• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.414-414
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• 2000

This paper presents a method for building a real-time kernel of autonomous mobile robot control systems. Until now, most of robots have their own operation softwares dedicated only for their use. Sometimes, operation softwares were developed based on MS-DOS or other real -time kernel based on UNIX. However, MS-DOS has many restrictions for use as a robot operation system. Also, mix based real-time kernel has some Limitations for use with mobile robots. So, in this paper, we focus on building a real-time kernel based on Linux. The in this paper, the software modules of Task Management, Memory Management, Intertask Communication, and Synchronization are redesigned. To show the efficiency of the paper, it was applied to run Nomad Super Scout II avoiding obstacles detected by sonar sensor array.

• 제어로봇시스템학회논문지
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• 제17권3호
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• pp.258-263
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• 2011

In the bilateral tele-operation system, time delay may be a critical problem. Even if system modeling error or time delay occurs, when applied to wave transformation system, the system's stability can be achieved. Using the characteristic b which is an important parameter of wave transformation, the system can display robust performance for time delay. However, since assuming and that the time delay was fixed developing a theory, a stability cannot be guaranteed about the time-varying delay. Therefore, In the paper, Therefore, in this paper, we studied for the method that controls this by applying the fuzzy algorithm which surveyed the timevarying delay characteristics and can adjust the b according to it adaptively.

• 한국항해항만학회지
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• 제30권6호
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• pp.457-464
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• 2006

이적작업은 적하작업과 반출작업을 신속하게 처리하기 위해 자동화 컨테이너 터미널에서 중요하게 고려하는 운영 전략들 중의 하나이다. 이는 ATC(Automated Transfer Crane)의 운반시간과 재취급 작업시간을 줄이기 위해 장치장 블록에 산적되어 있는 컨테이너들을 재배치하는 작업이다. 본 논문은 가능한 컨테이너 이동을 최소화하면서 한 수직형 블록 내에 장치된 컨테이너들의 배치 형태를 바람직한 배치 형태로 전환시키기 위한 이적계획 문제를 다룬다. 이 문제는 선후관계를 가지는 2개의 하위 문제 즉, 장치위치 할당문제와 장비 작업순서 문제로 분할된다. 장치위치 할당문제는 운반시간의 관점에서 현재 장치되어 있는 컨테이너들 중에서 어떤 컨테이너를 어느 베이에 옮길 것인가를 결정한다. 이의 결과를 가지고 장비 작업순서 문제는 장치 공간의 제약을 고려하여 ATC의 이동시간을 최소화하는 작업순서를 정한다. 본 연구에서는 정수계획법과 동적계획법을 이용하여 각 하위문제를 모형화 하였다. 제안된 모형을 이용하여 이적계획 과정을 설명하기 위한 예제를 제시하였다.

• Architectural research
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• 제19권3호
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• pp.71-77
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• 2017

Dynamic pricing refers to a system in which a tariff varies, according to a level of charging and applied time depending on time change. The power billing system used in the Korean Electric Power Corporation (KEPCO) is based on time of use (TOU) pricing, which is one of the dynamic pricing systems. This paper aimed to determine the operational results of a variable refrigerant flow system, to which a new control algorithm was applied, in order to respond to dynamic pricing, in summer and the utility of the new control. To do this, real measured data was acquired from a VRF system installed in a building for educational purposes, where dynamic pricing was applied for about 100 days during summer time. At the maximum load operation time period in TOU, the new control minimized operation within the indoor comfort range, an increase in refrigerant evaporation temperature in the indoor unit and the number of revolutions in a compressor in the outdoor unit was limited. As a result, power usage was decreased by 11%, and the operational cost by 14.6%. Furthermore, measurement results using the Predicted Mean Vote (PMV) model, that represented satisfaction of thermal environment, showed that 82.8% to 90.4% of the occupants of the building were satisfied during operation when the new control was applied.

• 산업경영시스템학회지
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• 제37권4호
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• pp.63-71
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• 2014

As power consumption increases, more power utilities are required to satisfy the demand and consequently results in tremendous cost to build the utilities. Another issue in construction of power utilities to meet the peak demand is an inefficiency caused by surplus power during non-peak time. Therefore, most power company considers power demand management with time-based electricity rate policy which applies different rate over time. This paper considers an optimal machine operation problem under the time-based electricity rates. In TOC (Theory of Constraints), the production capacities of all machines are limited to one of the bottleneck machine to minimize the WIP (work in process). In the situation, other machines except the bottleneck are able to stop their operations without any throughput loss of the whole manufacturing line for saving power utility cost. To consider this problem three integer programming models are introduced. The three models include (1) line shutdown, (2) block shutdown, and (3) individual machine shutdown. We demonstrate the effectiveness of the proposed IP models through diverse experiments, by comparing with a TOC-based machine operation planning considered as a current model.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2008년도 춘계학술대회 논문집
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• pp.559-571
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• 2008

Platform Screen Door(PSD) has been installed and operated at seoul subway line $1\sim4$ in the manual train operation mode(ATS/ATC) by SeoulMetro since 2005. SeoulMetro uses the wireless (RF) communication system and the train door detection system for the link between the train and PSD doors opening/closing motion in the manual train operation mode. For the convenience and safety of passengers, the train doors and the PSD doors opening/closing shall be synchronized as much as possible. In ATO(Automatic Train Operation) mode which provides the interface between train control system and PSD system, ATO signaling system makes the train doors and PSD doors open/close command signals systematically, so PSD doors can be opened/closed almost simultaneously with the train doors. But, in the manual train control(ATS/ATC) mode, PSD system needs to detect the train doors open/close operation and make PSD open/close command signals to actuate PSD doors. These PSD open/close commanding process cause time delay of PSD doors opening/closing motion in response to the train doors opening/closing motion. Sometimes the response delay time can be over 1 second, which is not proper to operate PSD, and need to be reduced This paper presents the reduction method of the PSD response delay time to improve the convenience and safety of passengers.

• 산업경영시스템학회지
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• 제43권3호
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• pp.10-20
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• 2020

This paper presents a method to measure the similarity of assigned jobs in the gravure printing operation based on the chromaticity and color sequence, and order the jobs accordingly. The proposed dispatching rule can be used to fulfill diverse manufacturing site requirements because the parameters can be adjusted to prioritize chromaticity and color sequence. In general, dispatching rules either ignore the job-changing time or require that the time be clearly defined. However, in the gravure printing operation targeted in this study, it is difficult to apply the general dispatching rule because of the difficulties in quantifying the job-changing time. Therefore, we propose a method for generalizing assignment rules of the job planner, allocating relative similarity among assigned jobs, and determining the sequence of jobs accordingly. Chromaticity priority is determined by the arrangement of the color assignments in the printing operation; color sequence priority is determined by the addition, deletion, or change in a specific color sequence. Finally, the job similarity is determined by the dot product of the chromaticity and color sequence priorities. Implementation of the proposed dispatching rule at an actual manufacturing site showed the planner present the same job order as that obtained using the proposed rule. Therefore, this rule is expected to be useful in industrial sites where clear quantification of the job-changing time is not possible.

• Journal of Biosystems Engineering
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• 제24권4호
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• pp.301-308
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• 1999

Path planning for field operation of agricultural machinery is an indispensible part for precision farming or autonomous field operation. In this study, two algorithms (I, II) of generating a time-based shortest operation path were suggested to plan an optimal operation of an agricultural tractor-implement in a rectangular shaped field. The algorithms were based on modification of a minimum spanning tree algorithm, and applied for tractor-implement operations. the generated path was consisted of round operation and returning operation sections. The number of round operation was determined from the condition that a tractor can turn smoothly at headlands. The performance of the algorithms was evaluated by the calculation number for path generation and the total path length generated. Their stability was affected by the number of returning operation, but the algorithm II was considered to be more stable. In addition, the performances of the developed algorithms were compared with those of the conventional field operations at selected field sizes and shapes. The results showed that the algorithms could reduce field operation time greatly. For a 100m$\times$40m field, the reduced path length was 78m. The study also included an user interface program for implementing the algorithms and generating GPS coordinates that could be used in GIS softwares for precision farming.

• 한국산림과학회지
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• 제101권3호
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• pp.344-355
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• 2012

임목수확작업시스템 구축과 효율적인 임목수확작업 기술을 보급하기 위해 타워야더 및 스윙야더 등에 의한 전목집재작업시스템과 굴삭기 그래플 등에 의한 단목집재작업시스템의 작업시간 및 공정을 분석하였다. 전체 조사작업시간을 기준으로 분석한 1 cycle당 작업시간은 전목집재작업시스템에서 체인톱에 의한 벌목 46.6초/cycle, 타워야더에 의한 집재 480.6초/cycle, 스윙야더에 의한 집재 287.4초/cycle, 체인톱에 의한 조재 155.14초/cycle로 나타났다. 또 한 단목집재작업시스템에서는 체인톱에 의한 벌목 및 조재 225.65초/cycle, 굴삭기 그래플에 의한 단목집재 4,972초/cycle, 지엽집재 3,143초/cycle로 나타났으며, 바퀴식 미니포워더에 의한 소운재 4,688초/cycle, 굴삭기 그래플 및 소형운재차에 의한 소운재 2,118초/cycle로 나타났다. 전목집재작업시스템의 작업공정에서 체인톱에 의한 평균 벌목공정이 $57.89m^3$/일, 타워야더에 의한 평균 집재공정이 $20.3m^3$/일, 스윙야더에 의한 평균 집재공정이 $31.55m^3$/일, 체인톱에 의한 평균 조재공정이 $20.3m^3$/일로 나타났다. 또한, 단목집재작업시스템의 작업공정에서 체인톱에 의한 평균 벌목 및 조재공정이 $11.96m^3$/일, 굴삭기 그래플에 의한 평균 단목집재공정이 $34.75m^3$/일, 굴삭기 그래플에 의한 평균지엽수집공정이 $37.66m^3$/일, 굴삭기 그래플에 의한 평균 작업로의 개설공정이 73.8 m/일로 나타났으며, 바퀴식 미니포워더와 굴삭기 그래플 및 소형 운재차에 의한 평균 소운재 작업공정이 각각 $15.73m^3$/일과 $65.03m^3$/일로 나타났다.

• 한국안전학회지
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• 제35권1호
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• pp.12-17
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• 2020

This paper analyzes functions of component parts of D-Urban Railway's door system along with operation obstacle risks on frequency(the number of occurrences/year) and severity(delay time/the number of occurrences). Based on this, the paper presents improvements and current system's problems after obstacle risks of EMU and door system are appled. The obstacle of door system causes corrosion of main parts such as DCU due to heat problem of operation environment, problems of maintenance methods and deterioration. DCUs on PCBs with more than 50% pattern corrosion cause problems. Even though the number of door system's obstacle occurrences for the last 5 years is 42, along with 104 minutes of operation obstacle, EMU operation obstacle risk is low(Level 1), which indicates there is limit in matrix of railway risks presented by the standard of railway safety management system. Therefore, it is necessary to have railway risk matrix suitable for the field. Finally, the paper deducts the obstacle risks through frequency and severity. Since 2017 when the risks of EMU and door system's obstacle, that of EMU has been 24(47% reduced) and that of door system has been average 9.5 per year(23% reduced).