• Proceeding of EDISON Challenge
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• 2016.03a
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• pp.489-492
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• 2016

In this paper, 본 논문에서는 경사/장애물/특수표면을 이동할 수 있는 얀센 매커니즘 기반의 보행기구 설계에 대해 다루고 있다. 얀센 매커니즘 자체의 조건과 전체 보행기구의 조건을 알아보며, 기구의 완전한 회전운동 조건과 장애물이 있는 거친 표면을 이동할 수 있는 조건을 알아보고자 한다.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.3
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• pp.272-281
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• 2009

In this paper, three-dimensional optimal evasive maneuver patterns for air-to-surface attack missiles against proportionally navigated anti-air defense missiles were investigated. An interception error of the defense missile is produced by an evasive maneuver of the attack missile. It is assumed that the defense missiles are continuously launched during the flight of attack missile. The performance index to be minimized is then defined as the negative square integral of the interception errors. The direct parameter optimization technique based on SQP and a co-evolution method based on the augmented Lagrangian formulation are adopted to get the attack missile's optimal evasive maneuver patterns. The overall shape of the resultant optimal evasive maneuver is represented as a deformed barrel-roll.

• Proceedings of the Korean Institute of Landscape Architecture Conference
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• 2007.10c
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• pp.31-35
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• 2007

풍수지리학은 인간이 자연 속에서 좀 더 건강하고 안락하게 살아갈 터를 구하는 동양의 지리관이며 실용학문이다. 경전에 의해 전승된 전통풍수학의 이론체계 중 이기론(理氣論)은 산과 바람, 그리고 물의 순환궤적과 양을 나반(羅盤)를 이용하여 혈(穴)을 찾는 과정으로 땅의 기운을 12단계의 자연순환원리고 구분하고, 88향법(向法)으로 방위를 가늠하여 좋은 터를 선택하는 객관적이며 논리적인 자연환경분석체계임이 고찰되었다. 이러한 맥락에서 이기론의 12순환체계(胞胎法)에 의한 88향법 논리를 방위론에 입각하여 최적화한 다음, GIS분석 틀을 원용하여 사례대상지의 적지분석 결과와 풍수 향법의 결과치를 비교 분석해 본 결과, 88항볍의 적용으로 보다 융통성있는 향과 부지를 선택할 수 있음이 유추되었다. 장차의 연구로서 최적화된 88향법의 풍수논리를 중심으로 보다 다양한 변수의 적용과 면밀한 사례분석이 요구된다.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.4
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• pp.698-707
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• 2017

This paper deals with predictive control methods of mobile robots for reference trajectory tracking control. Predictive control methods using predictive model are known as effective schemes that minimize the future errors between the reference trajectories and system states; however, the amount of real-time computation for the predictive control are huge so that their applications were limited to slow dynamic systems such as chemical processing plants. Lately with high computing power due to advanced computer technologies, the predictive control methods have been applied to fast systems such as mobile robots. These predictive controllers have some control parameters related to control performance. But these parameters have not been optimized. In this paper we employed the genetic algorithm to optimize the control parameters of the predictive controller for mobile robots. The improved performances of the proposed control method are demonstrated by the computer simulation studies.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.40 no.5
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• pp.347-356
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• 2003

Camera pose and scene geometry estimation from video sequences is widely used in various areas such as image composition. Structure and motion recovery based on the auto calibration algorithm can insert synthetic 3D objects in real but un modeled scenes and create their views from the camera positions. However, most previous methods require bundle adjustment or non linear minimization process [or more precise results. This paper presents a new auto' calibration algorithm for video sequence based on two steps: the one is key frame selection, and the other removes the key frame with inaccurate camera matrix based on an absolute quadric estimation by LMedS. In the experimental results, we have demonstrated that the proposed method can achieve a precise camera pose estimation and scene geometry recovery without bundle adjustment. In addition, virtual objects have been inserted in the real images by using the camera trajectories.

• Journal of the Korea Society for Simulation
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• v.27 no.1
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• pp.39-49
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• 2018

An SLBM (submarine-launched ballistic missile) seriously threatens the national security due to its stealthiness that makes it difficult to detect in advance. We consider a destroyer deployment optimization problem for effectively detecting an SLBM. An optimization model is based on the two-person zero-sum game in which an adversary determines the firing and arriving places with an appropriate trajectory that provides a low detection probability, and we establish a destroyer deployment plan that guarantees the possibly highest detection probability. The proposed two-person zero-sum game model can be solved with the corresponding linear programming model, and we perform computational studies with a randomly generated area and scenario and show the optimal mixed strategies for both the players in the game.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.47 no.3
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• pp.228-239
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• 2019

In order to design the conceptual configuration of the short-range ballistic missile, the authors have established an optimization problem considering various aspects such as volume, aerodynamics, propulsion, structure, stability, and flight trajectory. For this purpose, the existing missile cases were analyzed and the design conditions and performance indices were derived. The performance of the whole system was analyzed by integrating each subsystem's model. Through the design example, we analyzed the relationship between various design variables and final performances.

• Journal of the Korean Vacuum Society
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• v.12 no.1
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• pp.1-6
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• 2003

An axial electron beam gun system, which emits the electron beam power of 50 kW, has been manufactured. The electron beam gun consists of two parts. One is the electron beam generation part. including the filament, cathode, and anode. The maximum beam current is 2 A and the acceleration voltage is 25 kV. The other part includes the focusing-, deflection-, and scanning coils. The beam diameter and ham trajectory can be controlled by these coils. The characteristic of each part is measured ior the optimum condition of evaporation process. Moreover, Helmholtz coil is installed inside the vacuum chamber to adjust the incident angel of the beam to the melting surface for the maximum evaporation. We report on the evaporation rates for zirconium(Zr) and gadolinium(Gd) metals which have the high melting temperatures.

• Proceedings of the Korea Information Processing Society Conference
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• 2010.11a
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• pp.1410-1413
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• 2010

유비쿼터스와 로봇 제어기술이 융합하여 상호작용 하면서 로봇 기술이 빠르게 발전하고 있다. 그 중 인간의 생각과 행동을 대신 해주는 서비스 로봇인 휴머노이드 로봇에 대한 관심이 높아지고 있다. 본 연구는 휴머노이드 로봇을 이용하여 초상화를 실시간으로 빨리 그리는 새로운 기법과 그 기법을 적용하는 소프트웨어 시스템을 제안한다. 이때 사람을 인지하는 것, 종이위에서 붓(펜)이 움직이는 궤적과 속도를 제어하는 기술이 핵심이다. 더욱이 유비쿼터스 환경에서 중요한 컨트롤 포인트로 인식되고 있는 모바일 기기를 이용한 로봇 제어 기술도 계획 중이다. 본 과제에서는 로봇의 궤적을 최적화 하여 드로잉 속도를 빠르게 하고, 더 부드럽고 자연스러운 초상화를 드로잉 하며 실시간과 적응성을 높인다.

• Composites Research
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• v.21 no.1
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• pp.1-7
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• 2008

Composite vessels for high pressure gas storage are commonly used these days because of their competitive weight reduction ability maintaining strong mechanical properties. To supplement permeability of composite under high pressure, it is usually lined by metal, which is called a Type 3 vessel. However, it has many difficulties to design the Type 3 vessel because of its complex geometry, fabrication process variables, etc. In this study, therefore, GUI (graphic user interface) optimal design code for Type 3 vessels was developed based on semi-geodesic algorithm in which various factors of geometry and fabrication variables are considered and genetic algorithm for optimization. In addition, hydrogen vessels for 350/700 bar that can be applied to FCVs(fuel cell vehicles) were designed using this code for verification.