm verified in this study enables us to perform more realistic orbit control for satellite formation flying. In addition, the integrated orbit and attitude SIL simulator is able to provide the environment of easy test and verification not only for the existing diverse orbit or attitude control algorithms but also for integrated orbit and attitude control algorithms.

• 한국컴퓨터정보학회논문지
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• 제21권2호
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• pp.71-77
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• 2016

There has been unknown polynomial time algorithm for cellular formation problem (CFP) that is one of the NP-hard problem. Therefore metaheuristic method has been applied this problem to obtain approximated solution. This paper shows the existence of polynomial-time heuristic algorithm in CFP. The proposed algorithm performs coarse-grained and fine-grained cell formation process. In coarse-grained cell formation process, the cell can be formed in accordance with machine frequently used that is the number of other products use same machine with special product. As a result, the machine can be assigned to most used cell. In fine-grained process, the product and machine are moved into other cell that has a improved grouping efficiency. For 35 experimental data, this heuristic algorithm performs better grouping efficiency for 12 data than best known of meta-heuristic methods.

• Journal of Astronomy and Space Sciences
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• 제30권4호
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• pp.291-298
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• 2013

The concept of the satellite formation flight is area where it is actively study with expandability and safety compare to existing satellite. For execution of duty with more safety issue, it needs to consider hot topic of space debris for operation of formation flight. In this paper, it suggests heuristic algorithm to have avoidance maneuver for space debris towards operating flight formation. Indeed it covers, using common software, operating simulation to nearest space environment and not only to have goal of avoidance but also minimizing the usage of fuel and finding optimization for maximizing cycle of formation flight. For improvement on convergence speed of existing heuristic algorithm, it substitute to hybrid heuristic algorithm, PSOGSA, and the result of simulation, it represents the satisfaction of minimum range for successful avoidance maneuver and compare to not using avoidance maneuver, it keeps more than three times of formation maintenance performance. From these, it is meaningful results of showing several success goals like simple avoidance collision and fuel usage and decreasing number of times of maintaining formation maneuver.