• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.77-82
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• 2006

Automatic vessel collision-avoidance systems have been studied in the fields of artificial intelligence and navigation for decades. And to facilitate automatic collision-avoidance decision-making in two-vessel-encounter situation, several expert and fuzzy expert systems have been developed. However, none of them can negotiate with each other as seafarers usually do when they intend to make a more economic overall plan of collision avoidance in the COLREGS-COST-HIGH situations where collision avoidance following the International Regulations for Preventing Collisions at Sea(COLREGS) costs too much. Automatic Identification System(AIS) makes data communication between two vessels possible, and negotiation methods can be used to optimize vessel collision avoidance. In this paper, a negotiation framework is put forward to enable vessels to negotiate to optimize collision avoidance in the COLREGS-COST-HIGH situations at open sea. A vessel vector space is defined and therewith a cost model is put forward to evaluate the cost of collision-avoidance actions. Negotiations between a give-way vessel and a stand-on vessel and between two give-way vessels are considered respectively to reach overall low cost agreements. With the framework proposed in this paper, two vessels involved in a COLREGS-COST-HIGH situation can negotiate with each other to get a more economic overall plan of collision avoidance than that suggested by the traditional collision-avoidance expert systems.

• Journal of Fisheries and Marine Sciences Education
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• v.14 no.1
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• pp.57-73
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• 2002

Illegal fishing is often cited as a principal cause of the failure of fisheries management, expecially fishing efforts regulations in traditional fisheries management. Usually, illegal fishing problems are perceived to be equivalent to inadequate enforcement, and policy prescription then follow to strengthen enforcement programs. The purpose of this paper is to analyze the illegal fishing behavior relatively recent emphasis on fishing efforts regulations in traditional fisheries management. The analysis focuses on measuring, explaining and developing the effectiveness way of enforcement strategies responding to imperfectly managed fishing efforts regulations through illegal fishing behavior and avoid enforcement fishing efforts measures. A model of fishermen fishing behavior and profit-maximizing decision making is analyzed to determine optimal fishing at individual fisherman level in response to fishing efforts regulation. The results of economic analysis of the enforcement of illegal fishing in traditional fisheries management results are as follows: First, illegal fishing will occur only if enforcement effort is not so high as to remove the incentive to do so, and if the effectiveness of avoidance is not too great, nor its cost too low. Second, avoidance effort will occur at a level jointly proportional to the extent of illegal activity and of enforcement; for given levels of the latter, the desired avoidance effort increase with its effectiveness and decrease with its cost Third, to improve the effectiveness of enforcement, understanding avoidance behavior appears to be crucial to any efforts. Forth, enforcement and fishermen behavior interact depends strongly on characteristics of avoidance, specifically its cost and effectiveness. When avoidance is neither too cheap nor too effective, the interaction is regular. Fifth, in this case, at low levels of enforcement, fishers respond to increases in enforcement by increasing avoidance, but at higher enforcement levels, it becomes uneconomical to continue to do so, and avoidance decreases with enforcement. Sixth, illegal fishing activity decreases steadily with enforcement, so the fishery manager is able, in theory, to reduce illegal fishing toward zero by increasing enforcement. If, however, avoidance is very inexpensive and/or very efficient/ then the optimal level of avoidance will increase indefinitely with increasing enforcement. Finally, less fishery enforcement is required if fishermen have less incentive to overfish, and fishermen have less incentive to avoid fishery enforcement measures.

• Journal of Korean Society of Transportation
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• v.35 no.4
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• pp.292-306
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• 2017

Traffic noise cost can be assessed either by the damage cost approach or by the avoidance cost method. This paper provides an overview of pertinent studies of these two approaches and shows that the damage cost approach is more universal and reliable than the avoidance cost counterpart. This study then investigated three sub-components to address the damage cost framework. First of all, unit value per person exposed to noise per year was calculated. Secondly, the area exposed to noise was determined using noise prediction equation. Thirdly, the number of people affected by noise was computed by multiplying the number of people exposed to noise with the percentage of people affected by noise. This paper also suggested a simplified equation that represents the relationship between damage costs and noise levels. Finally, the benefits of noise reduction derived from the damage cost method and those from the avoidance cost approach were compared and discussed.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1999-2004
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• 2004

Collision avoidance for the aircraft can be stated as a problem of maintaining a safe distance between aircrafts in conflict. Optimal collision avoidance problem seeks to minimize the given cost function while simultaneously satisfying the constraints. The cost function can be a function of time or input. This paper addresses the trajectory time-optimization problem for collision avoidance of the unmanned aerial vehicles. The problem is difficult to handle, because it is a two points boundary value problem with dynamic environment. Some simplifying algorithms are used for application in on-line operation. Although there are more complicated problems, by prediction of conflict time and some assumptions, we changed a dynamic environment problem into a static one.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.5
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• pp.543-548
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• 2017

This paper examines the effects of strong corporate governance for listed companies in accessing capital markets from the point of view of the weighted average cost of capital. Results found that corporate governance had a significant negative(-) relation to the weighted average cost of capital. This finding is consistent with previous research and implies that the higher shareholder ownership and foreign ownership have confidence in the financial information of the company, and therefore, risk is reduced for investors. This results in lower expected rates of return and companies will pay a lower cost of capital. Second, tax evasion had a positive effect(+) on the weighted average cost of capital. The low quality of corporate accounting information is expected to increase tax avoidance. Accordingly, this results in increased risk. If the required rate of return is high in its impact,it leads to increased capital costs. In addition, corporate governance and tax avoidance factors showed a negative affect (-) on the weighted average cost of capital. Corporate governance plays an important role in tax avoidance and the weighted average cost of capital, and strong corporate governance reducesthe impact on tax avoidance. In addition, the weighted average cost of capital in capital markets showed the reducing effect.

• International Journal of Aeronautical and Space Sciences
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• v.5 no.2
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• pp.43-53
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• 2004

Collision avoidance for multiple aircraft can be stated as a problem ofmaintaining safe distance between aircraft in conflict. Optimal collision avoidanceproblem seeks to minimize the given cost function while simultaneously satisfyingconstraints. The cost function could be a function of time or control input. This paper addresses the trajectory time-optimization problem for collision avoidance of unmanned aerial vehicles(UAVs). The problem is difficult to handle in general due to the two-point boundary value problem subject to dynamic environments. Some simplifying aleorithms are used for potential applications in on-line operation.Although under possibility of more complicated problems, a dynamic problem is transformed into a static one by prediction of the conflict time and some appropriate assumptions.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.68 no.3
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• pp.480-488
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• 2019

In this paper, we propose an obstacle avoidance system for an unmanned ship to navigate safely in dynamic environments. Also, in this paper, one-dimensional low-cost lidar sensor is used, and a servo motor is used to implement the lidar sensor in a two-dimensional space. The distance and direction of an obstacle are measured through the two-dimensional lidar sensor. The unmanned ship is controlled by the application at a Tablet PC. The user inputs the coordinates of the destination in Google maps. Then the position of the unmanned ship is compared with the position of the destination through GPS and a geomagnetic sensor. If the unmanned ship finds obstacles while moving to its destination, it avoids obstacles through a fuzzy control-based algorithm. The paper shows that the experimental results can effectively construct an obstacle avoidance system for an unmanned ship with a low-cost LiDAR sensor using fuzzy control.

• Korean Journal of Clinical Pharmacy
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• v.32 no.3
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• pp.215-225
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• 2022

Background: Patients with hematologic cancers have a risk of drug-related problems (DRPs) from medications associated with chemotherapy and supportive care. Although the role of oncology pharmacists has been widely documented in the literature, few studies have reported its impact on cost reduction. This study aimed to describe the activities of oncology pharmacists with respect to hematologic diseases and evaluate the associated cost avoidance. Methods: From January to July 2021, patients admitted to the department of hemato-oncology at Seoul National University, Bundang Hospital were studied. The activities of oncology pharmacists were reported by DRP type following the Pharmaceutical Care Network version 9.1 guidelines, and the acceptance rate was calculated. The avoided cost was estimated based on the cost of the pharmacy intervention, pharmacist manpower, and prescriptions associated with the intervention. Results: Pharmacists intervened in 584 prescriptions from 208 patients during the study period. The most prevalent DRP was "adverse drug event (possibly) occurring" (32.4%), followed by "effect of drug treatment not optimal" (28.6%). "Drug selection" (42.5%) and "dose selection" (30.3%) were the most common causes of DRPs. The acceptance rate of the interventions was 97.1%. The total avoidance cost was KRW 149,468,321; the net profit of the avoidance cost, excluding labor costs, was KRW 121,051,690; and the estimated cost saving was KRW 37,223,748. Conclusion: Oncology pharmacists identified and resolved various types of DRPs from prescriptions for patients with hematologic disease, by reviewing the prescriptions. Their clinical service contributed to enhanced patient safety and the avoidance of associated costs.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.11
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• pp.1102-1107
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• 2009

An ultrasonic sensor has been widely used as a range sensor for its low cost and capability of detecting some obstacles, such as glasses and black surfaces, which are not well detected by a laser scanner and an IR sensor. Although low-cost sensors are preferred for practical service robots, they suffer from the inaccurate and insufficient range information. This paper proposes a novel approach to obstacle avoidance using low-cost anisotropic ultrasonic sensors with wide beam angle. In this paper, obstacles can be detected by the proposed sensor configuration which consists of one transmitter and three receivers. Because even wide obstacles are represented by a point, which corresponds to the intersection of range data from each receiver of the anisotropic sensor, a robot cannot avoid wide obstacles successfully. This paper exploits the probabilistic mapping technique to avoid collision with various types of obstacles. The experimental results show that the proposed method can robustly avoid obstacles in most indoor environments.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.9
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• pp.1266-1272
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• 2014

We define the mobile robot navigation problem as an optimization problem to minimize the cost function with the pose error between the goal position and the position of a mobile robot. Using Gauss-Newton method for the optimization, the optimal speeds of the left and right wheels can be found as the solution of the optimization problem. Especially, the rotational speed of wheels of a mobile robot can be directly related to the overall speed of a mobile robot using the Jacobian derived from the kinematic model. When the robot detects the obstacle using sensors, the sub-goal switching method is adopted for the efficient obstacle avoidance during the navigation. The performance was evaluated using the simulation and the simulation results show the validity of the proposed method.