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Volume 17, Issue 4 - Dec 2008
Volume 17, Issue 3 - Sep 2008
Volume 17, Issue 2 - Jun 2008
Volume 17, Issue 1 - Mar 2008
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PLC symbol naming rule for auto generation of Plant model in PLC simulation
Park, Hyeong-Tae ; Wang, Gi-Nam ; Park, Sang-Chul ;
Journal of the Korea Society for Simulation, volume 17, issue 4, 2008, Pages 1~9
Proposed in the paper is an automated procedure to construct a plant model for PLC simulation. Since PLC programs only contain the control logic without the information on the plant model, it is necessary to build the corresponding plant model to perform simulation. Conventionally, a plant model for PLC simulation has been constructed manually, and it requires much efforts as well as the in-depth knowledge of simulation. As a remedy for the problem, we propose an automated procedure to generate a plant model from the symbol table of a PLC program. To do so, we propose a naming rule for PLC symbols so that the symbol names include enough information on the plant model. By analyzing such symbol names, we extract a plant model automatically. The proposed methodology has been implemented, and test runs were made.
Random Access Method for the IEEE 802.16 Networks
Kim, Myeong-Hwan ; Kook, Kwang-Ho ; Lee, Kang-Won ; Kim, Young-Il ;
Journal of the Korea Society for Simulation, volume 17, issue 4, 2008, Pages 11~19
To enhance the performance of the IEEE 802.16 broadband wireless access system, it is necessary to improve the efficiency of the radio link. The efficiency of the uplink can be improved by using more efficient random access method. As new random access methods, we propose a RA_NBRM method which is based on the number of bandwidth request messages and a RA_CRA method which is based on the conflict resolution algorithm. The simulation results show that the performance of the new methods is superior to that of the existing binary exponential backoff method.
Design and Implementation of Upstream Channel Allocation Algorithm for DOCSIS 3.0 MAC
Kim, Tae-Kyoon ; Ra, Sung-Woong ;
Journal of the Korea Society for Simulation, volume 17, issue 4, 2008, Pages 21~27
In this paper, we design and implement the upstream packet bandwidth allocation algorithm on OPNET-based DOCSIS 3.0 simulator including channel-bonding CM (Cable Modem)s. Previous DOCSIS CM could not support channel bonding, it has problem in upstream bandwidth allocation and determine the contention area. The proposed upstream bandwidth allocation algorithm has been improved the queuing time and success rate. For the simulation, we design the MAC frame structure with channel bonding supported CM and not. And then, this paper design and implement the CMTS node model, CM node model, CMTS process model, and CM process model.
A Simulation Model for an ALV System at a Container Terminal
Bae, Jong-Wook ; Choi, Sang-Hee ; Kim, Chang-Hyun ; Park, Soon-O ;
Journal of the Korea Society for Simulation, volume 17, issue 4, 2008, Pages 29~39
Recently, an ALV (Automated Lifting Vehicle) is studied as an efficient transporter, which can reduce the waiting time during ship operation in a container terminal. There are little of studies on an ALV system considering dynamic factors after analysing the cooperation between equipments. The performance of an ALV depends on self-loading & unloading of an ALV, vehicle’s interference, and occupancy of an available transfer point under dynamic environment. So, it is very difficult to evaluate the productivity of a container terminal with an ALV system. Therefore the simulation model with operational rules that be apt for an ALV system must be developed. Also the model has to consider the characteristics of interface operations and vehicle traffic. Supposing an container terminal with perpendicular layout, this study analyses the process of container handling operation and proposes operational rules such as the ALV dispatching, routing algorithm and so on for a model. We developed a simulation model for a container terminal with an ALV system using object-oriented simulation software, Anylogic.
Performance Analysis of Two-Location Distance-based Registration in Mobile Communication Network
Suh, Jae-Joon ; Luo, Yong ; Baek, Jang-Hyun ;
Journal of the Korea Society for Simulation, volume 17, issue 4, 2008, Pages 41~50
In this study, an improved scheme for distance-based registration (DBR) is proposed and its performance is analyzed. In the DBR, when a mobile station (MS) enters a new cell, it calculates the distance between last registered cell and current cell and registers its location if the distance reaches reference distance D. In this study, two-location DBR (TDBR) is proposed to improve the performance of the DBR. In the TDBR, an MS stores not only last registered location area (LA) but also previously registered LA, and then no registration is needed when the MS crosses two LAs stored already. However, since the TDBR may increase paging cost, trade-off is necessary between decreased registration cost and increased paging cost. In this study, the performances of two schemes are analyzed and compared using 2-dimensional random walk mobility model in hexagonal cell configuration. We show that our mathematical analysis is accurate by comparing with simulation. From the numerical results for various circumstances, it is shown that our proposed TDBR outperforms current DBR in most cases.
Optimal buffer allocation of the solenoid production line using simulation
Kim, Young-Jin ; Noh, Sang-Do ; Mun, Joung-H. ;
Journal of the Korea Society for Simulation, volume 17, issue 4, 2008, Pages 51~60
The purpose of this study is the use of simulation modelling to enhance productivity. In this paper, the optimal buffer allocation of small and medium size industries which produce solenoid valves for automobiles, is performed using simulations. The simulation model was developed under considerations of production layout, process & operation, process time, total work time, WIP, utilization, failure rate, and operation efficiency as inputs, and it was validated with careful comparisons between real behaviors and simulation outputs of the production line. Therefore, we can evaluate effects and changes in productivity when some strategies and/or crucial factors are changed. Although too large buffer could decrease productivity, the solenoid production line in this paper has been maintained large buffer. It is because reducing the size of buffer could result in the termination of the process. We determined the optimal number of buffers that could not cause any interrupt in productions using simulations. This simulation model considers diverse input variables which could influence productivity, and it is very useful not only for the production line of solenoid valves, but also for other production lines with various purposes, especially, small and medium size industries.
A Multi-stage Markov Process Model to Evaluate the Performance of Priority Queues in Discrete-Event Simulation: A Case Study with a War Game Model
Yim, Dong-Soon ;
Journal of the Korea Society for Simulation, volume 17, issue 4, 2008, Pages 61~69
In order to evaluate the performance of priority queues for future event list in discrete-event simulations, models representing patterns of enqueue and dequeue processes are required. The time complexities of diverse priority queue implementations can be compared using the performance models. This study aims at developing such performance models especially under the environment that a developed simulation model is used repeatedly for a long period. The developed performance model is based on multi-stage Markov process models; probabilistic patterns of enqueue and dequeue are considered by incorporating non-homogeneous transition probability. All necessary parameters in this performance model would be estimated by analyzing a results obtained by executing the simulation model. A case study with a war game simulation model shows how the parameters defined in muti-stage Markov process models are estimated.
Combined discrete event and discrete time simulation framework for the improvement of shipbuilding process planning
Cha, Ju-Hwan ; Roh, Myung-Il ; Bang, Kyung-Woon ; Lee, Kyu-Yeul ;
Journal of the Korea Society for Simulation, volume 17, issue 4, 2008, Pages 71~80
In this study, a simulation framework, which can support developing various simulation systems for the improvement of process planning in shipbuilding such as the block erection, the block turn-over, and so on, is proposed. In addition, a simulation kernel, which is a key component of the simulation framework, is implemented according to the concept of the combined discrete event and discrete time simulation. To evaluate the efficiency and applicability of the proposed simulation framework, it is applied to the block erection process in shipbuilding. The result shows that the proposed simulation framework can provide the consistent, integrated development environment for a simulation system, as compared with existing studies and commercial simulation systems.
Implementation and Performance Evaluation of ELM-MAC Protocol for Energy Efficiency in Sensor Networks
Yun, Phil-Jung ; Kim, Chang-Hwa ; Kim, Sang-Kyung ;
Journal of the Korea Society for Simulation, volume 17, issue 4, 2008, Pages 81~88
It is important to study the energy efficient MAC protocol in sensor networks. We propose a new protocol named as ELM?MAC (Energy efficient Link Management MAC) to increase energy efficiency in sensor networks. ELM-MAC protocol operates, uses, and manages the optimized transmission power level to increase energy efficiency in MAC layer. It includes mechanism that uses the adaptive method in change of surround environment for guarantee of link quality. In this paper we implement ELM-MAC and evaluate its performance.
Periodic and Pseudo-static Channel Time Allocation Scheme for IEEE 802.15.3 High-Rate Wireless PANs
Kim, Sun-Myeong ;
Journal of the Korea Society for Simulation, volume 17, issue 4, 2008, Pages 89~97
In wireless personal area networks (WPANs), the successful design of channel time allocation algorithm is a key factor in guaranteeing the various quality of service (QoS) requirements for the stringent real-time constraints of multimedia services. In this paper we propose a channel time allocation algorithm for achieving a high quality transmission and high channel error tolerance of MPEG stream in the IEEE 802.15.3 high-rate wireless PANs. Our algorithm exploits the characteristics of MPEG stream. When a new MPEG stream arrives, a DEV models it by the traffic envelope and delivers the traffic envelope to the piconet coordinator (PNC) along with the channel time request. The PNC performs channel time allocation according to the envelope. Performance of the proposed scheme is investigated by simulation and analysis. Our results show that compared to conventional scheme, the proposed scheme is very effective and provides a good performance under typical channel error conditions.
A Centralized Arbitration Scheme to Avoid Collisions of UHF Band RFID Readers
Bae, Sung-Woo ; Ryu, Won-Sang ; Ahn, Si-Young ; Yang, Jung-Kyu ; Kim, Yun-Ho ; Kim, Jun-Hyung ; Oh, Ha-Ryoung ; Seong, Yeong-Rak ; Park, Jun-Seok ;
Journal of the Korea Society for Simulation, volume 17, issue 4, 2008, Pages 99~112
In the passive UHF (860-960MHz) RFID communications, which consists of a set of readers and tags, the readers normally interrogate the tag by using the backscatter mechanism. (i.e., tag response). In practical RFID environment, where multiple readers or tags exist; the interference causes collisions. This paper proposes a centralized arbitration scheme for avoiding the collision problems among multiple readers. The proposed centralized arbitration scheme is modeled in software environments, and is verified with simulation results. Simulated performance is focused on completion time, utilization and response time, and the simulation results show that our proposed scheme provides satisfactory performance grade.
Design and Implementation of Sensor Network Actors Supporting Ptolemy Tool
An, Ki-Jin ; Joo, Hyun-Chul ; Oh, Hyung-Rae ; Kim, Young-Duk ; Yang, Yeon-Mo ; Song, Hwang-Jun ;
Journal of the Korea Society for Simulation, volume 17, issue 4, 2008, Pages 113~122
Emerging of wireless sensor networks results in several modeling and design issues on the network simulations. In previous works, most researchers have used three evaluation approaches such as analysis method, computer simulation and real test-bed measurement in order to verify the performance of wireless sensor networks. Among these approaches, analysis method is widely used since the other approaches have significant drawbacks such as limitation of network power, computational problem of distribute processing and complication of debugging process. However, the analysis method also shows poor performance when it deals with complex operations in huge wireless sensor networks. Thus, in this paper, we design and develop SMAC and AODV protocols by using Ptolemy tool in order to improve the simulation performance. The developed Ptolemy actor can be easily adapted to compare and evaluate the various protocols for wireless sensor networks.
Implementation and Performance of Energy-efficient Node Management in Wireless Sensor Networks
Ji, Kyoung-Bok ; Kim, Sang-Kyung ; Kim, Chang-Hwa ;
Journal of the Korea Society for Simulation, volume 17, issue 4, 2008, Pages 123~131
Many researches have been actively performed to increase energy efficiency in wireless sensor networks. In these researches communication has been the most important target for reducing energy consumption. In fact, in most cases, the frequencies of communication and sensing in a sensor node affect its energy consumption. Therefore, sensing period and transmission period need to be controlled to increase energy efficiency. This paper proposes on energy efficient and restricted query flooding mechanism using service discovery. Further, we implement node management system based on the mechanism and evaluate its performance.
Development of Simulator for Designing Unidirectional AGV Systems
Lee, Gyeong-Jae ; Seo, Yoon-Ho ;
Journal of the Korea Society for Simulation, volume 17, issue 4, 2008, Pages 133~142
AGV systems are widely used to increase the flexibility and the efficiency of the material handling systems. AGV systems are one of critical factors which determine the overall performance of the manufacturing systems. To this end, the optimal design for AGV systems is essential. Commercial simulation software is often used as an analysis tool during the design of AGV systems, however a series of procedures are desirable to simplify the analysis processes. In this paper, we present and develop the architecture for unidirectional AGV systems simulator which is able to consider approximate optimal unidirectional flow path and various operational parameters. The designed AGV systems simulator is based on JAVA, and it is developed to support designing approximate optimal unidirectional network by using Tabu search method. In addition, it enables users to design and evaluate AGV systems and to analyze alternative solutions easily. Simulation engine is consists of layout designer, AGV operation plan designer, and integrated AGVS layout designer. Users enter their system design/operation information into input window, then the entered information is automatically utilized for modeling and simulating AGV systems in simulation engine. By this series of procedures, users can get the feed back quickly.
An Improvement of Hit-probability and an Efficient Counter-fire Execution
Kim, Se-Yong ; Lee, Jae-Yeong ;
Journal of the Korea Society for Simulation, volume 17, issue 4, 2008, Pages 143~152
At an initial battle stage, counter-fire capability have critical impact on defeating the enemy in the future warfare. In this paper, we proposed an efficient method of counter-fire execution. To do that, hit-probability for each artillery type was evaluated using CEP and applied to calculate new target reference table of a counter-fire operation. In order to compare new result to the one obtained by using previous reference table from BTCS, we did simulation using MANA model. Simulation outputs show that new method is superior to previous method of counter-fire operation in various scenarios depending upon each method and usage of UAV.
Transport Performance Analysis of the SDR-based Interworking Networks Using DEVS Methodology
Song, Sang-Bok ; Lee, Kyou-Ho ; Jang, Won-Ick ;
Journal of the Korea Society for Simulation, volume 17, issue 4, 2008, Pages 153~158
The technology of Software Defined Radio (SDR) is a possible solution to interwork flexibly between various wireless transport protocols. Ubiquitous network, like u-health service network, includes sensor devices or nodes which do not facilitate all the same transport protocols to access network. As such this may be in such unreachable situations as poverty of all required AP (Access Point)’s, faults or contention in a path of particular protocol communication, etc. This paper presents research results of modeling and simulation to analyze transport performance of multi-protocol ubiquitous network which includes SDR-based interwork nodes and congestion-controlled AP’s. Focusing mainly on dynamics of overall transport performance rather than protocol execution procedures, this paper employs the Zeigler’s DEVS (Discrete Event Systems Specification) methodology and DEVSim++simulation environment to experiment.
A Fuzzy AHP based Decision making Model for ground operations
Lee, Young-Kyun ; Kim, Ki-Ang ; Na, Hong-Bum ; Park, Jin-Woo ;
Journal of the Korea Society for Simulation, volume 17, issue 4, 2008, Pages 159~165
The ROK army has equipped ATCIS (Army Tactical Control Information System) for the Corps echelon to visualize the battlefield and reduce the reaction time. Due to the information&surveillance equipment, uncertainty and variance of the battlefield have been decreased. However decision making for the ground operations has not changed as it depends on knowledge of the commander and staffs. The War game process to select and assess the best CoA (Course of Action) also depends on the pros and cons due to the limitation of time and capability. For the balanced development between intangible and tangible military strength, a new decision making process which is quantitative and useful for the military is needed. In this study, we suggest a Fuzzy-AHP based decision making model to improve troop leading procedure which is useful to evaluate and reflect intangible characteristics of the battlefield.
Confocal Microscopy Image Segmentation and Extracting Structural Information for Morphological Change Analysis of Dendritic Spine
Son, Jeany ; Kim, Min-Jeong ; Kim, Myoung-Hee ;
Journal of the Korea Society for Simulation, volume 17, issue 4, 2008, Pages 167~174
The introduction of confocal microscopy makes it possible to observe the structural change of live neuronal cell. Neuro-degenerative disease, such as Alzheimer;s and Parkinson’s diseases are especially related to the morphological change of dendrite spine. That’s the reason for the study of segmentation and extraction from confocal microscope image. The difficulty comes from uneven intensity distribution and blurred boundary. Therefore, the image processing technique which can overcome these problems and extract the structural information should be suggested. In this paper, we propose robust structural information extracting technique with confocal microscopy images of dendrite in brain neurons. First, we apply the nonlinear diffusion filtering that enhance the boundary recognition. Second, we segment region of interest using iterative threshold selection. Third, we perform skeletonization based on Fast Marching Method that extracts centerline and boundary for analysing segmented structure. The result of the proposed method has been less sensitive to noise and has not been affected by rough boundary condition. Using this method shows more accurate and objective results.
A Study on the Working Effect of UAV Hitting Mine Artillery
Jeong, Young-Ho ; Shin, Ki-Tae ; Chang, Tai-Woo ; Park, Jin-Woo ;
Journal of the Korea Society for Simulation, volume 17, issue 4, 2008, Pages 175~182
The enemy will attempt to destroy our troop's core facilities using various fire supports at the beginning of war. Among these fire supports, artillery is given the most deal of weight and mine artillery is a great threat to our troops because it has a superior predominance on the ability of survival. Our troops are planning to introduce UAV (Unmanned Aerial Vehicle) to overcome these difficulties. A study about hitting mine artillery has been developed inside the military field only. However, these studies had been mostly qualitative analyses, thus having limitations in the aspects of non objectiveness and simplicity. We propose a new method to evaluate about working effect of UAV hitting mine artillery. We studied on hitting mine artillery in a quantitative way using CA (Cellular Automata) simulation.
Wargame Simulator using Semantic Web Service
Kim, Byoung-Chul ; Lee, Kang-Sun ;
Journal of the Korea Society for Simulation, volume 17, issue 4, 2008, Pages 183~189
The next-generation war game simulators need a technique that reuses resources disperse on the web, and reorganizes federates on the fly based on the various events in real time. So far, HLA-based federates limit their interoperability to military networks, and in syntax-level. Web services techniques are widely used in enterprise applications and provide many proven practices to extend interoperability between WAN resources in semantic level. Two problems are met in order to utilize web services into war-game simulator : 1) How to achieve semantic-level interoperability between federates disperse on WAN, 2) How to interoperate web-based federates and RTI-based federates. In this paper, we provide solutions to the problems and highlight advantages using web-based federates with an example of ASuW(Anti-Surface Warfare).
Development of Fragmentation Management Simulator for 6LoWPAN
Seo, Hyun-Gon ; Han, Jae-Il ;
Journal of the Korea Society for Simulation, volume 17, issue 4, 2008, Pages 191~198
6LoWPAN (IPv6 Low-power Wireless Personal Area Network) is IPv6 packets transmission technology at Sensor network over the IEEE 802.15.4 Standard MAC and Physical layer. Adaptation layer between IP layer and MAC layer performs fragmentation and reassembly of packet for transmit IPv6 packets. RFC4944, IETF 6LoWPAN WG standard document define packet fragmentation and reassembly. In this paper, we propose the 6PASim (6LoWPAN Packet Simulator) to perform IPv6 packet fragmentation and reassembly for performance evaluation. The 6PASim consist of two parts. One is Packet_Transmit_module that makes IEEE 802.15.4 frames the IPv6 packet from upper layer, and transmit its. and the another is Packet_Receive_module that reassembles transferred frames and completes original IPv6 packets. we can evaluate frame transmit rate and amount of control message through 6PASim. The result of simulation shows the SRM (Selective Retransmission Method) scheme provider better performance than IRM (Immediate Retransmission Method) scheme.
Firmware Design and system of stepwise synchronization for CMOS image sensor
Park, Hyun-Moon ; Park, Soo-Huyn ; Lee, Myung-Soo ; Seo, Hae-Moon ; Park, Woo-Chool ; Jang, Yun-Jung ;
Journal of the Korea Society for Simulation, volume 17, issue 4, 2008, Pages 199~208
Lately, since Complementary Metal Oxide Semiconductor(CMOS) image sensor system has low power, low cost and been miniaturized, hardware and applied software studies using these strengths are being carrying on actively. However, the products equipped with CMOS image sensor based polling method yet has several problems in degree of completeness of applied software and firmware, compared with hardware’s. CMOS image sensor system has an ineffective synchronous problem due to superfluous message exchange. Also when a sending of data is delayed continually, overhead of re-sending is large. So because of these, it has a problem in structural stability according to Polling Method. In this study, polling cycle was subdivided in high-speed synchronization method of firmware -based through MCU and synchronization method of Stepwise was proposed. Also, re-connection and data sending were advanced more efficiently by using interrupt way. In conclusion, the proposed method showed more than 20 times better performance in synchronization time and error connection. Also, a board was created by using C328R board of CMOS image sensor-based and ATmega128L which has low power, MCU and camera modules of proposed firmware were compared with provided software and analyzed in synchronization time and error connection.
xPMP : UML-based High-Level Modeling of Policy-Driven Management Applications
Tran, Doan Thanh ; Choi, Eun-Mi ;
Journal of the Korea Society for Simulation, volume 17, issue 4, 2008, Pages 209~218
The Unified Modeling Language becomes popular to specify, visualize, construct, and document software-intensive systems, especially in supporting the design phase of software engineering. Most of designs in UML have focused on firm designing of software system structure. Recently, some researches have raised additional demands in many emerging complex software systems, such as aspect-oriented design. In this paper, we work on the dynamic aspect of policy-driven architecture. We present a UML-based high-level modeling of policy-driven management which is applicable in various application domains. In order to manage a number of activities of applications, dynamics and flexibility should be supported with policies consistently on different resources in the same context. Thus, a methodology of meta-modeling to represent dynamic aspects of policy-driven architecture is studied. Based on our methodology, we could achieve meta-modeling to develop a number of policy-driven management applications.
Simulation Environment of DEVS Models using MATLAB/Simulink
Seo, Kyung-Min ; Sung, Chang-Ho ; Kim, Tag-Gon ;
Journal of the Korea Society for Simulation, volume 17, issue 4, 2008, Pages 219~227
The DEVS (Discrete Event Systems Specification) formalism supports specification of discrete event models in a hierarchical modular manner. MATLAB/Simulink is widely used for modeling, simulating and analyzing continuous and discrete time systems. This paper proposes a realization of the DEVS formalism in MATLAB/ Simulink. The proposed design enables to use a great amount of mathematical packages and functions included in MATLAB /Simulink. The design is also employed as real time simulation and hybrid system simulation which is a mixture of continuous systems and discrete event systems. The paper introduces Simulink-DEVS model, in which a simulation algorithm is embedded. The model consists of a Simulink-atomic model and a Simulink-coupled model. In addition, the time advance algorithm to simulate the model is suggested. The algorithm handles the time synchronization and the accommodation of different concepts specific to continuous and discrete event models. Two experimental results are presented for a pure discrete event model and a hybrid model.
SoFA: A Distributed File System for Search-Oriented Systems
Choi, Eun-Mi ; Tran, Doan Thanh ; Upadhyaya, Bipin ; Azimov, Fahriddin ; Luu, Hoang Long ; Truong, Phuong ; Kim, Sang-Bum ; Kim, Pil-Sung ;
Journal of the Korea Society for Simulation, volume 17, issue 4, 2008, Pages 229~239
A Distributed File System (DFS) provides a mechanism in which a file can be stored across several physical computer nodes ensuring replication transparency and failure transparency. Applications that process large volumes of data (such as, search engines, grid computing applications, data mining applications, etc.) require a backend infrastructure for storing data. And the distributed file system is the central component for such storing data infrastructure. There have been many projects focused on network computing that have designed and implemented distributed file systems with a variety of architectures and functionalities. In this paper, we describe a complete distributed file system which can be used in large-scale search-oriented systems.
Blocking Probability in an M/D/1/K Queue
Seo, Dong-Won ;
Journal of the Korea Society for Simulation, volume 17, issue 4, 2008, Pages 241~247
In this study we consider an M/D/1 queue with a finite buffer. Due to the finiteness of the buffer capacity arriving customers can not join the system and turn away without service when the buffer is full. Even though a computational method for blocking probabilities in an M/D/1/K queue is already known, it is very complex to use. The aim of this study is to propose a new way to compute blocking probability by using (max,+)-algebra. Our approach provide a totally different and easier way to compute blocking probabilities and it is, moreover, immediately applicable to more generous queueing systems.
Proactive Operational Method for the Transfer Robot of FMC
Yoon, Jung-Ik ; Um, In-Sup ; Lee, Hong-Chul ;
Journal of the Korea Society for Simulation, volume 17, issue 4, 2008, Pages 249~257
This paper shows the Applied Q-learning Algorithm which supports selecting the waiting position of a robot and the part serviced next in the Flexible Manufacturing Cell (FMC) that consists of one robot and various types of facilities. To verify the performance of the suggested algorithm, we design the general FMC made up of single transfer robot and multiple machines with a simulation method, and then compare the output with other control methods. As a result of the analysis, the algorithm we use improve the average processing time and total throughputs as well by increasing robot utilization, reversely, by decreasing robot waiting time. Furthermore, because of ease of use compared with other complex ways and its adoptability to real world, we expect that this method contribute to advance total FMC efficiency as well.