• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.11
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• pp.2152-2156
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• 2011

In this paper, we propose the novel behavior control algorithm by using the efficient searching method based on the characteristic of the swarm robots in unknown space. The proposed method consists of identifying the position and moving state of a robot by the dynamic modelling of a wheel drive vehicle, and planing behavior control rules of the swarm robots based on the sensor range zone. The cooperative search for unknown space is carried out by the proposed behavior control. Finally, some experiments show the effectiveness and the feasibility of the proposed method.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.1
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• pp.114-120
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• 2017

The work present in this paper deals with a navigation problem for multiple mobile robots in unknown indoor environments. The environments are completely unknown to the robots; thus, proximity sensors installed on the robots' bodies must be used to detect information about the surroundings. The environments simulated in this work are dynamic ones which contain not only static but also moving obstacles. In order to guide the robot to move along a collision-free path and reach the goal, this paper presented a navigation method based on fuzzy approach. Then genetic algorithms were applied to optimize the membership functions and rules of the fuzzy controller. The simulation results verified that the proposed method effectively addresses the mobile robot navigation problem.

• Journal of Korea Entertainment Industry Association
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• v.14 no.3
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• pp.251-265
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• 2020

The Drone shot is moving images captured by a remotely controlled unmanned aerial vehicle, takes usually bird's eye view. The hand-held shot is moving images recorded by literal handheld shooting which is specialized to on-the-spot filming. It takes a walker's viewpoint through vivid realism of its self-reflexive camera movements. The purpose of this study is to analyze comparatively aesthetic functions of the drone shot and the hand-held shot. For this, the study understood Certeau's concepts of 'place' and 'space,' chose World Travel 'Peninsula de Yucatan' episode as a research object, and analytically applied two concepts to the scenes clearly presenting two shots' aesthetic characteristics. As a result, the drone shot took the authoritative viewpoint providing the general information and atmosphere as it overlooked the city with silent movements removing the self-reflexivity. This aesthetic function was reinforced the narration and subtitles mediating prior-knowledge about proper rules and orders of the place. The drone shot tended to project the location as a place. Conversely, the hand-held shot practically experienced the space with free walking which is free from rules and orders inherent in the city. The aesthetics of hand-held images represented the tactic resisting against the strategy of a subject of will and power in that the hand-held shot practiced anthropological walking by means of noticing everyday lives of the small town and countryside than main tourist attraction. In opposition to the drone shot, the hand-held shot tended to reflect the location as a space.

• Convergence Security Journal
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• v.13 no.2
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• pp.67-73
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• 2013

This research is to define the Aesthetics of Karatedo as Security Guard Martial Art by explore the aesthetics of Karatedo being invigorated as security guard martial art. The first one is beauty of space. The offense and defense of Karatedo as Security Guard Martial art are to fill in, to come out and to move from side to side. It help to have higher judgment. Secondly, it is beauty of time. It is subjective time felt by people training Karatedo. The third on is beauty of unity. We can see formal beauty of unity such as white dogi or black suit of security guard and dynamic beauty of unity such as quick and slow, strong and soft or movement of hand and foot. The forth one is beauty of symmetry. It can be shown strongly by triangle or moving of team kata and triangle between athletes and referee at Kumite competition. The fifth one is beauty of balance. It can by shown well by continual Karatedo kick motion, jumping kick motion at Kumite, jumping motion, quick turning, or moving such as standing on one foot at kata. The sixth one is beauty of harmony. The whith Dogi and blue or red guard at Kumite competition shows harmony of yin and yang and we can see also various harmony such as strong and soft, quick and slow, or high and low at Kata competition. The seventh one is beauty of curve. We can see beauty of straight line and curve by watching line of hand and foot from starting point to ending point. Specially, moving line of white dogi shows strongly beauty. The eighth one is beauty of rhythm. The rhythm is specified in Kumite kata competition rules. It is also shown by basic step, left and right step, various moving of foot, continual offense of hand or continual rhythm of offense and defense. The last one is bezuty of ethics. It is manner, duty as human, and moderation being important in Karatedo.

• Journal of Arbitration Studies
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• v.16 no.2
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• pp.3-49
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• 2006

The purpose of this paper is to make research on the settlement mechanism of the commercial disputes between the South and the North of Korea. Also, this paper is to make research on the south-north Korea's cooperative tasks to promote the disputes settlement, including the operation and management of the South-North Arbitration Commission as well as the enactment of the South-North Arbitration Rules. To realize the spirit of the South-North Joint Declaration of June 15, 2000, the Authorities concerned of the South and the North of Korea have reached an agreement titled 'Agreement on Settlement Procedure of Commercial Disputes' on December of the same year. As the follow-up measures of the said Agreement, the South-North Authorities have signed an another agreement called 'Agreement on Organization and Administration of the South-North Arbitration Commission' on October, 2003, which is becoming vital importance for settlement of the commercial disputes between south and north Korea including the Gaeseong Industrial Complex. Gaeseong, a city surrounded by the North Korean military and a symbol of inter-Korean tensions, is now turning into a peace zone where thousands of North and South Koreans are working side by side. The Gaeseong Industrial Complex project, driven by the logic and economic necessity of cooperation, has been steadily moving forward since the North designated it as a special economic zone and has enacted related laws and regulations for its development. Under the situation, the matter of primary concern is how to organize and conduct the Arbitration Commission for the prompt and effective settlement of the south-north commercial disputes. First of all, the South-North Authorities should recognize that the availability of prompt, effective and economical means of dispute resolution such as arbitration and mediation to be made by the Arbitration Commission would promote the orderly growth and encouragement of the south-north trade and investment. In this connection, the Korean Commercial Arbitration Board(KCAB) should be designated as the arbitral institution of the south Korean side under the Agreement on Organization and Administration of the South-North Arbitration Commission. The KCAB is the only authorized arbitral organization in South Korea to settle all kinds of commercial disputes at home and abroad.

• 수도
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• v.24 no.5 s.86
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• pp.29-44
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• 1997

Sewage sludge produced in Korea was 1,275,800 tons (dewatered sludge cake) per year in 1996, which is 3,495 tons per day, 0.303% of 11,526,100 tons per day of sewage treated in 79 sewage treatment plants. Sludge production has been and will be increasing in accordance with construction of new facilities for sewage treatment. Most of the sludge is currently disposed by landfill and ocean dumping, but it is becoming difficult to find suitable sites for landfill, particularly in big cities such as Seoul. In addition, rapid increase of landfill cost is anticipated in a near future. Current trend for sludge disposal in advanced countries is land application. Over the past 10 to 20 years in the United States, sludge management practices have changed significantly, moving from disposal to beneficial use. They use biosolid for utilization instead of sludge for disposal. Under the Clean Water Act of 1972, amended in 1987 by Congress, the U.S. EPA was required to develop regulations for the use and disposal of sewage sludge. The EPA assessed the potential for pollutants in sewage sludge to affect public health and the environment through a number of different routes of exposure. The Agency also assessed the potential risk to human health through contamination of drinking water sources or surface water when sludge is disposed on land. The Final Rules were signed by the EPA Administrator and were published (Federal Register, 1993). These rules state that sewage sludge shall not be applied to land if the concentration of any pollutant in the sludge exceeds the ceiling concentration. In addition, the cumulative loading rate for each pollutant shall not exceed the cumulative pollutant loading rate nor should the concentration of each pollutant in the sludge exceed the monthly average concentration for the pollutant. The annual pollutant loading rate generally applies to applications of sewage sludge on agricultural lands. The most popular beneficial use of sewage sludge is land application. The sludge has to be stabilized for appling to land. One of the stabilization process for sewage sludge is lime stabilization process. The stabilization process is consisted of the stabilizing process and the drying process. Stabilization reactor can be a drum type reactor in which a crossed mixer is equipped. The additive agents are a very reactive mixture of calcium oxide and others. The stabilized sludge is dried in sun drier or rotary kiln.

• Journal of the Society of Naval Architects of Korea
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• v.56 no.4
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• pp.343-351
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• 2019

Green water impact may sometimes cause some structure damages on ship's bow deck. Prediction of proper design pressure against the green water impact is an essential task to prevent the possible damages on bow deck. This paper presents a computational method of the bow deck's design pressure against the green water impact. Large heave and pitch motions of ship are calculated by the time domain nonlinear strip method. Green water flow and pressure on bow deck are simulated by the predictor-corrector second kind upstream finite difference method. This green water simulation method is based on the shallow water wave equations expanded for moving bottom conditions. For various kind of ships such as container ship, VLCC, oil tanker and bulk carrier, the green water design pressures on bow deck are computed and discussed. Also, the obtained results of design pressure on bow deck are compared with those of the classification society rules and discussed.

• The Journal of the Korea Contents Association
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• v.9 no.11
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• pp.1-9
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• 2009

In virtual environments, such as computer game and animation, we need to enhance naturalness of crowd simulation. So, we propose a method to generate dynamically moving crowd patterns by applying emotional factors to the individual characters of a crowd in the determination of their behavior. The proposed method mimics human behavior and controls each character in a group to decide its own path according to its individual status. And it is able to generate various moving patterns as a result of letting the individuals go to another group depending upon their conditions. In this paper, some temperament and feeling factors are defined and determination rules for calculating the emotional status are also proposed. Moreover we use a fuzzy theory for accurate representation of the ambiguous expressions such as feeling bad, feeling good and so on. Our experiments show that the suggested method can simulate virtual crowd in more natural and diverse ways.

• Journal of Korea Foundry Society
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• v.3 no.1
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• pp.13-21
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• 1983

In order to determine the feeding distance of aluminiun alloys (Alsi7Mg and AlCu4Ti) bar castings in the sand mold, the distance of the sound castings has been observed by radiograph for various risers, melt treatment, and casting design. Variation of porosity and hardness with the distance from the riser were also measured in order to determine the casting soundness. The results obained were as follows; 1) The modulus of riser should be 1.4 times of the casting`s 2) The maximum distance which can be made sound is greatly dependent on chemical composition and ingate location, and follows the rules given by the formula; a) When the melt flows into the casting first, and the riser afterward, D = 37.7 ${\sqrt{T}}$ for AlSi7Mg D = 31.2 ${\sqrt{T}}$ for pure aluminium D ${\ge}$ 54.8 ${\sqrt{T}}$ for AlCu4Ti Where T = casting thickness in mm Of this maximum distance, $aa{\sqrt{T}}$ for AlSi7Mg and 7.5 ${\sqrt{T}}$ for pure aluminium is made sound by the chilling effect of the casting edge. b) When the melt flows into the casting passing through the riser, $30{\times}30{\times}600mm$ bars can be made sound in all cases 3) Percentage of porosity is higer in AlCu4Ti than AlSi7Mg. And it is increased gradually by moving closer to the riser in case of $30{\times}30{\times}600mm$ bars, but for the $30{\times}30{\times}600mm$ bars it is increased gradually by moving closer to the center of bars. 4) Hardness variation is similar to the tendency of porosity. And it decreased gradually with approaching to the center in case of $30{\times}30{\times}600mm$ bars.

• Journal of Korea Society of Industrial Information Systems
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• v.19 no.5
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• pp.69-79
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• 2014

This paper proposes the Collision Prevention System based on Fuzzy which reasons a risk with the location information of vehicles and pedestrians and prevents collision between vehicles, and between a vehicle and a pedestrian with the reasoned risk. The proposed system provides three functions. First, it identifies a pedestrian's location with his smart phone and a vehicle's location with the GPS equipped in the vehicle. and transfers the identified information to their neighbors. Second, it makes a vehicle and a pedestrian reason a risk by considering a moving direction, a moving speed and road information. Third, it provides a vehicle and a pedestrian with the reasoned information such as route detour, speed reduction, etc. Therefore, the proposed collision prevention system based on Fuzzy not only prevents collision accidents beforehand by reasoning a risk, but also reduces a variety of losses by protecting traffic accident and congestion.