• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1791-1796
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• 2004

Recently, great improvements have been made in developing autonomous underwater vehicles (AUVs) using stateof- the-art technologies for various kinds of sophisticated underwater missions. To meet increasing demands posed on AUVs, a powerful on-board computer system and an accurate sensor system with an well-organized control system architecture are needed. In this paper, a new control system architecture is proposed for AUV, ORCA (Oceanic Reinforced Cruising Agent) which is being currently developed by Korea Research Institute of Ships and Ocean Engineering (KRISO). The proposed architecture uses a hybrid architecture that combines a hierarchical architecture and a behavior based control architecture with an evaluator for coordinating between the architectures. This paper also proposed a sensor fusion structure based on the definition of 4 categories of sensors called grouping and 5-step data processing procedure. The development of the AUV, ORCA involving the system architecture, vehicle layout, and hardware configuration of on-board system are described.

• Journal of Ocean Engineering and Technology
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• v.33 no.6
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• pp.620-626
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• 2019

With the development of robot technology, the expectation of autonomous mission operations has increased, and the research on robot control architectures and mission planners has continued. A scalable and robust control architecture is required for unmanned surface vehicles (USVs) to perform a variety of tasks, such as surveillance, reconnaissance, and search and rescue operations, in unstructured and time-varying maritime environments. In this paper, we propose a robot control architecture along with a new utility function that can be extended to various applications for USVs. Also, an additional structure is proposed to reflect the operator's command and improve the performance of the autonomous mission. The proposed architecture was developed using a robot operating system (ROS), and the performance and feasibility of the architecture were verified through simulations.

• Steel and Composite Structures
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• v.24 no.6
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• pp.679-688
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• 2017

A GFRP-concrete composite bridge deck is presented in this paper. This composite deck is composed of concrete and a GFRP plate and is connected by GFRP perfobond (PBL) shear connectors with penetrating GFRP rebar. There are many outstanding advantages in mechanical behavior, corrosion resistance and durability of this composite deck over conventional reinforced concrete decks. To analyze the shear and flexural performance of this GFRP-concrete composite deck, a static loading experiment was carried out on seven specimens. The failure modes, strain development and ultimate bearing capacity were thoroughly examined. Based on elastic theory and strain-based theory, calculation methods for shear and flexural capacity were put forward and revised. The comparison of tested and theoretical capacity results showed that the proposed methods could effectively predict both the flexural and shear capacity of this composite deck. The ACI 440 methods were relatively conservative in predicting flexural capacity and excessively conservative in predicting shear capacity of this composite deck. The analysis of mechanical behavior and the design method can be used for the design of this composite deck and provides a significant foundation for further research.

• Journal of the Korean Institute of Landscape Architecture
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• v.19 no.3
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• pp.128-143
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• 1991

To understand and predict destination choice behavior for urban parks, two hypotheses, which are based on extended Fishbein model, were proposed and tested in Kwangju. Data was analyzed by the citizens of Kwangju and by target markets segmented by demographic variables. Analysis by the citizens of Kwangju showed that postulated hypotheses are true. However, they were partially thru in the other cases : it was a general tendency that suggested model applied well in the high-involvement product. Among the demographic variables, sex was the most useful to understand park choice behavior. Park management directions were suggested, and several future research implications were discussed.

• Journal of information and communication convergence engineering
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• v.10 no.2
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• pp.149-155
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• 2012

This paper presents mobile robot control architecture of hierarchical behaviors, inspired by biological life. The system is reactive, highly parallel, and does not rely on representation of the environment. The behaviors of the system are designed hierarchically from the bottom-up with priority given to primitive behaviors to ensure the survivability of the robot and provide robustness to failures in higher-level behaviors. Fuzzy logic is used to perform command fusion on each behavior's output. Simulations of the proposed methodology are shown and discussed. The simulation results indicate that complex tasks can be performed by a combination of a few simple behaviors and a set of fuzzy inference rules.

• KCI Concrete Journal
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• v.11 no.3
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• pp.115-126
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• 1999

An analytical method based on the nonlinear layered finite element method is developed to simulate an overall load-deflection behavior of strengthened beams. The developed model distinguishes itself by its capability to trace residual flexural behavior of a beam after the fracture of brittle strengthening materials at peak load. The model. which uses a rather advanced numerical technique for iterative convergence to equilibrium, can be regarded as superior to the two models based on load control and displacement control The model predictions were compared with the experimental results and it was observed that there was good agreement between them.

• Computers and Concrete
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• v.13 no.2
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• pp.271-290
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• 2014

In this study, structural irregularities in plan, which has a considerable effect on earthquake behavior of buildings, have been investigated in detail based on Turkish Earthquake Code 2007. The study consists of six main parametric models and a total of 144 sub-models that are grouped based on RC structural systems such as frame, frame + rigid core, frame with shear wall, and frame with shear wall + rigid core. All models are designed to have both symmetrical plan geometry and regular rigidity distribution. Changes in the earthquake behavior of buildings were evaluated according to the number of storeys, number of axes and the configuration of structural elements. Many findings are obtained and assessed as a result of the analysis for each structural irregularity. The study shows that structural irregularities can be observed in completely symmetric buildings in terms of plan geometry and rigidity distribution.

• Journal of the Korean Institute of Landscape Architecture
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• v.19 no.2
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• pp.32-40
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• 1991

Damage to natural resources from inappropriate visitor behavior is a problem faced by National Park management. Based on the data gathered by personal interview and mail questionnaire, this study examines the effects of communication strategies to reduce depreciative behavior in Carlsbad Caverns National Park. One-quarter of Carlsbad Caverns visitors indicates that they have noticed damage to cave formation during their tour. Almost 38% of visitors say that they have witnessed someone touch a formation inside the Caverns. This is a relatively high percentage compared with other depreciative behavior research to refrain from "tattling" on fellow visitors. Two-thirds of the respondents recalls touching formation replicas before entering the Cavern, while almost all visitors (97.9%) say that they have heard the ranger's talk about not touching formation or leaving the trail. Visitors feel that the ranger's talk is more effective in reducing depreciative behavior than the formation replicas, although at least three-fourths of all respondents believes both techniques are effective.

• Journal of the Korean Institute of Rural Architecture
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• v.2 no.2
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• pp.103-113
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• 2000

An effective design of a public space that properly functions as a resting place in city can be found through the community facility studies. This study, based on the ecological psychology, discusses the mutual relationships between human behaviors and physical and social environment. It is demonstrated that design elements, such as chairs, tables, stairs, a flower bed, a stair-shaped exterior wall, a pond and others play important roles in providing environment for different human behaviors in public space. These environmental design elements also increase a variety of behavior for users.

• Journal of KIISE:Software and Applications
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• v.37 no.7
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• pp.568-572
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• 2010

Self-healing is one of the techniques that assure dependability of mission-critical system. Self-healing consists of fault detection and fault recovery and fault detection is important first step that enables fault recovery but it causes overhead. We can detect fault based on model, the detection tasks that notify system's behavior and compare normal behavior model and system's behavior are heavy jobs. In this paper, we propose architecture-based multi-level self-adaptive monitoring method that complements model-based fault detection. The priority of fault detection per component is different in the software architecture. Because the seriousness and the frequency of fault per component are different. If the monitor is adapted to intensive to the component that has high priority of monitoring and loose to the component that has low priority of monitoring, the overhead can be decreased and the efficiency can be maintained. Because the environmental changes of software and the architectural changes bring the changes at the priority of fault detection, the monitor learns the changes of fault frequency and that is adapted to intensive to the component that has high priority of fault detection.