• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.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.

• 수산해양교육연구
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• 제14권1호
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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.

• 대한교통학회지
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• 제35권4호
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• pp.292-306
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• 2017

교통 소음비용은 피해비용 접근법 또는 회피비용 접근법으로 평가할 수 있다. 본 연구는 피해비용 접근법을 바탕으로 소음의 외부비용을 산정하는 방안을 제시하였다. 이를 위하여 네 가지를 검토하였다. 첫째, 한국의 실정에 맞는 소음피해 비용 원단위 41,737-601,910 원/(인 년)를 도출하였다. 둘째, 소음도 예측식을 이용하여 소음 영향권을 설정하였다. 셋째, 소음 영향권 내에서 소음에 노출된 인구와 실제 피해인구 비율의 곱으로 소음피해 인구를 추산하였다. 마지막으로 소음의 피해비용을 산출하는 과정을 간소하게 하는 소음 피해비용과 소음도간 관계식을 제시하였다. 이를 바탕으로 피해비용 접근법과 회피비용 접근법으로 소음저감 편익을 산출하고 비교함으로써 피해비용 접근법이 회피비용 접근법보다 이론적 정합성과 정책적 신뢰성이 높은 방법론임을 확인하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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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.

• 한국산학기술학회논문지
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• 제18권5호
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• pp.543-548
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• 2017

본 연구의 목적은 강건한 기업지배구조가 조세회피와 가중평균자본비용 간 관련성에 미치는 영향을 실증 분석하는 것이다. 표본은 2012년부터 2014년 3개년사이에 거래소 상장기업 중 금융업에 속하지 않은 12월 결산법인 716개를 대상으로 하였으며, 회귀분석을 사용하였다. 연구 결과, 기업지배구조는 가중평균자본비용에 음(-)의 유의적인 관련성이 있는 것으로 나타났다. 대주주지분율과 외국인지분율이 높을수록 해당기업의 회계정보에 대하여 신뢰를 갖고 투자자들의 정보위험이 감소하며 요구수익률이 감소하여 기업은 낮은 자본비용을 부담하게 된다는 것을 의미한다. 둘째, 조세회피는 가중평균자본비용에 양(+)의 영향을 미친다는 결과가 나왔다. 조세회피를 할 것으로 예상되는 기업의 회계정보의 질을 낮게 평가할 것이다. 이에 따라 정보위험이 증가하고 그 영향으로 요구수익률이 높아지면 자본비용증가로 이어질 것으로 해석된다. 다음으로, 기업지배구조와 조세회피 간 상호작용은 가중평균자본비용에 음(-)의 영향을 미치는 것으로 나타났다. 기업지배구조는 조세회피와 가중 평균자본비용에 중요한 역할을 하며, 강건한 기업지배구조는 조세회피에 감소영향을 준다. 또한 자본시장에서 기업이 지불해야할 가중평균자본비용을 감소시키는 효과가 있는 것으로 나타났다.

• International Journal of Aeronautical and Space Sciences
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• 제5권2호
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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.

• 전기학회논문지
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• 제68권3호
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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.

• 한국임상약학회지
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• 제32권3호
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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.

• 제어로봇시스템학회논문지
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• 제15권11호
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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.

• 전기학회논문지
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• 제63권9호
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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.