• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.41-41
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• 2000

biped robots are expected to robustly traverse terrain with various unknown surfaces. The robot will occasionally encounter the unexpected events in made-for human environments. The slipping is a very real and serious problem in the unexpected events. The robot system must respond to the unexpected slipping after it has occurred and before control is lost. This paper proposes a reflex control method for biped robots to recover from slipage. Computer simulations with the 6-DOF environment model which consists of nonlinear dampers, nonlinear springs, and linear springs, show that the proposed method is effective in preventing fall-down due to slippage.

• 대한전기학회논문지:시스템및제어부문D
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• 제49권11호
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• pp.625-631
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• 2000

In designing fuzzy model, we encounter a major difficulty in the identification of an optimized fuzzy rule base, which is traditionally achieved by a tedious-and-error process. This paper presents an approach to automatic design of optimal fuzzy rule bases for modeling using evolutionary programming. Evolutionary programming evolves simultaneously the structure and the parameter of fuzzy rule base a given task. To check the effectiveness of the suggested approach, 3 examples for modeling are examined, and the performance of the identified models are demonstrated.

• 산업공학
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• 제6권2호
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• pp.79-89
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• 1993

We develop a statistical model to describe nuclear power plant accidents and predict time to next accident of various levels. We adopt Bayesian approach to obtain posterior and predictive distributions for the time to next accident. We also derive an approximation method to solve many dimensional numerical integration problems that we often encounter in a Bayesian approach. We introduce Influence Diagrams in modeling, and parameter updating, thereby the dependency or independency among model parameters are clearly shown. Also Separable Updating Theorem is utilized to easily obtain the posterior distributions.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제16권2호
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• pp.95-103
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• 2016

In a dynamic environment autonomous robots often encounter unexpected situations that the robots have to deal with in order to continue proceeding their mission. We propose an adaptive goal-based model that allows cyber-physical systems (CPS) to update their environmental model and helps them analyze for attainment of their goals from current state using the updated environmental model and its capabilities. Information exchange approach utilizes Human-Agent-Robot-Machine-Sensor (HARMS) model to exchange messages between CPS. Model validation method uses NuSMV, which is one of Model Checking tools, to check whether the system can continue its mission toward the goal in the given environment. We explain a practical set up of the model in a situation in which homogeneous robots that has the same capability work in the same environment.

• 한국항해항만학회지
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• 제42권3호
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• pp.187-194
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• 2018

항로표지는 해상교통의 안전을 도모하는 선박운항의 능률성을 향상시키기 위한 해양교통안전시설로서 국제적으로 IALA에서 관련 규정 및 권고사항에 따라 적용하고 있다. 우리나라는 항로표지 이용자에게 안정적인 서비스를 제공하기 위해 항로표지를 관리하고 있지만 항로 표지사고는 연평균 141건이 발생하고 있다. 항로표지사고는 관리자에게 기능을 복구시켜야 비계획 업무를 강요하고, 이용자에게는 심리적 불안감을 유발하여 경제적인 손실이 발생한다. 본 연구에서는 항로표지사고로 인해 기능정지에서 복구까지 소요되는 관리자의 경제활동과 이용자의 불편함을 비용으로 정량화하기 위한 항로표지사고의 사회적비용(Social Cost) 평가모델을 개발하였다. 항로표지사고의 사회적비용 평가모델은 생산손실비용, 행정비용, 위험비용의 합으로 제안하였다.

• 한국항해항만학회지
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• 제44권6호
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• pp.460-468
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• 2020

최근 자율운항선박(Maritime Autonomous Surface Ship, MASS) 기술개발에 관련 연구들이 활발하게 수행되고 있다. MASS의 핵심 기술 중 하나는 해상에서 항해사를 대신하여 조우하는 선박에 대한 충돌회피기술이다. 기존 자동 충돌회피기술 개발관련 연구들을 조사한 결과, 자동충돌회피기술을 객관적으로 정량화 할 수 있는 평가모델에 대한 연구는 없다. 따라서 본 연구에서는 MASS의 충돌회피 능력을 객관적으로 검증하기 위한 평가모델을 개발하였다. 연구방법은 COLREGs에 대한 전문지식과 실무조선 경험이 많은 선박조종전문가가 Full Mission Ship-handling Simulator(FMSS)를 이용하여 선박 조우형태별 선박조종시뮬레이션을 수행하고 그 결과 데이터를 계측하고 기술 통계 처리하여 것이며, 개발된 평가모델을 통해서, MASS의 운항능력을 정량적으로 평가하고자 하였다. 연구결과, 본 연구에서 개발된 충돌회피 평가모델을 이용하여 해상에서 MASS의 충돌회피 능력을 정량 평가 할 수 있는 것으로 나타났다. 향후 이 모델을 이용하면 자율운항선박의 충돌회피능력을 객관적으로 평가 가능하고 부족한 부분을 수정·보완하는데 이용함으로서 자율운항선박 기술개발에 많은 도움이 될 것으로 사료되며, 또한 항해사의 충돌회피능력 평가에도 도움이 될 것으로 판단된다.

• 한국조경학회지
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• 제30권6호
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• pp.79-97
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• 2003

The purpose of this paper is to analyze a causal model determining social carrying capacity(SCC) in natural parks, to answer the research question: What is the mechanism for determining SCC in natural parks (NP)\ulcorner After reviewing the literature on SCC and recreation activities in Korean natural parks, we constructed a conceptual framework and formulated the hypothesis of this research. We obtained data through a questionnaire which surveyed 487 visitors at 6 of the 73 NP in Korea during 2001, based on a stratified sampling method. We analyzed the data using descriptive statistical methods, the mean difference test, Pearson's correlation analysis, and path analysis method. We found that 1) The direct effect of resources, activity space(AS), visitor's expectation(VE), encounter, crowding, damage of resources(DR), maintenance condition of resources and facility(MCRF) to SCC are 3.45, 3.62, 2.75, 2.72, 1.32, and 4.77 times more important than that of crowding, respectively, while the indirect effect of resources, AS, VE, encounter, and DR to SCC is 13.03, 11.19, 3.34, 1.3, 2.05, 1.10, 0.05 and 2.30 times more important then that of crowding, respectively, 2) Causal effects of resources, facility, AS, VE, number of visitors(NV), encounter, crowding, VM, DR, and MCRF to SCC turned out to have 0.3523, 0.3321, 0.1751, 0.1465, 0.0307, 0.0762, 0.0604, -0.0510, -0.1177 and 0.2165, respectively, and 3) The causal effect of activity base(AB) and activity atmosphere(AA) to SCC turned out to have 2.57 and 1.1 times higher than that of MCRF, respectively. The research results suggest that 1) this conceptual framework is highly useful for the development of substantive theory and methodology; 2) management issues of AA and MCRF turned out to have 0.81 times in SCC that of AB, i.e, SCC can be significantly improved from control of AA and MCRF; and 3) supply of excellent resources and convenient facilities is needed to increase social carrying capacity. It is recommended that more empirical studies be performed in the future according to the season, visitor characteristics, and AS by NP.

• ETRI Journal
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• 제32권5호
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• pp.687-694
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• 2010

Breaks in presence (BIP) are those moments during virtual environment (VE) exposure in which participants become aware of their real world setting and their sense of presence in the VE becomes disrupted. In this study, we investigate participants' experience when they encounter technical anomalies during game play. We induced four technical anomalies and compared the BIP responses of a navigation mode game to that of a combat mode game. In our analysis, we applied a linear mixed model (LMM) and compared the results with those of a conventional regression model. Results indicate that participants felt varied levels of impact and recovery when experiencing the various technical anomalies. The impact of BIPs was clearly affected by the game mode, whereas recovery appears to be independent of game mode. The results obtained using the LMM did not differ significantly from those obtained using the general regression model; however, it was shown that treatment effects could be improved by consideration of random effects in the regression model.

• Communications for Statistical Applications and Methods
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• 제29권2호
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• pp.239-250
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• 2022

In many applications, we frequently encounter correlated multiple outcomes measured on the same subject. Joint modeling of such multiple outcomes can improve efficiency of inference compared to independent modeling. For instance, in developmental toxicity studies, fetal weight and number of malformed pups are measured on the pregnant dams exposed to different levels of a toxic substance, in which the association between such outcomes should be taken into account in the model. The number of malformations may possibly have many zeros, which should be analyzed via zero-inflated count models. Motivated by applications in developmental toxicity studies, we propose a Bayesian joint modeling framework for continuous and count outcomes with excess zeros. In our model, zero-inflated Poisson (ZIP) regression model would be used to describe count data, and a subject-specific random effects would account for the correlation across the two outcomes. We implement a Bayesian approach using MCMC procedure with data augmentation method and adaptive rejection sampling. We apply our proposed model to dose-response analysis in a developmental toxicity study to estimate the benchmark dose in a risk assessment.

• 해양환경안전학회지
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• 제19권4호
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• pp.397-402
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• 2013

본 연구에서는 전장이 26.75 m인 해양플랜트지원선의 선형개발을 위한 수치해석을 수행하였고 수치해석 검증을 위한 1/10의 모형선 시험을 예인수조에서 수행하였다. 또한 운항해역의 해상조건으로 뷰포트 스케일 2, 3 및 4에서 향파, 선수사파 및 횡파에서 선속별 상하동요 및 종동요에 대해서 운동응답특성을 수치 해석하였다. 모형시험과 수치해석의 저항 예측 결과는 상호 일치하였다. 운동응답특성은 선수파에서 상하동요는 조우주파수 1.8~2.0 영역에서 크게 나타났으며, 종동요는 거친 해상에서 선미사파 및 고속영역에서 높은 운동특성을 보였다.