• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1054-1059
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• 2005

The artificial potential method uses a potential field to guide a robot from a start to a goal configuration respectively. The potential field consists of attractive potential used to pull a robot toward a goal and repulsive potential to keep it away from obstacles. However, there are two problems concerning local minimum and computational cost to be resolved in conventional artificial potential methods. This study proposes a method utilizing a spline surface that interpolates arbitrary boundaries and a domain reduction method that reduces the unnecessary area. The proposed spline surface interpolates arbitrary shaped boundaries and is used as an artificial potential to guide a robot for global motion planning of a mobile robot. A reduced domain process reduces the unnecessary domain. We apply a distance-weighted function as such a function, which blends distances from each boundary with a reduction in computational time compared with other analytical methods. As a result, this paper shows that an arbitrary boundary spline surface provides global planning and a domain reduction method reduces local minimum with quick operation.

• 한국정밀공학회지
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• 제32권3호
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• pp.253-261
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• 2015

A parallel mechanism with redundancy can be regarded as a means for not only maximizing the benefits of parallel mechanisms but also overcoming their drawbacks. We proposed a novel parallel mechanism by eliminating an unnecessary degree of freedom of the configuration space. Because of redundancy, however, the solution for the inverse kinematics of the developed parallel mechanism is infinite. Therefore, we defined a cost function that can minimize the movement time to the target orientation and found the solution for the inverse kinematics by using a numerical method. In addition, we proposed a method for determining the boundary of the geometric singularity in order to avoid singularities.

• 한국항공우주학회지
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• 제36권7호
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• pp.651-657
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• 2008

본 논문에서는 저사양의 반작용 휠을 이용하여 토크 가용성을 높이는 두 가지 기법이 제안 하였다. 첫 번째는 기존의 의사역행렬을 이용한 토크 제어 분배 법칙 대신 가중치가변 의사역행렬과 모멘텀을 최소화하는 제어 분배 법칙을 제안하여 반작용 휠의 토크, 모멘텀 제한 조건 내의 해를 찾도록 했다. 두 번째는 휠의 장착각을 변경하여 토크가 많이 필요한 축의 토크 가용성 자체를 증가시키는 방법을 제안하였다. 제안된 법칙들은 위성체의 자세 천이에 적용되었으며, 시뮬레이션을 통하여 성능 향상과 실제 위성의 적용 가능성을 기술했다.

• 한국항공우주학회지
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• 제34권1호
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• pp.74-80
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• 2006

본 논문은 레이더와 같은 지상의 다수위협이 존재하는 상황에서 무인항공기의 비행경로 최적화에 관한 것이다. 레이더에 의한 피탐성, 즉 비행체에 의해 반사되는 레이더 신호강도를 최소화하면서 목적지까지의 비행시간을 최소화하는 관점에서 성능지수를 제안하였다. 1차의 시간지연 시스템으로 가정된 비행체의 경사각을 제어입력으로 고려하였으며, Sequential Quadratic Programming기법에 기반한 입력 파라미터 최적화 기법을 사용하여 궤적최적화를 수행하였다. 제안된 무인 항공기 경로계획 기법은 Voronoi 선도기법과 비교하였을 때, 생존성을 증대시키면서도 항공기의 역학적 특성을 고려한 비행경로를 제공한다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제11권5호
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• pp.2499-2522
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• 2017

Multi-hop networks are a low-setup-cost solution for enlarging an area of network coverage through multi-hop routing. Carrier sense multiple access with collision avoidance (CSMA/CA) is frequently used in multi-hop networks. Multi-hop networks face multiple problems, such as a rise in contention for the medium, and packet loss under heavy-load, saturated conditions, which consumes more bandwidth due to re-transmissions. The number of re-transmissions carried out in a multi-hop network plays a major role in the achievable quality of service (QoS). This paper presents a statistical, analytical model for the end-to-end delay of contention-based medium access control (MAC) strategies. These strategies schedule a packet before performing the back-off contention for both differentiated heterogeneous data and homogeneous data under saturation conditions. The analytical model is an application of Markov chain theory and queuing theory. The M/M/1 model is used to derive access queue waiting times, and an absorbing Markov chain is used to determine the expected number of re-transmissions in a multi-hop scenario. This is then used to calculate the expected end-to-end delay. The prediction by the proposed model is compared to the simulation results, and shows close correlation for the different test cases with different arrival rates.

• 한국조경학회지
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• 제26권3호
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• pp.104-117
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• 1998

Rising concern about climate change has evoked interest in the potential for urban vegetation to help reduce the level of atmospheric CO\sub 2\, a major heat-trapping gas. This study quantified the functio of home energy savings and carbon emission reduction by shading, evapotranspiration and windspeed reduction of urban vegetatioin in Chuncheon. Tree and shrub cover averaged approximately 13% in residential land. The effects of shading, evapotranspiration and windspeed reduction annually saved heating energy by 2.2% and cooling energy by 8.8%. The heating and cooling energy savings reduced carbon emissions by 3.0% annually. These avoided emissions equaled the amount of carbon emitted annually from fossil fuel consumption by a population of about 1,230. Carbon emission reduction per residential building was 55kg for detached buildings and 872 kg for multifamily buildings. Urban vegetation annually decreased heating and cooling energy cost by ￦1.1 billions, which were equivalent to annual savings of ￦10,000 savings and carbon emission reduction due to tree plantings in the wrong locations, while windspeed reduction had a great effect. Plantings fo large trees close to the west and east wall of buildings, full tree plantings on the north, and avoidance of shade-tree plantings or selection of solar-friendlytrees on the south were recommended to improve the function of building energy savings and carbon emission reduction by urban vegetation.

• 방사선산업학회지
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• 제8권2호
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• pp.97-104
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• 2014

Postharvest diseases cause considerable losses to harvested fruits and vegetables worldwide. Fresh produce suspected of harboring postharvest disease must be treated to control any pathogens present. Although there are various treatments to control postharvest losses by pathogens, the current community is eager to take safer and more eco-friendly alternatives to help with human health and reduce environmental risks. Ionizing irradiation is a promising phytosanitary treatment that has a significant potential to control postharvest diseases in use worldwide. Although almost 19000 metric tons of sweet potatoes and various fruits are irradiated each year in six countries to control postharvest disease, irradiation continues to be a debate, with slow acceptance by industries. Irradiation alone is not effective as a fungicide, and an over dose affects the physical properties of irradiated products. A combination of irradiation with other treatments such as heating, biocontrol agents, chlorination, and nano Ag particles is to enhance their effectiveness. Challenges to the use of phytosanitary irradiation are an avoidance of irradiated postharvest and cost of the irradiation facilities, and thus consumers still need to be educated on the principles and benefits of irradiation and prepare an optimum economy of scale for commercial use. In this review, we evaluated the current phytosanitary irradiation, and combination with various other treatments to minimize the postharvest losses.

• 아태비즈니스연구
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• 제9권3호
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• pp.71-82
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• 2018

This study verifies whether the sustainable tax strategy provides unique information on earnings persistence and brings about the difference of value relevance of accounting information. Sustainability is measured by the 5-year coefficient of variation in cash ETR, such as in McGuire et al.(2013), which measures variability in long-term performance of tax avoidance. The value relevance of accounting information in this study is modified by the Ohlson model(1995), which explains the value of the firm by using accounting information such as net assets and net income and other non-accounting information. The samples of this study are the firms listed on the securities market from 2004 to 2015 and the final samples are 3,133 firm-year. The results of this empirical analysis show that the value relevance of accounting information increases as firms have long-term and sustainable tax strategies. Most of the prior studies on tax strategies have examined the tax minimization strategy that minimizes the tax cost. However, this study is different in that the sustainability of the tax strategy affects the value relevance of accounting information. The results of this study will be useful for the users to make decision using the value relevance of accounting information.

• 한국정보통신학회논문지
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• 제25권4호
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• pp.549-557
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• 2021

본 연구는 교육용 로봇 중 한 종류인 스마트로봇을 대상으로 기존의 OID 센서 환경을 이용하되 주행의 문제점을 프로그램으로 처리하는 것을 제안 하고자 한다. 주행 정보를 가지고 있는 지도환경, 위치인식, 경로계획, 장애물 회피 및 경로 재설정을 중심으로 주행 테스트 환경을 구축했으며 평균적인 최종 오류 률이 아니라 오류가 증가하는 시점을 재보정의 순간으로 잡아야 한다는 가정을 통해 실험을 진행했다. 그 과정을 통해 선행실험에 비해 안정적인 주행 결과를 얻었다. 본 연구가 현재 판매되는 저가형 센서를 장착한 교육용 로봇들의 주행 성능을 올릴 수 있는 개발방법이 될 것이라 본다.

• The Journal of Asian Finance, Economics and Business
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• 제10권2호
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• pp.267-280
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• 2023

The relationship between the state and taxation starts from the establishment of the state. The most important element is the concept of "tax compliance". Tax compliance can be considered as the harmony of state-society relations. However, the concept of tax non-compliance occurs when taxpayers do not fulfill their tax-related tasks as required. Tax noncompliance is just one of the costs that occur in tax systems, and is named "tax compliance cost" in the literature. This study focuses on tax compliance costs because tax compliance costs are the ones taxpayers are personally obliged to deal with. For this purpose, the study investigates costs accruing from tax systems, including efficiency, planning, application, and compliance costs. According to the analysis results, it was concluded that the main reason for fraud in the tax systems is high compliance costs and that tax compliance directly impacts social wealth. Besides, the existence of conditions conducive to tax evasion and tax avoidance in a country, short-term tax policies, belief in the unfairness and inequality of tax systems, inadequacy of audits conducted by tax authorities, insufficiency of pressure and deterrence mechanisms, constantly changing legislation, and the attitudes and perceptions regarding the illegitimacy of the government determine tax compliance.