• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.6
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• pp.549-559
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• 2015

In this paper, an efficient dynamic reactive motion planning method for an autonomous vehicle in a dynamic environment is proposed. The purpose of the proposed method is to improve the robustness of autonomous robot motion planning capabilities within dynamic, uncertain environments by integrating a virtual plane-based reactive motion planning technique with a sensor fusion-based obstacle detection approach. The dynamic reactive motion planning method assumes a local observer in the virtual plane, which allows the effective transformation of complex dynamic planning problems into simple stationary ones proving the speed and orientation information between the robot and obstacles. In addition, the sensor fusion-based obstacle detection technique allows the pose estimation of moving obstacles using a Kinect sensor and sonar sensors, thus improving the accuracy and robustness of the reactive motion planning approach. The performance of the proposed method was demonstrated through not only simulation studies but also field experiments using multiple moving obstacles in hostile dynamic environments.

• Journal of the Korea Society for Simulation
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• v.20 no.4
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• pp.105-114
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• 2011

The roadmap-based planning is a path planning method which is used widely for a goal-directed movement in Robotics and has been applied to the world of computer animation such as computer games. However it is unnatural for computer characters to follow the path planned by the roadmap method as it is performed in Robotics. Flocking which is used for realistic and natural movements in computer animation enables character's movement by using a few simple rules without planning unlike the roadmap method. However it is impossible to achieve a goal-directed movement with flocking only because it does not keep states. In this paper we propose a simulation method which combines planning based on the road map with reactive actions for natural movements along the path planned. We define and implement steering behaviors for a leader which are needed to follow the trajectory naturally by analysing characteristics of roadmap-based paths and for the rest of members which follow the leader in various manners by detecting obstacles. The simulations are performed and demonstrated by using the implemented steering behaviors on every possible combination of roadmap-based path planning methods and models of configuration spaces. We also show that the detection of obstacle-collisions can be done effectively because paths are planned in the configuration space in which a moving object is reduced to a point.

• Proceedings of the Korean Institute of Surface Engineering Conference
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• 2009.05a
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• pp.154-154
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• 2009

경질 3가 크롬 도금액은 내적인 구성 조성물의 화학비나, 외적인 온도, 시간 등 여러 가지 실험인자들의 복잡한 작용으로 인해 어떤 인자가 어떠한 작용에 상호 영향을 미치는지 파악하기가 쉽지 않다. 통계 프로그램을 사용하여 실험계획법을 작성하고, 측정된 반응치료로부터 분석을 실시하여 최적경사경로를 도출하였다. 또한, 잔차분석과 호감도 함수를 이용한 최적화가 진행되었다.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2007.04a
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• pp.320-323
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• 2007

웹 서비스와 같은 분산된 환경에서, 특정 서비스를 수행하기 위해서는 원격의 컴퓨터나 사이트상에서 다중 에이전트들의 협업을 통해 이루어진다. 이때 서비스는 여러 에이전트들의 복잡한 행위들에 의해 구성된다. 또한 지능적인 서비스를 위해서는 에이전트들의 상태정보, 목적정보, 그리고 계획정보 등을 이용한다. 특히 계획정보는 에이전트들이 일련의 행위들로 구성된다. 하지만 계획수립을 위한, 기존 연구들 대부분은 정적으로 기술된 서비스 명세와 초기상태 정보를 이용하여 특정 목표를 만족시키는 단일 계획 생성 방법을 연구해왔다. 따라서 계획수립이 실행 도중에 기대하지 않은 네트워크 장애나 방해 등으로 서비스 수행을 실패하는 경우, 그 계획은 무효가 되고 다시 계획을 생성 해야만 한다. 그러나 다시 계획을 생성하기 위해서는 많은 시간을 소비하게 될 뿐만 아니라 태스크 중복이 불가피하므로 매우 비효율적이다. 이 논문에서는 강건한 계획수립과 그 계획을 실행하기 위한 효과적인 방법을 제안한다. 즉, 계획수립의 재생성을 피하기 위한 방법으로 단일 계획수립 대신에 실행 가능한 다중 계획들로 표현된 강건한 계획을 생성하는 것이다. 강건한 계획의 행위들이 실행되는 동안, 각 단계마다 실행 가능한 행위를 선택한 후, 그 행위를 실행한다. 그러나 선택된 행위가 실행결과를 낼 수 없을 경우, 대체 가능한 서브 계획 경로를 선택하여 실행한다. 강건한 계획을 표현하기 위해 페트리 넷 기반의 방법을 제안한다. 강건한 계획 생성 방법에서는 이용 가능한 모든 계획들을 입력으로 사용한다. 그 계획수립 방법은 HTN 계획수립기로 잘 알려진 JSHOP2 계획수립기내에 구현하였다. 계획 실행 방법으로는 주어진 강건한 계획에 대하여 행위들이 직접 실행하수 있도록 한다.며 용량에 의존하는 양상을 보였다. $H_2O_2$에 의해 유발(誘發)된 DNA의 손상은 catalase와 deferoxamine에 의해 억제되었지만 DPPD는 억제시키지 못했다. 배기음(排氣飮)은 $H_2O_2$에 의해 유발(誘發)된 ATP의 소실을 회복시켰다. 이러한 실험결과 $H_2O_2$에 의해 유발(誘發)된 세포(細胞)의 손상(損傷)은 지질(脂質)의 과산화(過酸化)와는 다른 독립적인 기전에 의해 일어남을 나타낸다. 결론 : 이러한 결과들로 볼 때 Caco-2 세포(細胞)에서 배기음(排氣飮)이 항산화작용(亢酸化作用)보다는 다른 기전을 통하여 Caco-2 세포안에서 산화제(酸化劑)에 의해 유발(誘發)된 세포(細胞)의 사망(死亡)와 DNA의 손상(損傷)을 방지할 수 있다는 것을 가리킨다. 따라서 본 연구(硏究)는 배기음(排氣飮)이 반응성산소기(反應性酸素基)에 의해 매개된 인체(人體) 위장관질환(胃腸管疾患)의 치료(治療)에 사용할 수 있을 가능성(可能性)이 있음을 제시하고 있다.에 이를 이용하여 유가배양시 기질을 공급하는 공정변수로 사용하였다 [8]. 생물학적인 폐수처리장치인 활성 슬러지법에서 미생물의 활성을 측정하는 방법은 아직 그다지 개발되어있지 않다. 본 연구에서는 슬러지의 주 구성원이 미생물인 점에 착안하여 침전시 슬러지층과 상등액의 온도차를 측정하여 대사열량의 발생량을 측정하고 슬러지의 활성을 측정할 수 있는 방법을 개발하였다.enin과 Rhaponticin의 작용(作用)에 의(依)한 것이며, 이는 한의학(韓醫學) 방제(方劑) 원리(原理)인 군신좌사(君臣佐使) 이론(理論)에서 군약(君藥)이 주증(主症)에 주(主)로 작용(作用)하는 약물(藥物)이라는 것을 밝혀주는

• Journal of Korean Society of Transportation
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• v.33 no.4
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• pp.405-416
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• 2015

This paper developed a method analyze drivers' response characteristics using spectral analysis with car following data. Cross-correlation function and cross spectrum are produced by Fourier transform from speed fluctuations of leading vehicle and following vehicle during the designated time ${\tau}$. Based on the analysis data, a process to calculate the reaction time and stimulus-adaption index of following vehicle was developed and 170 cases of field data was applied. It was reported average of 0.654 and 2.091 seconds of stimulus-adaption index and reaction time respectively. In conclusion, the developed indexes might contribute to enhance vehicle control of autonomous vehicle more efficient and safer.

• Journal of the Korean Institute of Landscape Architecture
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• v.19 no.1
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• pp.45-59
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• 1991

본 연구에서는 객관적 환경지표와 그에 대한 인간의 주관적 반응간 의 인과적 관련도의 중요성이 강조된다. 좀 더 구체적으로, 거주자의 주관 적 반응인 주거만족과 객관적 환경지표의 하나인 주거환경유형들(건물유형 과 건물배치유형)과의 인과적 관련도가 본 연구에서 중점적으로 토의된다. 한국의 6개 대단위 공동주택단지가 본 연구의 대상지로 선정되었고, 표본 추출시 건물유형과 건물배치유형을 고려한 다단계 표집방법(multistage sampling)이 사용되었다. 설문면답방법(modified structured survey)에 의해 646명의 처리 가능한 응답이 수거되었다. 인과모형 검증의 첫 단계로서 다 수의 설문문항을 원래 관심있는 소수의 변수로 정선, 추출하기 위한 방법 으로 요인분석이 사용되었다. 요인분석으로부터 정선, 추출된 변수를 이용 해서 본 연구의 가설모형이 정립되고, 그 모형을 검증하기 위한 방법으로 경로분석이 사용되었다. 분석결과를 요약해 볼 때, 건물유형과 건물배치유 형 모두가 거주자의 지각, 인식, 태도 등의 적절한 매개변수들을 통해 거주 자의 주거만족에 유의한 영향을 미치는 것으로 나타났다. 건물유형은 일반 적으로 저층주거에서 고충주거로 바뀌면서, 거주자의 주거만족에 부정적인 영향을 미치고 있음이 확인되었고, 고층주거가 거주자에게 주는 시각적 단 조로움, 과밀감, 그리고 주차장을 포함한 옥외공간 이용상의 불편들과 또 그들로 인한 낮은 안전성 및 경관에 대한 불만족 등이 그 이유로서 밝혀졌 다. 건물배치유형의 경우, U자형의 배치유형이 선형배치유형에 비해 과밀 감 해소, 시각적 명료성 향상, 그리고 옥외공간 이용상의 편리 등 및 또 그 에 따른 경관에 대한 만족의 향상 때문에 거주자의 주거만족을 높이는 데 유리한 것으로 나타났다. 주거와 관련된 설계 및 계획분야를 위한 여러 다 양한 제안들이 본 연구에서 제시되고, 추후 관련 연구들을 위한 가능성들 도 토의되었다. 그 유용성 때문에, 아직 많은 이론적, 방법론적, 그리고 분 석상의 문제에도 불구하고, 객관적 환경지표들과 이용자들의 만족을 포함 한 다양한 주관적 변수들과의 관계를 경험적으로 밝히려는 시도가 계속되 어야 할 것으로 사료된다.

• KDI Journal of Economic Policy
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• v.13 no.1
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• pp.115-134
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• 1991

The role of pension plans in the macroeconomy has been a subject of much interest for some years. It has come to be recognized that pension plans may alter basic macroeconomic behavior patterns. The net effects on both savings and labor supply are thus matters for speculation. The aim of the present paper is to provide quantitative results which may be helpful in attaching orders of magnitude to some of the possible effects. We are not concerned with the providing empirical evidence relating to actual behavior, but rather with deriving the macroeconomic implications for a alternative possibilities. The pension plan interacts with the economy and the population in a number of ways. Demographic variables may thus affect both the economic burden of a national pension plan and the ability of the economy to sustain the burden. The tax transfer process associated with the pension plan may have implications for national patterns of saving and consumption. The existence of a pension plan may have implications also for the size of the labor force, inasmuch as labor force participation rates may be affected. Changes in technology and the associated changes in average productivity levels bear directly on the size of the national income, and hence on the pension contribution base. The vehicle for the analysis is a hypothetical but broadly realistic simulation model of an economic- demographic system into which is inserted a national pension plan. All income, expenditure, and related aggregates are in real terms. The economy is basically neoclassical; full employment is assumed, output is generated by a Cobb-Douglas production process, and factors receive their marginal products. The model was designed for use in computer simulation experiments. The simulation results suggest a number of general conclusions. These may be summarized as follows; - The introduction of a national pension plan (funded system) tends to increase the rate of economic growth until cost exceeds revenue. - A scheme with full wage indexing is more expensive than one in which pensions are merely price indexed. - The rate of technical progress is not a critical element in determining the economic burden of the pension scheme. - Raising the rate of benefits affects its economic burden, and raising the age of eligibility may decrease the burden substantially. - The level of fertility is an element in determining the long-run burden. A sustained low fertility rate increases the proportion of the aged in total population and increases the burden of the pension plan. High fertility has inverse effects.

• Korean Journal of Social Welfare
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• v.67 no.2
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• pp.85-112
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• 2015

This study examined the relationship structure among personal and social cognitive factors contributing to professional help-seeking decisions to relieve distress of those in low-income, then suggested an appropriate model to inform knowledge for better social work practice. Using data of a purposive sampling from 331 low-income people, covariance structural analyses were conducted in two stages of model exploration, one for TPB model and another for its extended model including the level of distress, family support, and willingness. As results, in the path analyses with the observed variables of the basic components of the TPB, subjective norm showed the strongest effect on the intention, following by attitudes towards help-seeking, then behavioral control the least; in turn both the intention, positively, and behavioral control, negatively, contributed to help-seeking decisions. In the second stage of the path analyses with the extended model of the TPB, each of distress and family support demonstrated direct positive effect on each of attitudes, subjective norm, and behavioral control; each of the attitudes, subjective norm, and behavioral control showed positive effect on both intention and willingness; in turn, while intention showed strong positive effect on help-seeking decisions, willingness had no significant effect and behavioral control had negative effect on decisions. There were significant indirect effects of behavioral control on intention through willingness and of willingness on decisions through intention. These results suggested that the TPB model is useful for modeling help-seeking decisions through personal and social cognitions, especially the significance of subjective norm implied the importance of social cognition for the people in low-income with distress. Further, it was implied that the extended model needs to address particularity of those people in low-income and the mechanism shown by behavioral control and willingness implied the importance of practicing respect for the client's autonomy and will for self-support in social work practice.

• Journal of Korea Water Resources Association
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• v.33 no.6
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• pp.775-782
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• 2000

Water quality models can be applied to manage the regional water quality problems and to estimate the target and allowable pollution load in watershed effectively. Since the models such as QUAL2E, W ASP5 and HSPF need many data and are not easily applied in real systems, the water quality model, which would be simple and easily applicable, has been required. Thus, an Analytical Model of BOD(AMB) considering travel time of pollutant was developed for the total pollution load regulation in drainage basin. It was found that the main stream length of a sub-basin in the AMB should be shorter than 7km and the length of distributed pollutant load should also be shorter than 3.5km in a sub-basin. The basin in the AMB could be divided into sub-basins with almost same hydraulic characteristics and reaction rate constant satisfying the proposed stream length. The running results of the AMB in a small stream were very close to the results of QUAL2E, which is widely used one in the world. Therefore, the AlVIB can be used to regulate the total pollution load in drainage district by local government.rnment.

• The Journal of the Korea Contents Association
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• v.16 no.6
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• pp.135-150
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• 2016

This study aims to investigate how perceived interactivity between the mobile messenger application and its user gives rise to user's enjoyment and continuous usage intention. Perceived interactivity was assumed to be formed by the combination of control, share, and responsiveness in light of the previous studies. The relations between perceived interactivity, enjoyment, and usage intention are hypothesized on the basis of the pleasure-arousal-dominance emotional state model, the theory of reasoned action, and the theory of planned behavior. Survey data were collected from 481 mobile messenger users in Korea and China. In order to test hypotheses, structural equation modeling analyses were conducted. As a result, perceived interactivity concerning connectedness and responsiveness not only positively affected enjoyment, but also had a significant effect on usage intention. However, while control positively influenced usage intention, it was not significantly related to enjoyment. In addition, there was a positive relation between enjoyment and usage intention. Incidentally, multi-group analysis was conducted to explore the differences between Korean and Chinese users. The findings would provide managerial implications for mobile messenger corporations on causal effects of perceived interactivity and the differences of the path coefficients between in Korea and China.