라이다 맵 안에서 유니싸이클 모바일 로봇을 활용한 경로 추종 최적 제어

유헌종(Heonjong Yoo),최성곤(Seonggon Choi) 대한전기학회 2023 대한전기학회 학술대회 논문집 Vol.2023 No.5-1

물류센터 관리자의 조직 내 관계수행 능력이 물류센터 성과에 미치는 영향 연구

유헌종 ( Heonjong Yoo ),안우철 ( Woochul Ahn ),안승범 ( Seungbum Ahn ) 한국로지스틱스학회 2015 로지스틱스연구 Vol.23 No.2

물류센터는 SCM 네트워크상의 노드로서 중요한 역할을 담당하고 있으며 물류센터의 성과를 결정하는 요소는 무형자산과 유형자산으로 구분할 수 있다. 지금까지 수행된 연구들은 유형자산의 투입이 물류센터 성과에 미치는 영향을 고찰한 경우가 많았다. 본 연구는 유형자산의 투입뿐만 아니라 물류센터 관리자의 조직내 관계수행능력과 같은 무형자산도 물류센터 성과에 영향을 미칠 수 있다고 가정하고, 물류센터 관리자의 조직 내 관계수행 능력이 물류센터 성과에 미치는 영향에 대해 고찰하였다. 물류센터 종사자들을 조사대상으로 선정하여, 회수된 설문지에 따라 회귀분석을 실시하였다. 연구결과 물류센터 관리자의 조직내 관계수행 능력을 구성하는 요인 중 지적자극, 성장지원, 의사소통, 신뢰는 작업별 소요시간에 유의한 정(+)의 영향을 주는 것으로 나타났고, 개별고려는 완전주문충족에 유의한 정(+)의 영향을 주는 것으로 나타났다. 또한 공동체형성은 매출액에 영향을 주는 것으로 나타났다. 연구를 통해 관리자의 조직 내 관계수행 능력이 물류센터 운영성과에 영향을 미칠 수 있음을 확인하였다. 본 연구에 따르면 기업에서 물류센터 관리자의 관계수행 능력 강화를 위한 노력을 통해 물류센터의 운영성과 향상을 기대할 수 있을 것으로 판단된다. Logistics centers play an important role in the SCM network. There are tangible and intangible assets that are widely considered as suitable variables for measuring performance of logistics centers. However, few confirmatory research have been conducted identifying the relationship between the intangible assets and the performance of logistics centers. Thus, this paper examines the impact of managers`` interorganizational relationship ability on the performance of logistics centers. Based on the sample of 90 professionals in Korea, it shows that intellectual stimulation, commitment to growth, communication, and trust had positive effects on working lead time. Furthermore, individual consideration had a positive impact on perfect order fulfillment. The results also identified that community building had a positive impact on the sales revenue. In conclusion, this study clearly identified that positive relationship building in the managerial level employees can have a positive impact on the overall performance of logistics centers.

라이다 맵 안에서 유니싸이클 모바일 로봇을 활용한 경로 추종 최적 제어

유헌종(Heonjong Yoo),최성곤(Seonggon Choi) 대한전자공학회 2023 대한전자공학회 학술대회 Vol.2023 No.05

상태 흐름 방법을 기반으로 실내 환경에서 외발 자전거 형 이동 로봇을 위한 경로 추종 플랫폼 개발

첸티안 ( Tean Chen ),유헌종 ( Heonjong Yoo ),이경환 ( Kyeonghwan Lee ) 한국농업기계학회 2020 한국농업기계학회 학술발표논문집 Vol.25 No.2

Localization is one of the important method for autonomous indoor robots to recognize it’s own position. In general, navigation of mobile robots is conducted using camera, Lider and GPS. But in case of indoor environment, GPS is unavailable. In this presentation, an autonomous indoor mobile robot, that is, a shuttle robot used a state flow method via ROS network: MATLAB and Linux high-level computers, IMU sensor, and then was able to obtain the cartesian coordinate information of the unicycle type mobile robot. After setting the pre-determined time based on the length of the path in the State Flow block, a path planning which is able to execute the work effectively is established using state flow algorithm. The state flow block produces time-series data sets which represents linear and angular velocities signals. Depending on the numerical values of the signal, the left and right motor rotational speed should be calculated through mobile robot forward kinematics. Several cases are considered: Case I) indicated the linear velocity is set positive certain value, and angular velocity is zero, so that the corresponding mobile robot moves forward. Case II) says that the linear velocity is set positive certain value and angular velocity is set positive certain value, which means the mobile robot turns right. Case III) says that the linear velocity is set positive certain value and angular velocity is set negative certain value, which means the corresponding mobile robot turns left. Case IV) says that the linear velocity is set negative certain value and angular velocity is set zero, which indicates the mobile robot moves backward. The effectiveness of the methods is demonstrated through desktop based developed indoor mobile robot’s control results.

물류기업의 유형·규모에 따른 효율성 비교 분석

안승범 ( Seung-bum Ahn ),유헌종 ( Heonjong Yoo ) 한국로지스틱스학회 2017 로지스틱스연구 Vol.25 No.1

물류대기업의 성장이 중소물류기업에 어떠한 영향을 미치는지, 그리고 2자 물류기업의 성장은 3자 물류기업에 어떠한 영향을 미치는지에 대해서 많은 논의가 있었다. 하지만 지금까지 이에 관한 연구는 많지 않은 실정이었다. 이에 본 연구는 물류기업의 유형과 규모에 따라 효율성 차이가 존재하는지를 규명하고, 이를 바탕으로 물류산업이 나아가야 할 방향을 제시하는 것을 목적으로 하였다. 이를 위해 본 연구는 물류기업을 매출액 규모에 따라 물류대기업과 중소물류기업으로, 내부거래 비중에 따라 2자 물류기업과 3자 물류기업으로 구분하고 효율성 분석 지표로 총자산증가율, 매출액증가율, 매출액영업이익률, 총자산순이익률, 총자산회전율, 자기자본회전율을 선정하여 두 표본 Kolmogorov-Smirnov 검정을 실시하였다. 물류기업의 규모·유형에 따른 두 표본 Kolmogorov-Smirnov 검정 결과 집단 간 효율성 차이는 유의하지 않은 것으로 확인되었다. This study aims to analyze the differences of financial efficient gap in logistics industry by different types: second-party logistics company, third-party logistics company, large sized logistics company, and small & medium sized logistics company. Logistics companies were divided by the internal transaction ratio and sales account. Financial efficiency index consists of six variables (GRTA, GRS, OIS, NITA, TAT, and SET). Two-sample Kolmogorov-Smirnov test was applied to assess the differences of efficiency gap by different types of company. The results demontrate that financial efficiency gap is not significant by company type and scale.

음성 인식 기반 경로 추종 제어 플랫폼 개발

첸티안 ( Tean Chen ),조철현 ( Jo Chulhyun ),유헌종 ( Heonjong Yoo ),이경환 ( Kyeonghwan Lee ) 한국농업기계학회 2021 한국농업기계학회 학술발표논문집 Vol.26 No.1

In this presentation, the state flow method is utilized for path following indoor environment. Here, the novel voice recognition part is incorporated into path tracking problem using TCPIP communication. The two path following scenario was designed, and TCPIP receive block receives ASCII code from Android program. If the ASCII value is bigger than threshold value we set in the TCPIP receive block, the block itself chooses path 1, otherwise the block chooses path 2 in the real-time implementation. In order to implement the voice recognition based platform control, the Android program, MATLAB/SIMULINK program, Linux system are connected through ROS (Robot operating system) node connection. To summarize that, nodes are composed of three parts: the Android program, Linux system, MATLAB/SIMULINK program.

Optimal path navigation in the narrow indoor environment under the waypoint guidance of an autonomous agricultural shuttle vehicle

첸티안 ( Tean Chen ),조철현 ( Jo Chulhyun ),파블러 ( Pablo Vela ),유헌종 ( Heonjong Yoo ),이경환 ( Kyeonghwan Lee ) 한국농업기계학회 2022 한국농업기계학회 학술발표논문집 Vol.27 No.1

Accurate shuttle vehicle localization in the indoor environment on a precise map enables the mobile robot to estimate its position and orientation while moving in the indoor environment more efficiently. Trajectory tracking control is one of the fundamental techniques influencing a mobile robot's autonomous driving performance. MATLAB and Linux are high-level computers to equip the Inertial Measurement Unit (IMU), Velodyne VLP-16 channels LiDAR, and Encoder Sensors with the mobile robot platform. The mobile robot controls using a Robot Operating System (ROS) enabled robot, setup parameters for the differential wheels, and visualizes sensor data in a ROS robot visualization tool. In this paper, our model presents a new path following a method that integrates the pure pursuit algorithm and the state flow algorithm using the ROS Simulink model. The path following algorithm that performs autonomous waypoint navigation and obstacle avoidance method successfully localized and tested indoor environment. The accuracy improvement is demonstrated through several experimental results.

Encoder-based localization method based on pre-built indoor environment map for 2-wheel agricultural indoor mobile robot

첸티안 ( Tean Chen ),조철현 ( Jo Chulhyun ),파블러 ( Pablo Vela ),유헌종 ( Heonjong Yoo ),이경환 ( Kyeonghwan Lee ) 한국농업기계학회 2021 한국농업기계학회 학술발표논문집 Vol.26 No.2

In an agricultural indoor environment like a greenhouse, it is hard to utilize GPS sensor for estimating mobile robot position. So odometry sensor i.g. encoder is needed for indoor agricultural robot localization. In a structured agricultural indoor environment, simultaneous localization and mapping method using multi-sensors such as Lidar, IMU, encoder to find a destination can be inefficient. we propose that encoder-based localization method based on a pre-built indoor environment map for efficient navigation of a 2-wheel agricultural indoor mobile robot. First, we constructed a 2D indoor map using Lidar and IMU data, and in the constructed map, for effective localization of the mobile robot, we divided the free space that the indoor mobile robot can navigate and the obstacles that interfere with the robot's moving in advance. And then to estimate the robot localization we adopt odometer increment model using encoder measurements of the indoor mobile robot. In order to evaluate the localization accuracy performance of our proposed method, we compared with the localization performance of the existing SLAM algorithms- LOAM, LeGo LOAM, A LOAM- for the position accuracy and odometry measurement accuracy with comparison to the position of the pre-built map. The position accuracy and odometry prediction accuracy of our proposed algorithm were evaluated as the average of 96.0% and 97.2% respectively. In the future, we will conduct further experiments in real agricultural indoor environments such as greenhouses.