• Journal of architectural history
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• v.22 no.3
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• pp.15-26
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• 2013

This research takes as its object a body of historical researches by a new generation of French architects in the 1970s, who tried to confront the deep crisis in architecture since the years 1960. The research begins by noting that the ideology of the architect as an autonomous and transcendental subject, an ideology held by the architects of the previous generation, was a main target that young architects wanted to criticize and overcome. From this observation, the research focuses on a antihumanistic project which gave basis for a significant number of historical researches on modern architecture and was the result of a reappropriation of the French structuralism intensively developed in the human and social sciences of that time in France. After a series of textual analyzes, we argue that a new perspective on the city and the relationship of the latter with the architecture on the one hand, and the proposal for an "modest" architect as an alternative figure after rejection of the autonomous and transcendental one on the other hand, have been derived as the outcome of anti-humanist historiographic works. Finally, we assume that these historical adventure gave conceptual basis for postmodern architecture in France, freed from the modern myth of unity of author and that of work of art, but tinted by a moralism requesting modesty to architects.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.7
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• pp.617-624
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• 2010

This article describes the system architecture of KUVE (KIST Unmanned Vehicle Electric) and unmanned autonomous navigation of it in KIST. KUVE, which is an electric light-duty vehicle, is equipped with two laser range finders, a vision camera, a differential GPS system, an inertial measurement unit, odometers, and control computers for autonomous navigation. KUVE estimates and tracks the boundary of road such as curb and line using a laser range finder and a vision camera. It follows predetermined trajectory if there is no detectable boundary of road using the DGPS, IMU, and odometers. KUVE has over 80% of success rate of autonomous navigation in KIST.

• Journal of Navigation and Port Research
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• v.47 no.2
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• pp.66-74
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• 2023

With the increase of interest in developing Maritime Autonomous Surface Ships (MASS), an optimal ship route planning is gradually gaining popularity as one of the important subsystems for autonomy of modern marine vessels. In the present paper, an optimal ship route planning model for MASS is proposed using a nonlinear MPC approach together with a nonlinear MMG model. Results drawn from this study demonstrated that the optimization problem for the ship route was successfully solved with satisfaction of the nonlinear dynamics of the ship and all constraints for the state and manipulated variables using the nonlinear MPC approach. Given that a route generation system capable of accounting for nonlinear dynamics of the ship and equality/inequality constraints is essential for achieving fully autonomous navigation at sea, it is expected that this paper will contribute to the field of autonomous vehicles by demonstrating the performance of the proposed optimal ship route planning model.

• International Journal of Naval Architecture and Ocean Engineering
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• v.7 no.2
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• pp.409-425
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• 2015

In this paper, we employ a dynamics modeling method for investigating a multi-body dynamics system of semi-submersible autonomous underwater vehicles consisting of a towing vehicle operated near the water surface, a tow cable, and a towfish. The towfish, which is towed by a marine cable for the purposes of exploration or mine hunting, is modeled with a Six-Degree-of-Freedom (6-DOF) equation of motion that reflects its hydrodynamics characteristics. The towing cable, which can experience large displacements and deformations, is modeled using an absolute nodal coordinate formulation. To reflect the hydrodynamic characteristics of the cable during motion, the hydrodynamic force due to added mass and the drag force are imposed. To verify the completeness of the modeling, a few simple numerical simulations were conducted, and the results confirm the physical plausibility of the model.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2004.05a
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• pp.198-203
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• 2004

This paper describes a real-time control architecture for DUSAUV (Dual Use Semi-Autonomous Underwater Vehicle), which has been developed at Korea Research Institute of Ships & Ocean Engineering (KRISO), KORDI, for being a test-bed oj development of technologies for underwater navigation and manipulator operation. DUSAUV has three built-in computers, seven thrusters for 6 degree of freedom motion control, one 4-function electric manipulator, one pan/tilt unit for camera, one ballasting motor, built-in power source, and various sensors such as IMU, DVL, sonar, and so on. A supervisor control system for GUI and manipulator operation is mounted on the surface vessel and communicates with vehicle through a fiber optic link. Furthermore, QNX, one of real-time operating system, is ported on the built-in control and navigation computers of vehicle for real-time control purpose, while MicroSoft OS product is ported on the supervisor system for GUI programming convenience. A hierarchical control architecture which consist of three layers (application layer, real-time layer, and physical layer) has been developed for efficient control system of above complex underwater robotic system. The experimental results with implementation of the layered control architecture for various motion control of DUSAUV in a basin of KRISO is also provided.

• Journal of Korean Association for Spatial Structures
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• v.20 no.1
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• pp.31-40
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• 2020

The purpose of this study is to propose future-oriented high-rise buildings where the vehicle is parked at the top of the building. At the same time, the vehicle is used as a part of the building along with the advent of the era of autonomous driving. The suspended structure is proposed as a suitable structural system for architectural planning. This system is free to design because there are no limitations on column planning compared to conventional designs. In particular, the low-floor plan can be used as an open space because colums are not arranged in the lower-floors. Thereby opened low-floor plan has advantages that visual perception of the space is improved, noise problems along the side of the street is solved and planning underground parking spaces are easier. These advantages can solve the problem of overlapping columns with vehicle traffic in the building. However, there are some problems that the suspension structure is mainly a formal form and the usable area is small compared to the core area because it is a core-oriented structural system. In this regard, a new structural system was proposed by combining the concept of suspended structure and cable stayed column. Therefore, this paper analyzes the existing style of high-rise housing suspended Structure and proposes a new structural system and the concept of design for autonomous vehicles.

• Journal of Korean Society of Rural Planning
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• v.19 no.4
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• pp.213-226
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• 2013

Agricultural tourism is a new kind of industry, which combined agriculture with tourism. It not only has the productive function, but also has the function of improving the quality of ecological environment and supplying people with sightseeing, leisure, vacation. Agricultural tourism is a new kind of industry from the amalgamation of agriculture and tourism: it is based on farm work, characterized by agricultural management, combines agriculture and tourism, and includes the city as a market-place. It satisfies tourist demand with food, lodging, excursions, shopping and entertainment provided by agricultural places and agricultural products. After combining the substance of this study with the primary sources regarding the development of agricultural tourism, I suggest plans for the development of local agricultural tourism on the basis of sustainable tourism theory in case of the Inner Mongolia region. To conduct research, various data such as literature research and surveys are collected and analyzed. According to the result of the research, the Inner Mongolia region has great-wealthy resources for agricultural tourism. However, they have problems as well such as lack of funds, low infrastructure, low business-mind level, low management-mind, the scarcity of mid-supporting organizations for research and education, low awareness, and low service level of the agricultural tourism. In order to solve these problems, have to strengthen publicity, strengthen the county and city communication, educates continuously profession talented person, establish related laws and regulations, increase the integrity of infrastructure. As a developing industry, agricultural tourism is a new field of study which needs more encouraging research. The agricultural tourism of Inner Mongolia Autonomous Region has only just started development resulting in a limited amount of information available for this study. Future planned work entails a continuous in-depth study of Chinese agricultural tourism, considering Inner Mongolia Autonomous Region in particular.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.119.4-119
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• 2002

$\textbullet$ Intoduction : Control architecture of PSR $\textbullet$ Layered functionality diagrams $\textbullet$ Class diagrams $\textbullet$ Petri-net based configuration diagram $\textbullet$ Experiments $\textbullet$ Conclusions

• Journal of the Korea Institute of Information and Communication Engineering
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• v.24 no.3
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• pp.435-440
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• 2020

The application of the unmanned vehicles in various fields has been attracting attention, and the development of a service utilizing unmanned vehicles has been proceeding. As the service market using the unmanned vehicles rapidly increases, the demand for the development of software for performing the mission with unmanned vehicles is increasing. In particular, as the demand for unmanned vehicle utilization services for public missions such as fire detection, mail delivery, and facility management increases, the importance of developing mission software for unmanned vehicle is increasing. To develop common mission software, architecture design should be made so that unmanned vehicle service provider can easily develop software using reusable libraries or functions through analysis commonly required by various public institutions. In this paper, we discuss the research trends of mission software for public mission unmanned vehicles. In addition, the architecture design of developing formal mission software is proposed. Finally, we propose a data transfer architecture between mission software and data platform.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.24 no.11
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• pp.1437-1444
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• 2020

With the development of computer vision systems, many advances have been made in the fields of surveillance, biometrics, medical imaging, and autonomous driving. In the field of autonomous driving, in particular, the object detection technique using deep learning are widely used, and the paved road detection is a particularly crucial problem. Unlike the ROI detection algorithm used in general object detection, the structure of paved road in the image is heterogeneous, so the ROI-based object recognition architecture is not available. In this paper, we propose a deep neural network architecture for atypical paved road detection using Semantic segmentation network. In addition, we introduce the multi-scale semantic segmentation network, which is a network architecture specialized to the paved road detection. We demonstrate that the performance is significantly improved by the proposed method.