• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
• /
• pp.394-399
• /
• 1990

We develop an automatic trajectory planning system (ATPS) for painting robots by proposing a new trajectory planning scheme. The new scheme considers geometric modeling, painting mechanics, and robot dynamics to output an optimal trajectory (in the sense of coating thickness and painting time) based on the CAD data describing the shape of objects, The new scheme is implemented in SUN/4 workstation to develop an ATPS for painting robots. To test the validity of the new scheme and to illustrate the developed system, numerous runs are performed and analyzed.

• 산업공학
• /
• 제3권2호
• /
• pp.23-38
• /
• 1990

The use of robots for painting operations is a powerful alternative as a means for automation and quality improvement. A typical method being used for motion planning of the painting robot is to guide the robot along the desired path : the "lead-through" method. Although this method is simple and has been widely used, it has several drawbacks a) The robot cannot be used during the teaching period, b) A human is exposed to a hostile environment, c) The motions taught are, at best, human's skill level. To deal with the above problems, an integrated robot-trajectory planning scheme is presented. The new scheme takes CAD data describing the shape and geometry of the objects, and outputs an optimal trajectory in the sense of coating thickness and painting time. The purpose of this paper is to investigate theoretical backgrounds for such a scheme including geometric modeling, painting mechanics and robot trajectory planning, and develop algorithms for generating spray gun paths and minimum-time robot trajectories. Future study is to implement these algorithms on an workstation to develop an integrated software system ; ATPS(Automatic Trajectory Planning System) for spray painting robots.

• 로봇학회논문지
• /
• 제14권2호
• /
• pp.104-113
• /
• 2019

Object manipulation in cluttered environments remains an open hard problem. In cluttered environments, grasping objects often fails for various reasons. This paper proposes a novel task and motion planning scheme to grasp objects obstructed by other objects in cluttered environments. Task and motion planning (TAMP) aims to generate a sequence of task-level actions where its feasibility is verified in the motion space. The proposed scheme contains an open-loop consisting of three distinct phases: 1) Generation of a task-level skeleton plan with pose references, 2) Instantiation of pose references by motion-level search, and 3) Re-planning task based on the updated state description. By conducting experiments with simulated robots, we show the high efficiency of our scheme.

• 대한안전경영과학회지
• /
• 제6권1호
• /
• pp.135-146
• /
• 2004

This paper first addresses a distribution planning method on centrally controlled supply chain. The distribution channels are assumed to be network of arborescence form. For such distribution networks, this study proposes a distribution planning scheme when the demands for retail sites are provided for a given planning horizon. As the planning horizon rolls forward, for a new horizon, forecasted demand distributions of periods in the horizon are updated. An idea of controlling customer service level by the selection of demand to be used in the planning (Demand Used in Planning, DUP) from the forecasted values is also discussed.

• 로봇학회논문지
• /
• 제12권2호
• /
• pp.152-160
• /
• 2017

Recent studies on automatic parking have actively adopted the technology developed for mobile robots. Among them, the path planning scheme plans a route for a vehicle to reach a target parking position while satisfying the kinematic constraints of the vehicle. However, previous methods require a large amount of computation and/or cannot be easily applied to different environmental conditions. Therefore, there is a need for a path planning scheme that is fast, efficient, and versatile. In this study, we use a multi-dimensional path grid map to solve the above problem. This multi-dimensional path grid map contains a route which has taken a vehicle's kinematic constraints into account; it can be used with the $A^*$ algorithm to plan an efficient path. The proposed method was verified using Prescan which is a simulation program based on MATLAB. It is shown that the proposed scheme can successfully be applied to both parallel and vertical parking in an efficient manner.

• 기술혁신연구
• /
• 제14권3호
• /
• pp.237-261
• /
• 2006

Under circumstances with increasing uncertainty, strategic flexibility has become an essential point on which my R&D management system should be based. Unfortunately the present R&D management system for government sponsored R&D programs cannot be said to be so flexible to adapt appropriately to various threatens such as technological failure, a severe change in competition environment, and so on. In this paper a new scheme for R&D planning and economic assessment with strategic flexibility is suggested and applied to a real R&D program. In the newly suggested R&D management system, economic valuation based on real option theory is performed for various alternative scenarios which have different strategic scheme for R&D process each and the result of the assessment is fed back to R&D planning to choose more superior strategic scheme. Introducing strategic flexibility into R&D planning and economic assessment, the value of R&D project could be remarkably enhanced.

• 기술혁신연구
• /
• 제5권1호
• /
• pp.266-287
• /
• 1997

The purpose of this paper is to purpose methods and procedures by which we can set up technology planning scheme essential for R'||'&'||'D(or technology) planning in public sector (governmental and government-sponsored institutions), and can develop and select "main R'||'&'||'D projects" which are crucial to R'||'&'||'D planning, were quite specifically discussed in case of I'||'&'||'T(Information '||'&'||' Telecommunications) sector, so that they may not remain theoretical but may be practically applicable to real R'||'&'||'D programs. In this paper, the concept of technology planning was defined as a procedure for establishing nominal planning to acquire technologies efficiently for a specific sector. More detailed definition optimal technology-acquisition strategy, i.e., analyzing technological development '||'&'||' environ-ment, establishing R'||'&'||'D objectives as promising technology opportunities, selecting main R'||'&'||'D projects, allocating resources and so on."The"main R'||'&'||'D projects by technology sectors and by planning phases and then deciding on priority. Scoring method was rsed in assessment phase. Summing up, this paper suggested technology planning scheme of methods and procedures for sorting out required technologies, developing and assessing public R'||'&'||'D projects, and finally selecting main R'||'&'||'D projects.

• 산업공학
• /
• 제12권2호
• /
• pp.222-236
• /
• 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.

• 대한기계학회논문집A
• /
• 제25권9호
• /
• pp.1461-1467
• /
• 2001

This paper proposes a new approach for the ant-swing control of overhead cranes. The proposed control consists of a model-based anti-swing control scheme and a practical path planning scheme. The anti-swing control scheme is designed based on the Lyapunov stability theorem; the proposed control does not require the usual constraints of small load mass, small load swing, slow hoisting speed, and small hoisting distance, but guarantees asymptotic stability while keeping all internal signals bounded. The path planning scheme is designed based on the concepts of minimum-time control and anti-swing control; the proposed path planning generates near-minimum-time trajectories independently of hoisting speed and distance. The effectiveness of the proposed control is shown by computer simulation.

• 품질경영학회지
• /
• 제25권1호
• /
• pp.31-43
• /
• 1997

In this study, the pros and cons of TPM and RCM were comparatively evaluated at various aspects : a, pp.ication process, objectives, maintenance items, organizations, analysis of maintenace methods, etc. It is found that TPM can be considered as a management discipline. However, in TPM, there seldom exist concrete rules or guidelines to select a maintenance scheme. RCM, which is a widely used maintenance scheme for aircrafts or power plants, has a good analysis and decision logic for maintenance planning. In the paper, similar decision rules are adopted to TPM deployment to get an effective and effecient maintenance Planning.