• KSII Transactions on Internet and Information Systems (TIIS)
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• 제14권4호
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• pp.1603-1623
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• 2020

Multiple Mobile Robots System (MMRS) has shown many attractive features in lots of real-world applications that motivate their rapid and wide diffusion. In MMRS, the Cooperative Localization (CL) is the basis and premise of its high-performance task. However, the statistical characteristics of the system noise should be already known in traditional CL algorithms, which is difficult to satisfy in actual MMRS because of the numerous of disturbances form the complex external environment. So the CL accuracy will be reduced. To solve this problem, an improved Adaptive Active Cooperative Localization (A²CL) algorithm based on information optimization strategy for MMRS is proposed in this manuscript. In this manuscript, an adaptive information fusion algorithm based on the variance component estimation under Extended Kalman filter (VCEKF) method for MMRS is introduced firstly to enhance the robustness and accuracy of information fusion by estimating the covariance matrix of the system noise or observation noise in real time. Besides, to decrease the effect of observation uncertainty on CL accuracy further, an observation optimization strategy based on information theory, the Model Predictive Control (MPC) strategy, is used here to maximize the information amount from observations. And semi-physical simulation experiments were carried out to verity the A²CL algorithm's performance finally. Results proved that the presented A²CL algorithm based on information optimization strategy for MMRS cannot only enhance the CL accuracy effectively but also have good robustness.

• 제어로봇시스템학회논문지
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• 제14권3호
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• pp.301-306
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• 2008

Drivers are becoming more fatigued and uncomfortable with increase in traffic density, and this condition can lead to slower reaction time. Consequently, they may face the danger of traffic accidents due to their inability to cope with frequent gear shifting. To reduce this risk, some drivers prefer automatic transmission (AT) over manual transmission (MT). The AT offers more superior drivability and less shifting shock than the MT; therefore, the AT market share has been increasing. The AT is controlled by an electronic control unit (ECU), which provides better shifting performance. The transmission control unit (TCU) is a higher-value-added product, so the companies that have advanced technologies end to evade technology transfer. With more cars gradually using the ECU, the TCU is expected to be faster and more efficient for organic communication and arithmetic processing between the control systems than the l6-bit controller. In this paper, the model of an automatic transmission vehicle using MATLAB/Simulink is developed for the Hardware in-the-Loop (HIL) simulation with a 32-bit embedded system, and also the AT control logic for shifting is developed by using MATLAB/Simulink. The developed AT control logic, transformed automatically by real time workshop toolbox, is loaded to a 32-bit embedded system platform based on Freescale's MPC565. With both vehicle model and 32-bit embedded system platform, we make the HIL simulation system and HIL simulation of AT based on real time operating system (RTOS) is performed. According to the simulation results, the developed HIL simulator will be used for the performance test of embedded system for AT with low cost and effort.

• 천문학회보
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• 제44권1호
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• pp.39.2-39.2
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• 2019

Galaxy clusters are the largest gravitationally bound structures in the universe and located in the densest peak of the dark matter. They can constraint cosmologicals model from their dark matter halo distribution and they are good laboratories to study how galaxy evolution varies with their environment. Especially, studies of galaxy clusters at $z{\geq}1$ are important because (i) galaxy evolution at z >1 is still controversial (Elbaz et al. 2007; Faloon et al. 2013) and (ii) some studies show that mass of galaxy clusters at z>1 seems to be higher than expected value from the concordance LCDM cosmological model (Kang & Im 2009; Gonzales et al. 2012). In spite of their significance, there have not been many studies of galaxy clusters at $z{\geq}1$ because of the lack of wide and deep multi-wavelength data. We newly found galaxy cluster candidates at 0.2 < z < 1.4 and a LSS spanning over 100Mpc at z~0.9 in the ELAIS-N1 field which is one of the IMS (Infrared Medium-deep Survey; Im et al. 2019, in preparation) fields. Thanks to K-GMT science program, we performed spectroscopic follow-up observation for a z~1 galaxy cluster candidates with GMOS of Gemini North and for z~0.9 supercluster candidates with Hectospec of MMT in 2018A and confirmed the large scale structures. We present the newly discovered galaxy overdensities from the observation and the analysis result.

• 천문학회보
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• 제46권1호
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• pp.55.2-56
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• 2021

The progenitor of Type Ia supernovae (SNe Ia) is mainly believed to be a close binary system of acarbon-oxygen white dwarf (CO WD) and non-degenerate companion (single degenerate) or another WD (double degenerate). However, it is unclear which system is more prevalent. Here, we present a high cadence optical/Near-IR light curve of normal but slightly faint type Ia SN 2019ein from IMSNG project. We fit the early light curve (t <+8.3 days from the first detection) with various models to find the shock-heated cooling emission from SN ejecta-companion interaction. No significant shock-heated cooling emission is found, from which we constrain the progenitor star size as the following. The upper limit (R_upper,*) of the companion size in R-band is ~0.2R_⊙ when forcing the first light time (t_fl) to have one value and ~0.9R_⊙ when using the mean value of tfl from the fitting in each band. Assuming the source of the I-band curve is almost powered from the radioactive decay, we obtained R_upper,*~1.2R_⊙. The early B-V color curve is in agreement with the model color curve of the 2M_⊙ main sequence companion. These results allow us to at least rule out large stars like red giants as a companion star of the binary progenitor system of this supernova. B-R and V-R color do not show any significant signs of a red bump, which shows a thin helium shell (MHe<0.1M_⊙) for the sub-Mch WD (double detonation model). In addition, we estimated the distance to NGC 5353 as 37.098±0.028Mpc.

• 한국정보과학회논문지:소프트웨어및응용
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• 제34권4호
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• pp.303-316
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• 2007

소프트웨어 재사용을 위해 여러 가지의 접근법이 제시되어 왔으나，소프트웨어 개발자들은 이미 개발된 소프트웨어 컴포넌트를 재사용하는데 있어서 여전히 회의적이다. 여러 가지 원인이 있겠으나，기존의 재사용 접근법들이 개발자들이 재사용에 기울이는 노력을 감소시키는데 실질적인 도움을 주지는 못한 것이 가장 큰 원인 중 하나라고 볼 수 있다. 이러한 문제점 해결을 위해 본 논문에서는 RAS기반의 명세를 중심으로 컴포넌트의 다양한 측면을 활용하는 재사용 모델을 제시한다. 제시된 재사용 모델의 실용성 검증을 위해 실제적인 사례연구를 진행하였으며, 기존의 소스코드 기반의 소프트웨어 재사용 프로세스와 비교한 실험을 통해 재사용의 효율성 증가를 검증하였다. 이러한 검증을 통해，제안된 재사용 모델이 이미 개발된 기존 컴포넌트를 개발자들이 검색하고 이해하는데 소요되었던 시간을 감소시킴으로써 전반적인 재사용 소요비용 감소시키고 있음을 확인할 수 있었으며，제품라인공학과 같은 접근방법과 비교하여 일상적인 개발 공정의 지연을 초래할 수 있는 초기 투자비용을 최소화함에 따라，자발적인 개발자들의 참여를 끌어낼 수 있다는 점에서 차별성을 찾을 수 있다. 뿐만 아니라, 제안된 재사용 모델은 컴포넌트 기반 개발 방법론이나 제품라인공학과 같은 기존의 재사용 방법들과 배타적인 개념이 아니므로，필요에 따라 함께 적용하여 재사용 효과를 배가시킬 수 있을 것으로 기대한다.

• 한국지능시스템학회논문지
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• 제22권6호
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• pp.722-728
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• 2012

도심지역의 하수관거 시스템은 우수 수용능력 및 하수 월류 발생 등의 시스템의 한계점을 가지고 있어, 강우시 우수 유출수로 인한 침수저감과 더불어 도시비점오염원의 저감에 모두 대응할 수 있는 저류시설의 도입이 주목받고 시작하였다. 최근 환경부에서는 방재적 우수관리와 더불어 합류식 하수관거 월류수, 분류식 우수관거 유출수 처리를 포함하는 다기능 저류시설을 "하수저류시설"이라 통칭하고, 이의 도입을 적극 추진하고 있는 실정이다. 반면 대규모 단일 저류시설 설치의 경우에는 공간 확보의 문제가 발생할 수 있으며, 이에 대안으로는 중 소규모의 분산형 저류시설 설치 및 운영을 들 수 있다. 본 연구에서는 분산형 저류시설-하수관망 네트워크 시스템의 최적 운용을 위한 모델 예측 제어기법을 제안한다. 이를 위해 첫째로 네트워크 시스템의 각 구성 요소의 수리모델을 제시함으로써 보다 정밀한 하수관망 네트워크의 거동을 모사하고자 한다. 둘째로 제안된 모델을 기반으로 현재의 강우 유입량을 고려하여 각 저류조의 수위, 하수관로의 유입/유출량을 예측하여, 입자군집 최적화 알고리즘을 이용한 모델 예측 제어기법을 바탕으로 주어진 제약조건을 만족하며 상황을 바탕으로 제안된 제어기법의 사용여부에 따른 효과를 비교 분석하고, 이의 타당성을 검증하고자 한다.

• 천문학회보
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• 제39권2호
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• pp.50-50
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• 2014

We present a new catalog of galaxies in the wider region of the Virgo cluster, based on the Sloan Digital Sky Survey (SDSS) Data Release 7. The Extended Virgo Cluster Catalog (EVCC) covers an area of 725 deg2 or 60.1 Mpc2. It is 5.2 times larger than the footprint of the classical Virgo Cluster Catalog (VCC) and reaches out to 3.5 times the virial radius of the Virgo cluster. We selected 1324 spectroscopically targeted galaxies with radial velocities less than 3000 km s-1. In addition, 265 galaxies that have been missed in the SDSS spectroscopic survey but have available redshifts in the NASA Extragalactic Database are also included. Our selection process secured a total of 1589 galaxies of which 676 galaxies are not included in the VCC. The certain and possible cluster members are defined by means of redshift comparison with a cluster infall model. We employed two independent and complementary galaxy classification schemes: the traditional morphological classification based on the visual inspection of optical images and a characterization of galaxies from their spectroscopic features. SDSS u, g, r, i, and z passband photometry of all EVCC galaxies was performed using Source Extractor. We compare the EVCC galaxies with the VCC in terms of morphology, spatial distribution, and luminosity function. The EVCC defines a comprehensive galaxy sample covering a wider range in galaxy density that is significantly different from the inner region of the Virgo cluster. It will be the foundation for forthcoming galaxy evolution studies in the extended Virgo cluster region, complementing ongoing and planned Virgo cluster surveys at various wavelengths.

• 천문학회보
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• 제41권1호
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• pp.53.2-53.2
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• 2016

We present surface photometry results of the dwarf galaxies in the nearby NGC 2784 galaxy group. We newly detected about 30 dwarf galaxy candidates at about 30 square degree area around the nearby NGC 2784 galaxy (D~10 Mpc and MV=-20.5) applying a visual inspection technique on the wide-field optical images taken by the KMTNet Supernova Program (KSP). Surface brightnesses of the objects estimated from the stacked-images with total exposure time of about 6 hours reach approximately ${\mu}V$ ~28.5 mag/arcsec2 around $3{\sigma}$ above sky background. The central surface brightness and the total absolute magnitude for the faintest candidate dwarf galaxy among about 40 galaxies including the previously known ones is ${\mu}0$, V~26.1 mag/arcsec2 and MV~-9.5 mag, respectively. The effective radii of the candidates are larger than ~200 pc. The radial number density of the dwarf galaxy candidates from the center of NGC 2784 is decreasing. The mean color (<(B-V)0>~0.7) and $S{\acute{e}}rsic$ structure parameters of the dwarfs, assuming them to be located in the NGC 2784 group, are well consistent with those of the dwarf galaxies in other groups (e.g. M83 group and the Local Group (LG)). The faint-end slope of the cumulative luminosity function (CLF) of the galaxies in NGC 2784 group is about ${\alpha}=-1.2$, which is steeper than that of the LG galaxies, but is much flatter than that of the CLF expected by a ${\Lambda}CDM$ model.

• 천문학회보
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• 제45권1호
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• pp.38.2-38.2
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• 2020

Horizon Run 5 (HR5) is a cosmological hydrodynamical simulation which captures the properties of the Universe on a Gpc scale while achieving a resolution of 1 kpc. This enormous dynamic range allows us to simultaneously capture the physics of the cosmic web on very large scales and account for the formation and evolution of dwarf galaxies on much smaller scales. Inside the simulation box. we zoom-in on a high-resolution cuboid region with a volume of 1049 × 114 × 114 Mpc3. The subgrid physics chosen to model galaxy formation includes radiative heating/cooling, reionization, star formation, supernova feedback, chemical evolution tracking the enrichment of oxygen and iron, the growth of supermassive black holes and feedback from active galactic nuclei (AGN) in the form of a dual jet-heating mode. For this simulation we implemented a hybrid MPI-OpenMP version of the RAMSES code, specifically targeted for modern many-core many thread parallel architectures. For the post-processing, we extended the Friends-of-Friend (FoF) algorithm and developed a new galaxy finder to analyse the large outputs of HR5. The simulation successfully reproduces many observations, such as the cosmic star formation history, connectivity of galaxy distribution and stellar mass functions. The simulation also indicates that hydrodynamical effects on small scales impact galaxy clustering up to very large scales near and beyond the baryonic acoustic oscillation (BAO) scale. Hence, caution should be taken when using that scale as a cosmic standard ruler: one needs to carefully understand the corresponding biases. The simulation is expected to be an invaluable asset for the interpretation of upcoming deep surveys of the Universe.

• Korean Chemical Engineering Research
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• 제52권5호
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• pp.592-602
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• 2014

석탄 가스화 복합 발전(coal-based IGCC power plant)에서 가스화기의 동적 상태와 성능이 플랜트 전체에 큰 영향을 미치므로, 가스화기가 문제 없이 운전 되도록 제어 하는 것은 전체 플랜트의 가동률을 높이는 데 있어 매우 중요한 일이라 할 수 있다. 가스화기의 안정적인 운전을 위해서는 고체 슬래그 층의 두께가 일정하게 유지되어야 하는데, 고체 슬래그 두께는 실시간 측정이 불가능하기 때문에 상태를 추정하여 추론 제어해야 한다. 본 연구에서는 Shell-type 가스화기의 동적 모사 모델을 개발하고 다변수 시스템의 추론 제어를 위한 방법으로 두 가지 선형 예측 제어 기법을 적용하여 그 특성을 분석하였다. 측정되지 않는 변수의 상태 추정을 위해 Kalman 필터 기법을 이용하였다. 측정 불가능한 1차 변수를 대신하여 측정 가능한 2차 변수를 제어하는 전통적인 추론 제어 기법으로는 외란의 종류에 따라 추론 제어가 불가능 할 수 있음을 확인하였고, 측정되지 않는 슬래그 두께를 Kalman 필터 기법을 이용하여 추정하여 성능 예측에 반영하고 외란 모델을 사용하여 예측 제어하는 경우 두 가지 측정 불가능한 외란 모두에 대해 추론 제어가 가능함을 확인하였다.