• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.10
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• pp.1879-1885
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• 2017

This paper discusses the trajectory tracking system of unmanned ground vehicles based on predictive control. Because the unmanned ground vehicles can not satisfactorily complete the path tracking task, highly efficient and stable trajectory control system is necessary for unmanned ground vehicle to be realized intelligent and practical. According to the characteristics of unmanned vehicle, this paper built the kinematics tracking models firstly. Then studied algorithm solution with the tools of the optimal stability analysis method and proposed a tracking control method based on the model predictive control. The controller used a kinematics-based prediction model to calculate the predictive error. This controller helps the unmanned vehicle drive along the target trajectory quickly and accurately. The designed control strategy has the true robustness, simplicity as well as generality for kinematics model of the unmanned vehicle. Furthermore, the computer Simulink/Carsim results verified the validity of the proposed control method.

• The Journal of Engineering Geology
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• v.19 no.2
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• pp.205-215
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• 2009

The conventional numerical models to analyze flow in subsurface porous media under the transient state usually generate numerical oscillation and unstability due to local flux domain for critical cases such as infiltration into initially dry soil during rainfall period. In this case, it is required refined mesh and small time step, but it decrease efficiency of computation. In this study, numerical unstability in discontinuity domain is removed by applying particle tracking algorithm to simulate unsteady subsurface flow with inflow boundary condition. Finally the hybrid LE FEM improving numerical stability is proposed. The hypothetical domains with unsteady uniform and nonuniform flow field were used to demonstrated algorithm verification. In comparison with analytic solution, we obtained reasonable results and conducted simulation of hypothetical 3-D recharge/pumping area. The proposed algorithm can simulate saturated/unsaturated porous media with more practical problems and will greatly contribute to accuracy and stability of numerical computation.

• The Transactions of the Korea Information Processing Society
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• v.7 no.12
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• pp.3815-3820
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• 2000

This paper is about the minimum requirements to solve the Election problem in asynchronous distributed systems. The focus of the paper is to find out what failure detector is the weakest one to solve the Election problem. We first discuss the relationship between the Election problem and the Consensus problem in asynchronous distributed systems with unreliable failure detectors and show that the Election problem is harder than the Consensus problem. More precisely, the weakest failure detector that is needed to solve this problem is a Perfect Failure Detector. which is strictly stronger than the weakest failure detector that is needed to solve Consensus.

• Journal of Broadcast Engineering
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• v.19 no.3
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• pp.329-341
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• 2014

Kernel-based mean-shift object tracking has gained more interests nowadays, with the aid of its feasibility of reliable real-time implementation of object tracking. This algorithm calculates the best mean-shift vector based on the color histogram similarity between target model and target candidate models, where the color histograms are usually produced after uniform color-space quantization for the implementation of real-time tracker. However, when the image of target model has a reduced contrast, such uniform quantization produces the histogram model having large values only for a few histogram bins, resulting in a reduced accuracy of similarity comparison. To solve this problem, a non-uniform quantization algorithm has been proposed, but it is hard to apply to real-time tracking applications due to its high complexity. Therefore, this paper proposes a fast non-uniform color-space quantization method using the histogram equalization, providing an adjusted histogram distribution such that the bins of target model histogram have as many meaningful values as possible. Using the proposed method, the number of bins involved in similarity comparison has been increased, resulting in an enhanced accuracy of the proposed mean-shift tracker. Simulations with various test videos demonstrate the proposed algorithm provides similar or better tracking results to the previous non-uniform quantization scheme with significantly reduced computation complexity.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.26 no.2B
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• pp.161-170
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• 2006

A tracer test technique using a radioisotope was proposed to investigate pollutant mixing characteristics in rivers. The main advantages of radioisotope as a tracer in field tests are that it can be detected easily, and that its detection range is quite large. Also, using the radioisotope, the amount sorbed by the bed material and the biota may be a minimum. Field tracer tests were conducted at seven different sites in natural rivers with various meandering pattern. Based on the acquired data, the behavior of the tracer cloud in the intermediate-field was examined two-dimensionally, and dispersion coefficients were calculated using several evaluation methods. Results revealed that the tracer cloud was transported skewed to the outer bank and dispersion coefficients in bends were larger than those in straight reaches.

• KIPS Transactions on Software and Data Engineering
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• v.7 no.9
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• pp.325-334
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• 2018

Requirement traceability should be continuously maintained in software development and evolution. However, it is usually updated in practice in the quality assurance phase. The gap between "is" and "should" exists due to the fact that developers must invest considerable effort to update requirement traceability while being able to obtain only marginal benefit from the updated traceability. To close this gap, we propose a spreadsheet application that enables developers to flexibly change mappings in a requirement traceability matrix. In this way, developers can reduce their effort in updating the requirement traceability matrix, but still obtain the common form of a requirement traceability matrix on a spreadsheet. The proposed application maintains the mappings between two artifacts on each sheet so that, whenever an artifact item changes, developers can instantly insert the relevant mapping changes. Then, when developers desire the common form of a requirement traceability matrix, the proposed application calculates the mappings among several artifacts and creates the matrix. The application also checks traceability errors and calculates the metrics so that developers can understand the completeness of the matrix. To understand the applicability of the proposed approach, we conducted a case study, which shows that the proposed application can be applied to the real project and easily incorporate the mapping changes.

• Proceedings of the Korea Water Resources Association Conference
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• 2012.05a
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• pp.194-194
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• 2012

본 연구에서는 자연하천에서 Rhodamine-WT를 이용하여 추적자 실험을 수행하고 이를 바탕으로 오염사고대응예측모델에 대한 검증을 실시하고자 하였다. 최근 국내에서는 다양한 형태와 규모의 수질오염사고가 매년 수십건 이상 발생하고 있으며, 따라서 수치모형 기반의 수질오염 사고 대응 예측시스템에 대한 높은 신뢰성이 요구되고 있다. 수질사고에 노출되어 있는 지표수를 각종 용수로서 안전하게 공급하기 위해서는 정확한 수질예측이 필수적이며, 이를 위해서 수십 년간 연구되어 온 수질모델을 오염사고 대응예측시스템에 적합하도록 정확성과 신뢰성을 갖추기 위한 연구가 진행되어야 한다. 수치 모형을 이용한 물질의 이송 및 확산 모의에서는 오염물질 도달시간과 확산 농도를 결정하는 것이 가장 중요한 요소이므로 이송 및 확산 모의에 대한 검증 기법 개발 및 적용이 필요하다. 본 연구에서는 낙동강수계 지류하천인 감천에서 추적자 실험을 4회 실시하여 측정한 수리량과 농도 실측치를 이용하여 분산계수를 종 횡분산계수 산정이 가능한 2차원 유관추적법을 적용하여 산정하였다. 각 단면에 유속은 ADV-3차원 유속계인 Flow-Tracker를 사용하여 도섭으로 측정하였으며 하천의 흐름 방향의 직각으로 측선을 설치하고 펌프를 이용하여 채수를 한 다음 Rhodamie WT의 농도를 측정하였으며 측선의 위치 보정은 GPS를 통하여 보정하였다. 측정 자료를 이용하여 2차원 유관추적법으로 분산계수를 산정한 결과 각각의 측선에 따라서 다소 차이가 발생하였으며, 일부 구간에서는 이론식으로 계산한 분산계수와 근사한 값이 나타났다. 이는 사주가 매우 발달하고 만곡이 많은 실험구간의 특성상 Elder와 Fischer 식으로 계산한 값과 차이가 발생할 가능성이 높은 구간이기 때문인 것으로 판단된다. 또한 하폭에 대한 수심비가 커질수록 분산계수도 증가하고 평균유속에 대한 전단유속에 비에 비례하는 것으로 나타났다.

• Journal of the Korea Society for Simulation
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• v.28 no.2
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• pp.131-137
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• 2019

The operation of the precision-guided missiles with seekers is becoming more and more dominant since the modern wars became geographically localized like anti-terror campaigns and civil wars. Imaging seekers are relatively low-price and applicable to various operational conditions. The image tracker, however, requires highly advanced method for the target tracking under harsh missile flight condition. Missile roll can reduce the tracking performance since it introduces big differences in imagery. The missile roll is inevitable because of the disturbance and flight control error. Consequently, the errors of the subsystems should be under control for the stable performance of the tracker and the whole system. But the performance prediction by some simple metric is almost impossible since the target signature and the tracker are highly nonlinear. We established M&S tool for a precision-guided missile with imaging seeker and analyzed the roll effects to tracking and system performance. Furthermore, we defined the specification of missile subsystems through error analysis to guarantee system performance.

• Proceedings of the Korea Water Resources Association Conference
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• 2008.05a
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• pp.709-713
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• 2008

관로의 수리학적 홍수추적은 정확성을 기할 수 있다는 장점이 있으나 2차원 해석을 할 경우 광범위한 관망의 개별적인 계산이 요구되어 계산시간이나 수월성 측면에서 어려움이 있다. 이에 본 연구에서는 2차원 관망을 1차원으로 전환시키는 방법인 등가하천 개념을 도입하여 도시유역의 유출량 산정에 있어서 여러 지선들을 개별적으로 모의하지 않으면서도 실제 존재하는 지선들의 효과를 고려할 수 있는 방법을 개발하고자 하였다. 등가하천 개념의 관망 적용을 통해 등가관로의 수리기하조건을 유도하였으며 이를 이용하여 관망 간략화 홍수추적을 수행하였다. 등가관로 홍수 추적을 위해 Saint-Venant 방정식에서 유도된 비선형 확산파 방정식이 사용되었으며 이의 수치모의를 위해 양해법을 이용하였다. 본 연구에서는 등가하천 개념 적용을 통해 결정된 군자배수구역의 등가관로 수리매개변수인 파속 및 확산계수를 이용하여 확산파 방정식에 의해 홍수추적을 실시하였고, 그 결과를 SWMM에 의한 2차원 관망 해석결과와 비교하였다. 검토결과 등가관로를 통한 홍수추적결과가 실제 관망분포를 그대로 고려했을 경우를 잘 재현하는 것으로 나타나 등가하천개념의 도시유역 적용성을 확인할 수 있었다.

• Annual Conference of KIPS
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• 2012.04a
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• pp.1235-1238
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• 2012

오늘날 소프트웨어가 가지는 규모와 복잡성은 날로 심화되고 있으며, 소프트웨어 개발 시 결함을 찾아 내기 위한 테스트에 많은 시간이 소모되고 있는 실정이다. 이러한 문제점을 해결하기 위해 중요한 기술 중 하나가 결함 위치 추적(Fault Localization)이다. 이 기법을 이용하여 결함을 추적하기 위해서는 다량의 테스트 케이스를 필요로 하며, 추가로 테스트 케이스를 작성하는 것은 또 다른 개발 부하이다. 본 논문에서는 이를 해결하기 위해서 분기별 입력 조합 기반 테스트 케이스 생성방법과 시드 결과 기반 테스트 케이스 생성방법을 제안하였다. 개발자는 본 생성방법을 통해 테스트 케이스 생성에 대한 비용 절감을 기대 할 수 있다. 제안하는 내용의 효용성을 검증하기 위해 실제 예제 코드에 적용하여 평가하였다. 두 가지 방법 모두 무작위 생성한 테스트 케이스에 비해 개발자가 직접 생성하는 것과 유사한 테스트 케이스를 생성하고, 제안 방법으로 생성한 테스트 케이스의 신뢰성을 확인하였다.