• KSCE Journal of Civil and Environmental Engineering Research
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• v.43 no.2
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• pp.231-238
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• 2023

Since there is a limit to the physically visible horizon that sensors for autonomous driving can perceive, complementary utilization of digital map data such as a Local Dynamic Map (LDM) along the probable route of an Autonomous Vehicle (AV) is proposed for safe and efficient driving. Although the amount of digital map data may be insignificant compared to the amount of information collected from the sensors of an AV, efficient management of map data is inevitable for the efficient information processing of AVs. The objective of this study is to analyze the efficiency of information use and information processing time of AV according to the expansion of the active section of LDM-based static road and traffic information. To carry out this objective, a microscopic simulator model, VISSIM and VISSIM COM, was employed, and an area of about 9 km × 13 km was selected in the Busan Metropolitan Area, which includes heterogeneous traffic flows (i.e., uninterrupted and interrupted flows) as well as various road geometries. In addition, the LDM information used in AVs refers to the real high-definition map (HDM) built on the basis of ISO 22726-1. As a result of the analysis, as the electronic horizon area increases, while short links are intensively recognized on interrupted urban roads and the sum of link lengths increases as well, the number of recognized links is relatively small on uninterrupted traffic road but the sum of link lengths is large due to a small number of long links. Therefore, this study showed that an efficient range of electronic horizon for HDM data collection, processing, and management are set as 600 m on interrupted urban roads considering the 12 links corresponding to three downstream intersections and 700 m on uninterrupted traffic road associated with the 10 km sum of link lengths, respectively.

• Journal of the Korea Institute of Military Science and Technology
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• v.4 no.1
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• pp.170-176
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• 2001

An optimization problem to obtain the optimal replacement interval considering the salvage values is studied. The system is minimally repaired at failure and is replaced by new one at age T(periodic replacement policy with minimal repair of Barlow and Hunter〔2〕). Our model assumes that the time horizon associated with the number of replacements is random The total expected cost considering the salvage values with random time horizon is obtained and the optimal replacement interval minimizing the cost is found by numerical methods. Comparisons between non-considered salvage values and this case are made by a numerical example.

• Proceedings of the KSRS Conference
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• 2004.10a
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• pp.128-131
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• 2004

In this paper, we describe reconstructed 3D-urban modeling techniques for laser scanner and CCD camera system, which are loading on the vehicle. We use two laser scanners, the one is horizon scanner and the other is vertical scanner. Horizon scanner acquires the horizon data of building for localization. Vertical scan data are main information for constructing a building. We compared extraction of edge aerial image with laser scan data. This method is able to correct the cumulative error of self-localization. Then we remove obstacles of 3D-reconstructed building. Real-texture information that is acquired with CCD camera is mapped by 3D-depth information. 3D building of urban is reconstructed to 3D-virtual world. These techniques apply to city plan. 3D-environment game. movie background. unmanned-patrol etc.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.3
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• pp.159-163
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• 2001

An input constrained receding horizon predictive control algorithm for uncertain systems with nonzero set points is proposed. for constant nonzero set points, models with uncertainty can be converted into an augmented incremental system through the use of integrators and the problem is transformed into a zero-state regulation problem for the incremental system. But the original constraints on inputs are converted into constraints on the sum of control inputs at each time instants, which have not been dealt in earlier constrained robust receding horizon control problems. Recursive state bounding technique and worst case minimizing strategy developed in earlier works are applied to the augmented incremental system to yield an offset error free controller. The resulting algorithm is formulated so that it can be solved using LP.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.502-502
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• 2000

An input constrained receding horizon predictive control algorithm for uncertain systems with nonzero set points is proposed. For constant nonzero set points, models with uncertainty can be converted into an augmented incremental system through the use of integrators and the problem is transformed into a zero-state regulation problem for the incremental system. But the original constraints on inputs are converted into constraints on the sum of control inputs at each time Instants, which have not been dealt in earlier constrained robust receding horizon control problems. Recursive state bounding technique and worst case minimizing strategy developed in earlier works are applied to the augmented incremental system to yield an of set error free controller. The resulting algorithm is formulated so that it can be solved using LP.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1140-1142
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• 1996

In this paper, a fixed-horizon $H_{\infty}$ tracking control (HTC) for continuous time-varying systems is proposed in state-feedback case. The solution is obtained via the dynamic game theory. From HTC, an intervalwise receding horizon $H_{\infty}$ tracking control (IHTC) for continuous periodic systems is obtained using the intervalwise strategy. The conditions under which IHTC stabilizes the closed-loop system are proposed. Under proposed stability conditions, it is shown that IHTC guarantees the $H_{\infty}$-norm bound.

• Korea Trade Review
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• v.47 no.5
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• pp.21-37
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• 2022

Baltic Dry Index (BDI) is difficult to forecast because of the high volatility and complexity. To improve the BDI forecasting ability, this study apply Bayesian variable selection method with a large number of predictors. Our estimation results based on the BDI and all predictors from January 2000 to September 2021 indicate that the out-of-sample prediction ability of the ADL model with the variable selection is superior to that of the AR model in terms of point and density forecasting. We also find that critical predictors for the BDI change over forecasts horizon. The lagged BDI are being selected as an key predictor at all forecasts horizon, but commodity price, the clarksea index, and interest rates have additional information to predict BDI at mid-term horizon. This implies that time variations of predictors should be considered to predict the BDI.

• Journal of Korean Society of Forest Science
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• v.88 no.1
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• pp.117-123
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• 1999

Consumer surplus is to be a value concerning a time horizon. Especially it is very important how long time horizon would be chosen in contingent market. This study aimed to provide causes of difference recreation benefits through discount rate in many aspects. The data were collected by personal interviews with visitors in Songnisan National Park. The respondents answered yes or no, dichotomous choice, on recreation benefits according to a chosen time horizon, one year or five years. The probit model was used in the analysis. In order to avoid the truncation bias of upper bound, the median was chosen as the recreation benefits of visitor. As the result, the value was evaluated to be 16,569 Won for one year and 27,111 Won for five years. The discount rate is estimated 153% annually to coincide different recreation benefits. The reasons of the high discount rate were to be interpreted as following five types : (1)uncertainty of future consumption (2)increasing of probability of the substitution owing to increasing of time horizon (3)recognization of different time horizons (4) effect by the price ratio of goods and utility function (5) overestimation of the recreation benefits owing to a basic premium of payment vehicle.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.444-447
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• 2004

A new approach to compute the control moves in Extended Dynamic Matrix Control (EDMC) is presented. In this approach, the number of variables, determined in the inner loop of the control algorithm using iterative methods, is reduced from P , the prediction horizon to M , the control horizon. Since M is usually much smaller than P , this modifies the control algorithm from computational point of view. To justify the modification, the computational requirements are compared to those of the existing EDMC algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2548-2551
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• 2005

In this paper, a robust receding horizon finite impulse response(FIR) filter is proposed for a class of linear discrete time systems with uncertainty satisfying an integral quadratic constraint. The robust state estimation problem involves constructing the set of all possible states at the current time consistent with given system input, output measurements and the integral quadratic constraint.