• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.947-948
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• 2006

This paper proposes a robust posture stabilization control method for wheeled mobile robots. To solve the robust posture stabilization, we introduce reference generation mode, reference tracking mode, and reference regulation mode. In reference generation mode, a kinematic time-invariant controller is used to generate the reference trajectory which starts from the initial posture of the actual robot to the desired posture. In reference tracking mode, a sliding mode position controller is employed in such a way that the actual robot can follow the reference trajectory in the desired forward or backward moving direction, even in the presence of the disturbances in the dynamics. In reference regulation mode, a sliding mode heading direction controller is used such that the actual robot can maintain the desired posture against the disturbances. In this way, robust posture stabilization can be achieved at almost all global regions.

• Proceedings of the Korea Air Pollution Research Association Conference
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• 2002.11a
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• pp.43-44
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• 2002

중국 서북건조 사막지역에서 봄철에 기온이 올라가면서 강한 한랭전선을 동반한 저기압이 발달할 때 그 전선 후면에 미세한 모래먼지가 바람에 휘감겨 올라가 황사가 발생한다. 발원지에서 생성된 황사는 약 30%가 발원지에서 재 침적되고, 20%는 주변지역으로 수송되며, 50%는 편서풍을 타고 1,500-2,000km이상의 거리를 이동하여 우리나라, 일본 및 하와이에까지 침적되는 것으로 알려져 있다. (중략)

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.8
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• pp.1487-1493
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• 2016

The susceptible, exposed, infectious, and recovered model (SEIR) is used extensively in the field of epidemiology. On the other hand, dissemination information among users through internet grows exponentially. This information spreading can be modeled as an epidemic. In this paper, we derive the mathematical model of SEIR in viral communication from the view of optimal control theory. Overall the methods based on classical calculus, In order to solve the optimal control problem, proved to be more efficient and accurate. According to Pontryagin's minimum principle (PMP) the Hamiltonian function must be optimized by the control variables at all points along the solution trajectory. We present our method based on the PMP and forward backward algorithm. In this algorithm, one should integrate forward in time for the state equations then integrate backward in time for the adjoint equations resulting from the optimality conditions. The problem is mathematically analyzed and numerically solved as well.

• Journal of Korean Society for Atmospheric Environment
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• v.12 no.5
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• pp.541-554
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• 1996

A set of 1994 data was analyzed to investigate the characteristics of background surface SO$_{2}$ concentrations at Kosan, Cheju Island, Korea. The SO$_{2}$ concentrations at Kosan site show a seasonal variation with a minimum(0.46 ppb) in summer, maximum(1.02 ppb) in spring and an annual mean of 0.83 ppb. These values were 4-7 times higher than those measured in other remote areas, such as Bermuda and Oki Island, but they were similar to the baseline concentrations of other sites in the world. The diurnal variation of SO$_{2}$ concentrations was very small and it shows a peak at 10 am in spring and fall, 2 pm in summer, and 1 pm in winter, respectively. Correlations between local meteorological parameters and SO$_{2}$ concentrations were mot significant. This suggests that the variations of the Kosan's SO$_{2}$ comcentrations were relatively independent on local meteorological variables. Backward trajectory analysis results showed that the seasonal variation of the OS$_{2}$ concentration was mainly due to the inflow of air masses from the continent in spring and from the Pacific Ocean im summer. The results also revealed that the air masses with the highest SO$_{2}$ concentration came through China or the Korea peninsula in spring and through Japan during summer. It was found that the SO$_{2}$ concentrations at Kosan were under the influence of passage of air masses arriving at this site.

• Asian Journal of Atmospheric Environment
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• v.7 no.4
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• pp.217-226
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• 2013

The collection of TSP and $PM_{2.5}$ aerosols has been made at the Gosan Site of Jeju Island during 2008-2011, and their ionic and elemental species were analyzed, in order to examine the seasonal variation and characteristics of aerosol compositions. The anthropogenic components ($NH_4{^+}$, $nss-SO_4{^{2-}}$, $NO_3{^-}$, S, Zn, Pb) and the soil components ($nss-Ca^{2+}$, Al, Fe, Ca) showed high concentrations in spring as the prevailing westerly wind, but the concentrations of the sea-salt components ($Na^+$, $Cl^-$) were high in winter. In TSP, the neutralization by $NH_3$ increased in summer, but the neutralization by $CaCO_3$ increased in spring and fall seasons. The organic acids ($HCOO^-$, $CH_3COO^-$) contributed to the acidification of the aerosols by only 5.0%, so the acidification could be mostly contributed by the inorganic acids ($SO_4{^{2-}}$, $NO_3{^-}$). From the examination of the source origins by factor analysis, the compositions of TSP were influenced by the order of soil > anthropogenic > marine, on the other hand, those of $PM_{2.5}$ were by the order of anthropogenic > marine > soil. The backward trajectory analyses showed that the concentrations of $NH_4{^+}$, $nss-SO_4{^{2-}}$, $NO_3{^-}$ and $nss-Ca^{2+}$ increased highly when the air masses had moved from China continent into Gosan area of Jeju Island.

• Bulletin of the Korean Chemical Society
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• v.31 no.10
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• pp.2841-2848
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• 2010

Quasiclassical trajectory (QCT) method has been used to investigate stereodynamics information of the reaction $O(^1D)+H_2{\rightarrow}\;OH$+H on the DK (Dobbyn and Knowles) potential energy surface (PES) at a collision energy of 23.06 kcal/mol, with the initial quantum state of reactant $H_2$ being set for v = 0 (vibration quantum number) and j = 0-5 (rotation quantum number). The PDDCSs (polarization dependent differential cross sections) and the distributions of P($\theta_r$), P($\phi_r$), P($\theta_r$, $\phi_r$) have been presented in this work. The results demonstrate that the products are both forward and backward scattered. As j increases, the backward scattering becomes weaker while the forward scattering becomes slightly stronger. The distribution of P($\theta_r$) indicates that the product rotational angular momentum j' tends to align along the direction perpendicular to the reagent relative velocity vector k, but this kind of product alignment is found to be rather insensitive to j. Furthermore, the distribution of P($\phi_r$) indicates that the rotational angular momentum vector of the OH product is preferentially oriented along the positive direction of y-axis, and such product orientation becomes stronger with increasing j.

• Atmosphere
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• v.31 no.2
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• pp.199-214
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• 2021

A record-breaking high surface air temperature of 41.0℃ was observed on 1 August 2018 at Hongcheon, South Korea. In this study, to quantitatively determine the formation mechanism of this extremely high surface air temperature, particularly considering the contributions of the foehn and the foehnlike wind, observational data from Korea Meteorological Administration (KMA) and the Weather Research and Forecasting (WRF) model were utilized. In the backward trajectory analysis, trajectories of 100 air parcels were released from the surface over Hongcheon at 1600 LST on 1 August 2018. Among them, the 47 trajectories (38 trajectories) are tracked back above (below) heights of 1.4 km above mean sea level at 0900 LST 31 July 2018 and are defined as upper (lower) routes. Lagrangian energy budget analysis shows that for the upper routes, adiabatic heating (11.886 × 10³ J kg^-1) accounts for about 77% of the increase in the thermal energy transfer to the air parcels, while the rest (23%) is diabatic heating (3.650 × 10³ J kg^-1). On the other hand, for the lower routes, adiabatic heating (6.111 × 10³ J kg^-1) accounts for about 49% of the increase, the rest (51%) being diabatic heating (6.295 × 10³ J kg^-1). Even though the contribution of the diabatic heating to the increase in the air temperature rather varies according to the routes, the contribution of the diabatic heating should be considered. The diabatic heating is caused by direct heating associated with surface sensible heat flux and heating associated with the turbulent mixing. This mechanism is the Type 4 foehn described in Takane and Kusaka (2011). It is concluded that Type 4 foehn wind occurs and plays an important role in the extreme event on 1 August 2018.

• Atmosphere
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• v.32 no.2
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• pp.119-133
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• 2022

From 2015 to 2021, high-concentration fine dust episodes with a daily average PM_2.5 concentration of 50 ㎍ m^-3 or higher were selected and classified into 3 types [long range transport (LRT), mixed (MIX) and Local emission and stagnant (LES)] using synoptic chart and backward trajectory analysis. And relationships between the fine particle data (PM_2.5 and PM₁₀ concentration and PM_2.5/PM₁₀ ratio) and meteorological data (PBLH, Ta, WS, U-wind, and Rainfall) were analyzed using hourly observation for the classification episodes on the Korean Peninsula and the Seoul metropolitan area (SMA). In LRT, relatively large particles such as dust are usually included, and in LES, fine particle is abundant. In the Korean peninsula, the rainfall was relatively increased centered on the middle and western coasts in MIX and LES. In the SMA, wind speed was rather strong in LRT and weak in LES. In LRT, rainfall was centered in Seoul, and in MIX and LES, rainfall appeared around Seoul. However, when the dust cases were excluded, the difference between the LRT and other types of air quality was decreased, but the meteorological variables (Ta, RH, Pa, PBLH, etc.) were further strengthened. In the case of the Korean Peninsula, it is difficult to find a clear relationship because regional influences (topographical elevation, cities and coasts, etc.) are complexly included in a rather wide area. In the SMA, it is analyzed that the effects of urbanization such as the urban heat island centered on Seoul coincide with the sea and land winds, resulting in a combination of high concentrations and meteorological phenomena.

• Journal of Radiation Protection and Research
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• v.41 no.1
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• pp.31-39
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• 2016

Background: It is necessary to consider the overall countermeasure for analysis of nuclear activities according to the increase of the nuclear facilities like nuclear power and reprocessing plants in the neighboring countries including China, Taiwan, North Korea, Japan and South Korea. South Korea and comprehensive nuclear-test-ban treaty organization (CTBTO) are now operating the monitoring instruments to detect radionuclides released into the air. It is important to estimate the origin of radionuclides measured using the detection technology as well as the monitoring analysis in aspects of investigation and security of the nuclear activities in neighboring countries. Materials and methods: A three-dimensional forward/backward trajectory model has been developed to estimate the origin of radionuclides for a covert nuclear activity. The developed trajectory model was composed of forward and backward modules to track the particle positions using finite difference method. Results and discussion: A three-dimensional trajectory model was validated using the measured data at Chernobyl accident. The calculated results showed a good agreement by using the high concentration measurements and the locations where was near a release point. The three-dimensional trajectory model had some uncertainty according to the release time, release height and time interval of the trajectory at each release points. An atmospheric dispersion model called long-range accident dose assessment system (LADAS), based on the fields of regards (FOR) technique, was applied to reduce the uncertainties of the trajectory model and to improve the detective technology for estimating the radioisotopes emission area. Conclusion: The detective technology developed in this study can evaluate in release area and origin for covert nuclear activities based on measured radioisotopes at monitoring stations, and it might play critical tool to improve the ability of the nuclear safety field.

• Journal of Korean Society for Atmospheric Environment
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• v.16 no.4
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• pp.415-420
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• 2000

The daily mean concentrations of PM2.5 mass ionic species carbonaceous species and HNO3, HCl, and NH3 were analyzed at three background sites in Korea : Kangwha, Kosan, and Dongbaik during two intensive field studies between December 1996 and January 1997, Four-day backward trajectory analysis was also carried out. The mean concentrations of anthropogenic species were higher at Kangwha and Dongbaik than Kosan. At these two sites themean concentrations of nitrate and ammonium/ammonia were higher than those of Kosan. It was suggested that these two sites be considered as the background sites of the Seoul Metropolitan Area and Pusan respectively. Major chemical components in fine particles were sulfate organic carbon nitrate and ammonium for all the sites. More than 90% of sulfate were non-sea-salt(nss) sulfates and most of the nss sulfate in PM2.5 might be present as ammonium sulfates at all sites. Most of air parcels arriving a Kangwha and Dongbaik were from the northern China. At Kosan during the measurement period half of air parcels were from the northern China and the other half from the southern China. At Kosan the concentrations of anthropogenic air pollutants originated from the southern China were higher than those typically observed from the northern China.