• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1927-1932
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• 2003

In a previous study, the authors have proposed the Cooperative Collision Avoidance (CCA) method which enables mobile robots to cooperatively avoid collisions, by extending the concept of the Velocity Obstacle to multiple robot systems. The method introduced an evaluation function considering an operation objective so that each robot can choose the velocity which optimizes the function. As the evaluation function could be of an arbitrary type, this method is applicable to a wide variety of tasks. However, it complicates the optimization of the function especially in real-time. In addition, construction of the evaluation function requires an operation objective of the other robot which is very hard to obtain without communication. In this paper, the CCA method is improved considering such problems for implementation. To decrease computational costs, the previous method is simplified by introducing two essential assumptions. Then, by treating the desired direction of locomotion for each robot as the operation objective, an operation objective estimator which estimates the desired direction of the other robot is introduced. The only measurement required is the other robot's relative position, since the other information can be obtained through the estimation. Hence, communicational devices that are necessary for most other cooperative methods are not required. Moreover, mobile robots employing the method can avoid collisions with uncooperative robots or moving obstacles as well as with cooperative robots. Consequently, this improved method can be applied to general dynamic environments consisting of various mobile robots.

• 한국통신학회논문지
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• 제25권6A호
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• pp.794-801
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• 2000

본 논문에서는 디지털 통신시스템의 성능 평가를 위한 효율적인 새로운 성능 평가 기법을 제안하고, 디지털 위성방송 채널에서의 수행시간의 획기적인 개선 효과를 제시하고 있다. 제안 알고리즘에서는 기존의 Importance Sampling 기법이 안고 있는 근본적인 문제점을 해결하기 위하여, 센트랄 모우멘트 기법을 도입 사용하였다. 즉, 채널 부/복호기를 제외한 내부채널의 수신단에서 잡음이 혼합된 수신신호의 센트랄 오우멘트를 측정하여 수신신호의 확률적인 특성, 즉 누적확률분포함수를 구하고 이를 이용하여 채널 부/복호기의 성능을 평가함으로서, 채널 전체의 성능을 단시간에 완료할 수 있다. 또, 디지털 위성방송 채널을 이용한 시뮬레이션 결과를 토대로 시뮬레이션 시간 측면에서 알고리즘의 효율을 보이고 있으며, 부호화기를 포함한 비선형 위성 채널과 M-dimensional memory에서의 Importance Sampling 기법이 갖고 있는 문제점을 제안된 알고리즘을 이용해 해결했음을 보여주고 있다.

• 수산해양기술연구
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• 제59권1호
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• pp.44-54
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• 2023

In this study, the second-order Nomoto's nonlinear expansion model was implemented as a Tagaki-Sugeno fuzzy model based on the heading angular velocity to design the automatic steering system of a ship considering nonlinear elements. A Tagaki-Sugeno fuzzy PID controller was designed using the applied fuzzy membership functions from the Tagaki-Sugeno fuzzy model. The linear models and fuzzy membership functions of each operating point of a given nonlinear expansion model were simultaneously tuned using a genetic algorithm. It was confirmed that the implemented Tagaki-Sugeno fuzzy model could accurately describe the given nonlinear expansion model through the Zig-Zag experiment. The optimal parameters of the sub-PID controller for each operating point of the Tagaki-Sugeno fuzzy model were searched using a genetic algorithm. The evaluation function for searching the optimal parameters considered the route extension due to course deviation and the resistance component of the ship by steering. By adding a penalty function to the evaluation function, the performance of the automatic steering system of the ship could be evaluated to track the set course without overshooting when changing the course. It was confirmed that the sub-PID controller for each operating point followed the set course to minimize the evaluation function without overshoot when changing the course. The outputs of the tuned sub-PID controllers were combined in a weighted average method using the membership functions of the Tagaki-Sugeno fuzzy model. The proposed Tagaki-Sugeno fuzzy PID controller was applied to the second-order Nomoto's nonlinear expansion model. As a result of examining the transient response characteristics for the set course change, it was confirmed that the set course tracking was satisfactorily performed.

• 대한토목학회논문집
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• 제26권1B호
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• pp.27-38
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• 2006

현재 국내의 홍수예보시스템의 예측 모형으로 저류함수모형을 사용하고 있다. 저류함수모형은 계산절차가 간편하고 홍수유출의 비선형성을 고려할 수 있는 방법이므로 선형모형보다 합리적이라고 알려져 있다. 그러나 저류함수모형을 실제 홍수사상에 적용하는데 있어 매개변수를 결정하는 것이 매우 어렵다. 저류함수모형의 매개변수 보정을 모형 운영자의 주관적인 판단아래 시행착오에 의한 수동보정 방법을 사용하여 왔다. 본 논문에서는 홍수통제소에서 사용하고 있는 저류함수 모형의 대표(평균) 매개변수와 시행착오법(Trial & Error Method) 그리고 최적화기법(Optimization Technique)에 의해 보정된 매개변수를 비교 분석하였다. 또한 모의효율을 평가하기 위하여 목적함수별, 보정방법별로 평가지표들을 산정하고 비교 분석하였다. 분석 결과, 최적화기법의 하나인 유전자 알고리즘(Genetic Algorithm)이 목적함수에 따른 변동성이 가장 적었으며, 목적함수로는 SSR(Sum of Squared of Residual)이 가장 적합한 것으로 판단하였다.

• 콘크리트학회논문집
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• 제15권6호
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• pp.924-929
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• 2003

A majority of infrastructures has been deteriorated over time. Therefore, it is very important to verify the quality of construction, and the level of structural deterioration in existing structures, to ensure their safety and functionality. Many researchers have studied non-destructive testing (NDT) methods to identify structural problems in existing structures. The impact echo technique is one of the widely used NDT techniques. The impact echo technique has several inherent problems, including the difficulties in P-wave velocity evaluation due to inhomogeneous concrete properties, deterioration of evaluation accuracy where multiple reflection boundaries exist, and the influence of the receiver location in evaluating the thickness of the tested structures. Therefore, the objective of this paper is to propose an enhanced impact echo technique that can reduce the aforementioned problems and develop a Virtual Instrument for the application via a thickness evaluation technique which has same technical background to find deterioration in concrete structures. In the proposed impact echo technique, transfer function from dual channel system analysis is used, and coherence is improved to achieve reliable data. Also an averaged signal -ensemble- is used to achieve more reliable results. From the analysis of transfer function, the thickness is effectively identified.

• The Journal of Korean Physical Therapy
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• 제16권3호
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• pp.142-151
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• 2004

The purpose of this study was to determine the validity and the reliability of the WISCI II to ascertain its value in the walking function evaluation of spinal cord injury patient. The WISCI II consists of 20 variables with a total valus ranging from 6 to 20 score. A group of 23 spinal cord injury patient were included in this study. To determine the validity, kappa statistics between the WISCI II and SCIM II were measured. The result of this study are as follows: 1) In the validity study, the kappa statistics between the WISCI II and SCIM II were 0.79 and 0.84 for an initial total score and a discharge total score respectively, indicating a reasonable agreement between the two test. 2) In the reliability study, the Cronbach's alpha coefficient was 0.83 and 0.95 for total score indicating a good internal consistency. The finding suggest that the WISCI II demonstrated an acceptable validity and reliabilit for the evaluation of walking function capacity of spinal cord injury patient in clinical practice.

• 한국환경교육학회지:환경교육
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• 제11권2호
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• pp.238-251
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• 1998

Environmental education, which has been thought as the most fundamental solution to environmental problems, should be performed not only in school but also in home and society with a long-term plan. In line with this, environmental-friendly attitude in daily life should be achieved by the perception of the vital environmental principle-new understanding of relation between nature and human being. It is in the city park that children in urban area, who has little opportunity to contact nature, have rather easier access to nature and realize the principle. Despite such great potential, the city park in Korea has not played its pivotal role because of lack of both facilities and activities. In addition, existing studies on this issue are not satisfactory. Therefore, this study is aimed at analyzing and evaluating city parks' environmental education function, potential and problems according to their types, then offering practical reform measures and programs in order to make students better understand the parks as an everyday natural experience spot. These plans are not based on full-scale revision, instead focuses on optimizing potential of existing natural environment and parks. Additionally, activities to experience various nature are included in the study. The value of city park is not decided by the park itself, but by its relationship with visitors. Environmental education function of city park is not confined to building up facilities and providing programs. It also should be complemented and improved, reflecting visitors' opinions and evaluation of environmental education.

• 한국지진공학회논문집
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• 제13권4호
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• pp.57-65
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• 2009

본 연구에서는 HAZUS와 같은 지진위험도 추정을 위한 입력으로서 교량구조물에 대한 대표 지진취약도 함수를 도출하기 위하여 기존에 수행되었던 안전율 평가 결과를 이용하여 일련의 교량군에 대한 대표 지진취약도 함수를 도출하는 방법을 제안하였다. 지진응답해석 결과를 근거로 하여 제시된 교량 집단의 각 부재별 안전율을 정리하였으며 이 안전율 결과를 이용하여 각 파괴모드별 지진취약도 곡선을 도출하였다. 각 부재별로 평가된 지진취약도 함수를 이용하여 HAZUS의 입력으로 사용할 수 있는 손상단계별 지진취약도 함수를 도출하였다. 부재별 파괴모드를 이용하여 교량전체의 시스템 취약도를 도출하기 위하여 고장수목을 사용하였다. 결과적으로 본 연구에서는 기존의 안전율결과를 이용하여 취약도결과를 도출할 수 있는 방법을 제시하였다.

• Journal of Communications and Networks
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• 제11권3호
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• pp.240-247
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• 2009

The results of performance analysis by adopting the channel scenarios characterized as Weibull fading for an multicarrierdirect sequence-coded division multiple access (MC-DS-CDMA) system are proposed in this investigation. On the other hand, an approximate simple expression with the criterion of bit error rate (BER) versus signal-to-noise ratio (SNR) method is derived for an MC-DS-CDMA system combining with maximal ratio combining (MRC) diversity based on the moment generating function (MGF) formula of Weibull statistics, and it associates with an alternative expression of Gaussian Q-function. Besides, the other point of view on the BER performance evaluation of an MC-DS-CDMA system is not only the assumption of both single-user and multi-user cases applied, but the phenomena of partial band interference (PBI) is also included. Moreover, in order to validate the accuracy in the derived formulas, some of the system parameters, such as Weibull fading parameter (${\beta}$), user number (K), spreading chip number (N), branch number (L), and the PBI (JSR) values, etc., are compared with each other in the numerical results. To the best of author's knowledge, it is a brand new idea which proposes the evaluation of the system performance for an MC-DS-CDMA system over the point of view with Weibull fading channel.

• International Journal of Naval Architecture and Ocean Engineering
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• 제13권1호
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• pp.50-56
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• 2021

An accurate evaluation of three-dimensional (3D) Time-Domain Green Function (TDGF) in infinite water depth is essential for ship's hydrodynamic analysis. Various numerical algorithms based on the TDGF properties are considered, including the ascending series expansion at small time parameter, the asymptotic expansion at large time parameter and the Taylor series expansion combines with ordinary differential equation for the time domain analysis. An efficient method (referred as "Present Method") for a better accuracy evaluation of TDGF has been proposed. The numerical results generated from precise integration method and analytical solution of Shan et al. (2019) revealed that the "Present method" provides a better solution in the computational domain. The comparison of the heave hydrodynamic coefficients in solving the radiation problem of a hemisphere at zero speed between the "Present method" and the analytical solutions proposed by Hulme (1982) showed that the difference of result is small, less than 3%.