• 한국항행학회논문지
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• 제11권4호
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• pp.378-387
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• 2007

본 논문은 무인자동차의 자율주행 성능을 향상시키기 위한 알고리즘을 개발하고 이를 검증하여 정밀한 차량의 주행궤적을 수립할 수 있는 방법을 제시하였다. 무인자동차의 주행은 목표지점은 가지고 있으나 목표방향은 지정되지 않으므로 미래의 주행방향은 스스로 찾아야 한다. 따라서 확장형 칼만필터를 이용하여 주행 방향을 GPS와 INS로 연동함으로써 목표방향의 접근을 할 수 있으며 무인 주행 시에 발생할 수 있는 슬립과 횡방향의 이동에 취약한 기존의 무인 자율주행의 성능을 개선하기 위하여 슬라이딩 모드 제어기법을 이용하여 이를 극복하는 알고리즘을 개발하였다.

• 한국전산유체공학회지
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• 제17권2호
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• pp.35-41
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• 2012

This paper presents incompressible Navier-Stokes solution algorithm for 2D Free-surface flow problems on the Cartesian mesh, which was implemented to run on Graphics Processing Units(GPU). The INS solver utilizes the variable arrangement on the Cartesian mesh, Finite Volume discretization along Constrained Interpolation Profile-Conservative Semi-Lagrangian(CIP-CSL). Solution procedure of incompressible Navier-Stokes equations for free-surface flow takes considerable amount of computation time and memory space even in modern multi-core computing architecture based on Central Processing Units(CPUs). By the recent development of computer architecture technology, Graphics Processing Unit(GPU)'s scientific computing performance outperforms that of CPU's. This paper focus on the utilization of GPU's high performance computing capability, and presents an efficient solution algorithm for free surface flow simulation. The performance of the GPU implementations with double precision accuracy is compared to that of the CPU code using an representative free-surface flow problem, namely. dam-break problem.

• 의료법학
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• 제10권2호
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• pp.183-201
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• 2009

Im Allgemeinen auch psychische Patienten k$\ddot{o}$nnen sich daruber selbst entscheiden, $\ddot{a}$rztliche Behandlung zu nehmen und ins Krankenhaus aufgenommen zu werden. Im S$\ddot{u}$dkorea bei der zwangsweisen Unterbringung wird kein KBGB des privatlichen Rechts, sondern Gesetz $\ddot{u}$ber psychisch Gesundheitspflege des $\ddot{o}$ffentlichen Rechts vorz$\ddot{u}$glich verwandt. Aber das noch kann ein selbst Bestimmungsrecht von der psychischen Patient verletzen. Im Deutschland regelt BGB $\S$ 1906 Zwangsunterbringung der psychische Patienten, die Gef$\ddot{a}$hr des Selbstmord oder der Eigengef$\ddot{a}$hrdung haben. Au$\ss$erdemhat jedes Land eigen Gesetz $\ddot{u}$ber psychischen Kranken, das $\ddot{o}$ffentliche Vorschrift f$\ddot{u}$r Zwangsunterbringung regelt. Im Fall der Zwangsunterbringung im Deutschland BGB $\S$ 1906 wird prim$\ddot{a}$rer als $\ddot{o}$ffentlich Rechts verwandt, um die Selbstbestimmungsrecht der Patienten zu unterstutzen. Auch im Korea KBGB (koreanisches B$\ddot{u}$rgerliches Gesetzbuch) Ver$\ddot{a}$nderungen f$\ddot{u}$r die Einf$\ddot{u}$hrung des Betreuungsrechts, die sich mit der Zwangsunterbringung befassen, sollten diskutiert werden, damit die Selbstbestimmung sch$\ddot{a}$tzen.

• 한국통신학회논문지
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• 제25권7A호
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• pp.986-993
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• 2000

In this paper, we analyze transmission characteristics of ultrashort laser pulses using the properties of high-order pulses which are systematically obtained following their orders. The high-order pulses are easily derived from a modified PRS system model. But we make clear they are very useful to cover wider area and to show more accurate transmission characteristics of ultrashort pulses than Gaussian or Sech pulse approximations used conventionally. These are based on the fact that the spectra and bandwidths of the high-order pulses are geautifully related to their orders. First modifying the generalized PRS system model, we propose a new model for deriving any type of high-order pulse. And we offer a novel analysis method of ultrashort pulse transmission varying the order of the pulse from n=1 to n=100, we obtain spectra of ultrashort pulses with 1(ps)∼150(fs) FWHM's, which are widely used in optical pulse communications. One-step further, we derive PSD's of their pulse-tr ins when they are applied to Unipolar signaling scheme. These PSD's are decided in the range of possible pulse intervals. All of these results are not only coincided with some conventional experimental works but will be applied to any pioneering ultrashort pulse in the future.

• 대한화장품학회:학술대회논문집
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• 대한화장품학회 2003년도 IFSCC Conference Proceeding Book II
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• pp.369-369
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• 2003

Viscarin is a tradename given to viscosifying carrageenans manufactured by FMC BioPolymer. The suitability of Vis car ins as rheology agents in mild cleansing applications has been investigated. Rheological properties, foam volume and clarity were measured to determine the impact of including 1 % Viscarin on 10% solutions of the following surfactants: acylglutamate, cocoamidopropyl betaine, PEG-80 laurate, sodium lauryl sulphate and sodium lauryol sarcosinate. Viscosity, pseudoplasticity and thixotropy of Viscarin/surfactant solutions varied with surfactant type. In all cases, the addition of Viscarin substantially increased viscosity. For example, at a shear rate of 1 sol, all surfactant solutions had viscosities <0.1 Pa s while viscosities of Viscarin/surfactant solutions ranged from 10 to 60 Pa s. By comparison, a solution of 1 % Viscarin had a viscosity of 0.3 Pa s. Clarity of surfactant solutions decreased in all cases on the addition of Viscarin. However, it was found that by including a mild solubilizing surfactant, such as PEG 40 hydrogenated castor oil, crystal clarity could be maintained in Viscarin/surfactant solutions. Viscarin increased the foam volume of sodium lauryolsarcosinate solutions from 10 ml to 220 ml and had no impact on the foam volume of the other surfactants tested. These results were used to formulate a clear, ultra-mild foaming cleansing gel based on sodium lauryol sarcosinate and Viscarin without the need for a secondary, foam-boasting surfactant. A mild shampoo was also formulated. Both products have excellent skin-feel and are capable of suspending bubbles and solid inclusions.

• 제어로봇시스템학회논문지
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• 제18권8호
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• pp.744-749
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• 2012

In this paper, we suggest that how to improve an accuracy of mobile robot's localization by using the sensor network information which fuses the machine vision camera, encoder and IMU sensor. The heading value of IMU sensor is measured using terrestrial magnetism sensor which is based on magnetic field. However, this sensor is constantly affected by its surrounding environment. So, we isolated template of ceiling using vision camera to increase the sensor's accuracy when we use IMU sensor; we measured the angles by pattern matching algorithm; and to calibrate IMU sensor, we compared the obtained values with IMU sensor values and the offset value. The values that were used to obtain information on the robot's position which were of Encoder, IMU sensor, angle sensor of vision camera are transferred to the Host PC by wireless network. Then, the Host PC estimates the location of robot using all these values. As a result, we were able to get more accurate information on estimated positions than when using IMU sensor calibration solely.

• 전자공학회논문지 IE
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• 제47권1호
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• pp.12-21
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• 2010

본 논문에서는 센서 네트워크를 이용하여 로봇 자신의 위치를 인식할 수 있는 위치인식 시스템을 제안하였다. 그리고 센서 네트워크에서 얻은 정보와 사용자의 운행 정보를 이용하여 사용자의 선호도 및 성향과 주변의 환경 상태를 판단하여 사용자에게 적합한 경로를 추천하는 지능형 네비게이션 시스템을 제안하였다. 이 시스템은 소프트 컴퓨팅 기법을 사용하여 인간의 선호도와 성향을 학습 및 추론하였다. 그리고 사용자와 모바일 로봇을 중계자 역할을 담당하고 휴대가 가능한 지능형 보조 모듈(IAM)을 정의하고 제안하였다. 마지막으로 제안한 알고리즘을 시뮬레이션을 통해 검증하였다.

• 한국항공우주학회지
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• 제39권2호
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• pp.128-136
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• 2011

뱅크턴을 수행하는 항공기에 운용되는 관성항법장치의 특정 자이로 비정렬 오차가 수직축 자세오차를 연속적으로 증가시키는 현상에 대해서 분석을 수행하고, 이 자이로 비정렬 오차를 제거하기 위해 GPS을 결합한 INS/GPS 시스템에 대해서 새로운 비정렬 모델링 방법을 제시하고, 그 성능 향상을 시뮬레이션을 통해 제시한다.

• 인터넷정보학회논문지
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• 제20권2호
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• pp.69-76
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• 2019

Recent Enterprise System has component driven real-time distributed architecture (RDA) and this kind of architecture should performed with satisfying strict constraints on life cycle of object and response time such as synchronization, transaction and so on. Microsoft's .NET platform supports RDA and is able to implement services including before mentioned time restriction and security service by only specifying attribute code and maximizing advantages of OMG's Model Driven Architecture (MDA). In this study, a method to automatically generate an extended model of essential elements in an enterprise-system-based RDA as well as the platform specific model (PSM) for Microsoft's .NET platform are proposed. To realize these ideas, the functionalities that should be considered in enterprise system development are specified and defined in a meta-model and an extended UML profile. In addition, after defining the UML profile for .NET specification, these are developed and applied as plug-ins of the open source MDA tool, and extended models are automatically generated using this tool. Accordingly, by using the proposed specification technology, the profile and tools can easily and quickly generate a reusable extended model even without detailed coding-level information about the functionalities considered in the .NET platform and RDA.

• 한국측량학회지
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• 제28권1호
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• pp.39-46
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• 2010

수심측량 자료는 선박의 항행안전을 위한 필수자료이며 해양의 합리적 이용과 보전을 위한 기초자료이다. 최근 IT기술과 측위장비(GPS와 INS), 수심관측 장비(Echo Sounder)의 발달로 멀티빔(Multi Beam Echo Sounder) 방식을 이용하여 정밀한 해저지형 자료DB를 구축하고 있다. MBES 자료에는 다양한 요인으로 인하여 오차를 포함하고 있으며, 일부 자료에서 지형이 지그재그한 물결현상을 발생하는 오차들이 발생한다. 물결무늬를 발생시키는 오차는 MBES 자료 처리결과의 정확도를 저해하는 요인이며, 발생 원인을 파악하여 이러한 오측자료 제거를 통하여 정확도를 향상시키고자 한다. 본 연구에서는 MBES 자료를 이용하여 물결 무늬 현상이 발생하는 자료에 대한 Motion sensor 값을 분석하여 오측자료의 원인을 파악하였다 분석결과, 물결무늬 현상은 Roll의 표준편차와 상관관계를 갖으며, 이러한 물결무늬 오측자료는 급격한 Roll 값의 변화로 인하여 Swath 자료와 Roll 값의 불일치 결과로 나타났다. 이를 근거로 Swath 자료의 기울기와 Roll 값의 비교하여 오측자료를 선별하여 제거하였다 오측자료를 제거한 결과. Motion sensor의 Roll 값의 표준연차 등을 이용하여 MBES 자료의 품질을 판단하고, 불일치 자료를 최소화하는 추가적인 오차 요인을 계산할 수 있을 것이라 예상된다 또한, 해황조건이 고르지 못한 상황 및 Sensor의 움직임이 크게 일어나는 소형 선박 등에 척용을 하면 수심측량 정확도 개선에 기여할 수 있을 것이다.