• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2017.04a
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• pp.37-38
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• 2017

최근 방제 및 예찰과 같은 농작업에 단일 UAV(Unmanned Aerial Vehicle)시스템이 적용되고 있지만, 가반하중과 체공시간 등 기존시스템의 문제가 점차 대두되면서 작업 시간을 보다 단축시키고 작업 효율을 극대화 할 수 있는 농업용 멀티 UAV시스템의 필요성이 증대되고 있다. 본 논문에서는 작업자가 다수의 농업용 UAV를 효과적으로 제어할 수 있는 분산군집제어 알고리즘을 제안하며 알고리즘 검증 및 평가를 위한 시뮬레이터를 소개한다. 분산군집제어는 UAV 제어 계층, VP(Virtual Point) 제어 계층, 원격제어 계층으로 이루어진 3계층 제어구조를 가진다. UAV 제어 계층에서 각 UAV는 point mass로 모델링 되는 VP의 이상적인 경로를 추종하도록 제어한다. VP 제어 계층에서 각 VP는 입력 $p_i(t)=u^c_i+u^o_i+u^{co}_i+u^h_i$-(1)을 받아 제어되는데 여기서, $u^c_i{\in}{\mathbb{R}}^3$는 VP 사이의 충돌방지제어, $u^o_i{\in}{\mathbb{R}}^3$는 장애물과의 충돌방지제어, $u^{co}_i{\in}{\mathbb{R}}^3$는 UAV 상호간의 협조제어, $u^h_i{\in}{\mathbb{R}}^3$는 작업자로부터의 원격제어명령이다. (1)의 제어입력에서 충돌방지제어는 각 $u^i_c:=-{\sum\limits_{j{\in}{\eta}_i}}{\frac {{\partial}{\phi}_{ij}^c({\parallel}p_i-p_j{\parallel})^T}{{\partial}p_i}}$-(2), $u^o_c:=-{\sum\limits_{r{\in}O_i}}{\frac {{\partial}{\phi}_{ir}^o({\parallel}p_i-p^o_r{\parallel})^T}{{\partial}p_i}}$-(3)로 정의되면 ${\phi}^c_{ij}$와 ${\phi}^o_{ir}$는 포텐셜 함수를 나타낸다. 원격제어 계층에서 작업자는 햅틱 인터페이스를 통해 VP의 속도를 제어하게 된다. 이때 스케일변수 ${\lambda}$에 대하여 VP의 원격제어명령은 $u^t_i(t)={\lambda}q(t)$로 정의한다. UAV 시뮬레이터는 리눅스 환경에서 ROS(Robot Operating Systems)를 기반한 3차원 시뮬레이터인 Gazebo상에 구축하였으며, 마스터와 슬레이브 간의 제어 명령은 TCPROS를 통해 서로 주고받는다. UAV는 PX4 기반의 3DR Solo 모델을 사용하였으며 MAVROS를 통해 MAVLink 통신 프로토콜에 접속하여 UAV의 고도, 속도 및 가속도 등의 상태정보를 받을 수 있다. 현재 멀티 드론 시스템을 Gazebo 환경에 구축하였으며, 추후 시뮬레이터 상에 분산군집제어 알고리즘을 구현하여 검증 및 평가를 진행하고자 한다.

• Archives of design research
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• v.13 no.3
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• pp.211-220
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• 2000

Cultural contact, which means a current that an influential culture diffuses to another, represents the penetration of the one to the other in a negative respect and'mixture'or 'fusion'of them in an affirmative respect. Fusion of cultures was not easy to take place in the past when nationalism and ultranationalism suppressed it ideologically, inconvenient transportation and communications were obstacles to it, and most of countries were under the influences of folk religions. Today, however, mutually heterogeneous cultures can be shared by a lot of things such as collapse of a view of nation resulted from globalization, breakdown of regional characteristics, abolition of trade barriers, freedom of communications and realtime information network. Those have rendered fusion possible. Fusion in this modern consuming society is extending much faster and more extensively than at any time in the past. In addition, more and more cultural elements seem to collide and compromise with one another in the name of fusion, not relaxing the bridle of fusion, from the present situations that preference in consumption becomes subdivided and a variety of individuality is strongly attempted to seek for, This study is on the subject of the properties of'Fusion', one of new styles in a mass culture, especially focused on sociologic cultural phenomena. Furthermore, it is expected to look for a fusion in interior design which expresses sociologic cultural phenomena most in a field of design, to examine it theoretically, and to prospect a future trend of fusion design based on investigation of the latest prevailing trend.

• Proceedings of the Korea Water Resources Association Conference
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• 2006.05a
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• pp.1686-1690
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• 2006

현재 우리나라에서는 하천의 개수사업 및 교량, 제방 등과 같은 수공구조물 설계시 계획 홍수위를 산정하는데 있어 실무에서는 1차원 모형인 HEC-RAS 모형이 널리 이용되고 있다. 그러나 HEC-RAS 모형과 같은 1차원 모형의 경우 모형의 한계로 인해 하폭의 확대, 축소, 만곡부 및 섬 등과 같은 장애물 존재시 하천횡단면에 따른 수위 및 유속변화를 표현하는데 많은 어려움이 있으며, 이런 한계로 인해 1차원 모형만을 이용하여 하도 및 하천공간계획을 수립하기란 사실상 불가능하다. 또한 최근 들어 하천기능에 대한 인식이 과거 홍수소통, 용수이용 등 이.치수중심에서 인간과 다양한 생명체가 공존하는 서식처로서의 기능을 부여하는 생태하천의 개념으로 변화하는 추세이며, 이와 같이 변화된 패러다임하에서 생태하천복원사업 등과 같은 하천관련 사업추진 시 합리적인 하도 및 하천의 공간계획을 수립하기 위해서는 하도내 2차원 흐름특성 등과 같은 기초자료가 절실히 요구된다. 따라서, 본 연구에서는 합리적인 하도 및 하천의 공간계획을 수립하기 위한 기초자료를 제공함은 물론, 보 철거에 따른 하도내 흐름개선 효과를 분석하기 위해 연구대상 하천인 두계천에 대하여 2차원 수치모의를 통한 하도내 흐름특성 변화를 조사하였다. 본 연구에서 선정한 2차원 모형으로는 유한요소법에 기반을 둔 RMA-2모형의 범용프로그램인 SMS 모형을 선정하였고, 1차원 수치해석을 통하여 선정된 하류단의 경계조건을 적용하여 2차원 수리특성 분석을 실시하였다. 분석결과 철거대상 취수보 15개에 대하여 보철거 후 수위에 대한 개선 효과는 금암보를 제외한 대부분의 보 철거 구간에서는 그리 크지 않은 것으로 나타난 반면, 보 철거에 따른 유속의 개선효과는 대부분 큰 것으로 나타났다.는 경우보다 낮게 나타나고 있다. On-Line 저류지의 경우 Off-Line 의 경우에 비해 수위, 유량이 저류지의 상류단에서 크게 나타났다. On-Line 저류지의 경우 Off-Line 의 경우에 비해 같은 값의 첨두홍수량을 저류하기 위해서 상대적으로 넓은 저류면적이 필요한 것으로 나타난다. 대등한 수위감소값의 홍수저감효과를 발휘하기 위해서 본 연구에서는 On-Line 저류지 면적은 Off-Line 저류지에 비 두배 이상이 필요한 것으로 보여졌다.들에 관한 정보는 종종 현장관측에서 조차 무시되는 경우가 많다. 이에 본 연구에서는 수질모형의 매개변수 중 특히 수리특성에 관련된 매개변수들이 수질에 미치는 영향을 파악하는 것을 목적으로 하고 있다. 이를 위해 적용된 수질모형은 QualKo를 사용하였으며, 대상 하천은 낙동강 본류 경남구간 시점 부근인 회천 합류 전부터 낙동강 본류 경남구간 종점 부근인 밀양강 합류 전까지의 경남 오염총량관리 기본계획 시 구축된 모형 매개변수를 바탕으로 분석을 수행하였다. 일차오차분석을 이용하여 수리매개변수와 수질매개변수의 수질항목별 상대적 기여도를 파악해 본 결과, 수리매개변수는 DO, BOD, 유기질소, 유기인 모든 항목에 일정 정도의 상대적 기여도를 가지고 있는 것을 알 수 있었다. 이로부터 수질 모형의 적용 시 수리 매개변수 또한 수질 매개변수의 추정 시와 같이 보다 세심한 주의를 기울여 추정할 필요가 있을 것으로 판단된다.변화와 기흉 발생과의 인과관계를 확인하고 좀 더 구체화하기 위한 연구가 필요할 것이다.게 이루어질 수 있을 것으로 기대된다.는 초과수익률이 상승하지만, 이후로는 감소하므로, 반전거래전략을 활용하는 경우 주식투자기간은 24개월이하의 중단기가 적합함을 발견하였다. 이상의 행태적 측

• Korean Security Journal
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• no.25
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• pp.185-208
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• 2010

This study is to suggest the current security education programs and improvement of industrial security curriculums in Korea. We live in a world of insecurity; the world is changing at an ever accelerating pace. Life, society, economics, international relations, and security risk are becoming more and more complex. The nature of work, travel, recreation, and communication is radically changing. We live in a world where, seemingly with each passing year, the past is less and less's guide to the future. Security is involved in on one way or another in virtually every decision we make and every activity we undertake. The global environment has never been more volatile, and societal expectations for industrial security and increasing if anything. The complexities of globalization, public expectation, regulatory requirements, transnational issues, jurisdictional risks, crime, terrorism, advances in information technology, cyber attacks, and pandemics have created a security risk environment that has never been more challenging. We had to educate industrial security professional to cope with new security risk. But, how relevant is a college education to the security professional? A college degree will not guarantee a job or advancement opportunities. But, with a college and professional training, a person has improved chances for obtaining a favored position. Commonly, Security education and experience are top considerations to find a job so far, also training is important. Today, Security is good source to gain competitive advantage in global business. The future of security education is prospect when one considers the growth evident in the field. Modern people are very security-conscious today, so now we had to set up close relevant industrial security programs to cope with new security risk being offered in colleges or several security professional educational courses.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.43 no.9 s.351
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• pp.32-39
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• 2006

5.8GHz DSRC(Dedicated Short Range Communications) is a short to medium range communications service that supports both public safety and private operations in roadside to vehicle and vehicle communication. However the 5.8GHz frequency may cause the shadowing effect or communication blocking problem when there is an obstacle or another vehicle between RSE (Road Side Equipment) and OBE (On Board Equipment). In this paper, to solve this problem of the 5.8GHz DSRC, we propose a relay protocol based on the standard of DSRC radio communication between RSE and OBE in the 5.8GHz band made by TTA (Telecommunication Technology Association). By using the proposed relay protocol to DSRC system and intervehicle communication, we also consider a fixed relay protocol and mobile relay protocol. We expect to apply this relay protocol for the DSRC intervehicle communication and video communication between drivers and safe distance among vehicles in the near future.

• Spatial Information Research
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• v.20 no.1
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• pp.9-18
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• 2012

South Korea has many landslides caused by heavy rains during summer time recently and the landslides continue to cause damages in many places. These landslides occur repeatedly each year, and the frequency of landslides is expected to increase in the coming future due to dramatic global climate change. In Korea, 81.5% of the population is living in urban areas and about 1,055 million people are living in Seoul. In 2011, the landslide that occurred in Seocho-dong killed 18 people and about 9% of Seoul's area is under the same land conditions as Seocho-dong. Even the size of landslide occurred in a city is small, but it is more likely to cause a big disaster because of a greater population density in the city. So far, the effort has been made to identify landslide vulnerability and causes, but now, the new dem and arises for the prediction study about the areal extent of disaster area in case of landslides. In this study, the diffusion model of the landslide disaster area was established based on Cellular Automata(CA) to analyze the physical diffusion forms of landslide. This study compared the accuracy with the Seocho-dong landslide case, which occurred in July 2011, applying the SCIDDICA model and the CAESAR model. The SCIDDICA model involves the following variables, such as the movement rules and the topographical obstacles, and the CAESAR model is also applied to this process to simulate the changes of deposition and erosion.

• Journal of Life Science
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• v.28 no.1
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• pp.130-139
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• 2018

In ancient times, horse racing was done in ancient European countries in the form of wagon races or mountain races, and wagon racing was adopted as a regular event at the Greek Olympic Games. Thoroughbred horse has been bred since 17th century by intensive selective breeding for its speed, stamina, and racing ability. Then, in the 18th century, horse racing using the Thoroughbred species began to gain popularity among nobles. Since then, horse racing has developed into various forms in various countries and have developed into flat racing, steeplechasing, and harness racing. Thoroughbred racehorse has excellent racing abilities because of powerful selection breeding strategy for 300 years. It is necessary to maintain and maximize horses' ability to race, because horse industries produce enormous economic benefits through breeding, training, and horse racing. Next-generation sequencing (NGS) methods which process large amounts of genomic data have been developed recently. Based on the remarkable development of these genomic analytical techniques, it is now possible to easily carry out animal breeding strategies with superior traits. In order to select breeding racehorse with superior racing traits, the latest genomic analysis techniques have to be introduced. In this paper, we will review the current efforts to improve race performance for racehorses and to examine the research trends of genomic analysis. Finally, we suggest to utilize genomic analysis in Thoroughbred racehorse and Jeju horse, and propose a strategy for selective breeding for Jeju horse, which contributes job creation of Korea.

• Journal of Navigation and Port Research
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• v.39 no.1
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• pp.7-13
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• 2015

The number of mobile terminals equipped with a GPS module is steadily increasing today. However, because they using code pseudorange measurements in positioning, the positioning accuracy of mobile terminals is lower than that of those receivers using carrier phases. Especially, the multipath signal causes more significant errors in code pseudoranges. Therefore, the techniques of multipath detection and elimination is necessary. In this study, as an initial analysis of multipath detection and elimination technique development, we tested the feasibility of multipath signal detection using GPS signal strength information. We found that the GPS signal strength increases as the elevation angle gets higher in the open-sky environment. Also, we found that the signal strength decreases when there were some signal reflectors nearby. We checked the repeatability of the signal strength variation characteristics by reflecting repeat time of GPS satellites. As a result, this characteristics repeats almost perfectly when GPS satellites pass the same orbit. Therefore, we found that it is not a temporary phenomenon and the multipath signal detection should be possible by using GPS signal strength information.

• Journal of Korean Society of Transportation
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• v.21 no.1
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• pp.7-19
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• 2003

The airspace has to be designed considering the flight safety and economic efficiency of aircraft operators. The International Civil Aviation Organization(ICAO) published standards and recommended practices for safe design of the airspace. Each contracting country must follow the ICAO standards in designing the airspace for the utilization of civil aviation. Normally each member establishes its own standards and national aviation law for the safe and efficient design of the airspace, regarding the ICAO standards. However, our government has not developed yet clear and detailed standards and regulation system for airspace design. This might lead to aviation accidents and disputes between operators of aviation system This study is to review the characteristics of ICAO standards and a legal problem related to application of international standards for airspace design. Specifically this research analyzed the case of airspace design and operation of a domestic airport. The results of analysis are as follow: (1) per the safety of civil aviation, it is very required to establish national regulation system to follow ICAO standards in designing airspace, (2) It is also necessary to establish separate procedure for civil aircraft in military air base, when the aerodrome is co-used by military and civil aircraft. If the same procedure for military aircraft is applied to civil aircraft, it is necessary to make clear what the design concept is, (3) and the differences from ICAO standards have to be publicly known.

• 재활복지
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• v.17 no.4
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• pp.311-338
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• 2013

The Act of Disability Discrimination and Rights Restriction was enacted in 2008 states that all services including cultural and artistic activities should be fair and easily accessible for disabled. The aim of this study was to determine how to improve the facilities and services for the disabled in exhibition facilities and provide complementary guidelines for amenities designed for people with disabled. The conclusions identified through this study are as follows: 1) It should be installed pedestrian safe passage so that visitors could access from the entrance of the ground to inside of the exhibition facility. 2) The floor of the exhibition hall should be installed not slip, and dangerous obstacles placed in the corridor should be removed. 3) It Should be considered that visually impaired and wheelchair users are use different facilities at toilet and elevator. 4) To guide the visually impaired and hearing impaired it should be prepared palpable map, braille signage, miniature and brochures. 5) Visually impaired and hearing impaired can experience the exhibits by using a variety of senses, therefore it may need to provide assistive devices and human services.