• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1998년도 춘계학술대회 논문집
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• pp.88-93
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• 1998

This paper presents a new solution approach to moving obstacle avoidance problem for a mobile robot. A new concept avoidability measure(AVM) is defined to describe the state of a pair of a robot and an obstacle regarding the collision between them. As an AVM, virtual distance function(VDF) is derived as a function of the distance from the obstacle to the robot and outward speed of the obstacle relative to the robot. By keeping the virtual distance above some positive limit value, the robot avoids the obstacle. In terns of the VDF, an artificial potential field is constructed to repel the robot away from the obstacle and to attract the robot toward a goal location. At every sampling time, the artificial potential field is updated and the force driving the robot is derived form the gradient of the artificial potential field. The suggested algorithm drives the robot to avoid moving obstacles in real time. Since the algorithm considers the mobility of the obstacle as well as the distance, it is effective for moving obstacle avoidance. Some simulation studies show the effectiveness of the proposed approach.

• ETRI Journal
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• 제33권2호
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• pp.283-286
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• 2011

Path loss plays fundamental roles in system design, spectrum management, and performance evaluation. The traditional path loss model has a slight inconvenience; it depends on the unknown distance. In this letter, we explore the probability distribution function (PDF) of path loss in an indoor office environment by randomizing out the distance variable. It is shown that the resulting PDF is not Gaussian-like but is skewed to the right, and both the PDF and the moments are related to the size of the office instead of the unknown distance. To be specific, we incorporate the IEEE 802.15.4a channel parameters into our model and tabulate the cumulative distribution function with respect to different room sizes. Through a simple example, we show how our model helps a cognitive spectrum user to infer path loss information of primary users without necessarily knowing their transmitter-receiver distance.

• Current Optics and Photonics
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• 제7권4호
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• pp.354-361
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• 2023

We present the optical design and experimental verification of resolving performance of a 3× long wavelength infrared (LWIR) zoom camera for drones. The effective focal length of the system varies from 24.5 mm at the wide angle position to 75.1 mm at the telephoto position. The design specifications of the system were derived from ground resolved distance (GRD) to recognize 3 m × 6 m target at a distance of 1 km, at the telephoto position. To satisfy the system requirement, the aperture (f-number) of the system is taken as F/1.6 and the final modulation transfer function (MTF) should be higher than 0.1 (10%). The measured MTF in the laboratory was 0.127 (12.7%), exceeds the system requirement. Outdoor targets were used to verify the comprehensive performance of the system. The system resolved 4-bar targets corresponding to the spatial resolution at the distance of 1 km, 1.4 km and 2 km.

• 한국정밀공학회지
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• 제17권5호
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• pp.137-144
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• 2000

In this paper, a longitudinal control of the lead vehicle for a platoon in IVHS Regulation Layer is proposed. The backstepping method has been used for the controller design. This method has an advantage in that its stability need not be proven since the controller is designed based on the Lyapunov Function. The control object is that the lead vehicle tracks a reference velocity and maintains a safe distance between the inter-platoons while the followers are keeping the speed of the lead vehicle of a platoon. The coordinate of system is transformed to a new coordinate system for its convenience to design controller. The new coordinate system is composed of error and new error variable. The error is the difference between the safe distance and the actual distance of inter-platoons. A new error variable is the difference between the velocity of vehicle and the estimated state of a system operated by the virtual input. The Lyapunov function is obtained based on the variables of new coordinate system. In the computer simulation, several cases have been studied such as when the lead vehicle is tracking the optimal speed. or a lead vehicle of the following platoon tracks the velocity of the previous platoon while maintaining a safe distance. Also a nonlinear engine time constant case has been investigated. All the simulation results show that the designed controller satisfies the control object sufficiently.

• 천문학회지
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• 제22권1호
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• pp.63-79
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• 1989

Current estimates, based on the same star-count analysis, of the distance to the globule Bamard 361 range from 300 pc to 650 pc. All the problems associated with the estimates have been fully rectified in this study, and a modification has been made to the classical Wolf diagram to improve the accuracy in the distance determination. A reference field was carefully selected close to the globule but well outside the globule boundary, and star counts for this field were performed on the blue POSS plate in order to set up the reference magnitude sequence appropriate to the general area of B 361. From the reference sequence, the stellar density function has been derived specifically for the direction toward the globule. Correction was made for the general interstellar extinction, and the luminosity function with the Wielen's dip was adopted. The resulting density function clearly reveals the existence of the local Cygnus-Orion arm in the direction of B 361 at about 700 pc away from the Sun. Analysis of the star-count data for the program field locates the globule at distance $600{\pm}50$ pc ; thus, the globule is an object located in the Cygnus-Orion arm, residing somewhat toward its leading edge.

• 대한수학회논문집
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• 제33권1호
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• pp.85-101
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• 2018

Let S be a polynomial ring over a field K, with a monomial order ${\prec}$, and let I be an unmixed graded ideal of S. In this paper we study two functions associated to I: The minimum distance function ${\delta}_I$ and the footprint function $fp_I$. It is shown that ${\delta}_I$ is positive and that $fp_I$ is positive if the initial ideal of I is unmixed. Then we show that if I is radical and its associated primes are generated by linear forms, then ${\delta}_I$ is strictly decreasing until it reaches the asymptotic value 1. If I is the edge ideal of a Cohen-Macaulay bipartite graph, we show that ${\delta}_I(d)=1$ for d greater than or equal to the regularity of S/I. For a graded ideal of dimension ${\geq}1$, whose initial ideal is a complete intersection, we give an exact sharp lower bound for the corresponding minimum distance function.

• Current Optics and Photonics
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• 제7권4호
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• pp.398-407
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• 2023

We explored a method to evaluate imaging performance for the optimal assembly of an endoscopic miniature lens and a sensor constituting an imaging module at the distal end of gastrointestinal endoscopy. For the assembly of the imaging module, the image sensor was precisely located at the focal plane when collimated light passed through the endoscopic lens. As another method, the distance between the lens and sensor was adjusted to obtain the highest focus index from images measured the star chart of the International Organization for Standardization (ISO) standard at various positions. We analyzed the slanted-edge modulation transfer function (MTF), corresponding depth of field, and number of line pairs for MTF 50% and 20% at each working distance within the range of 5-100 mm for imaging modules assembled in different ways. Assembly conditions of the imaging module with better MTF performance were defined for each working distance range of 5-30 mm and 30-100 mm, respectively. In addition to the MTF performance, the focus index of each assembled module was also compared. In summary, we examined the performance of imaging modules assembled with different methods within the suggested working distance and tried to establish the optimal assembly protocol.

• 대한교통학회지
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• 제24권5호
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• pp.45-56
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• 2006

우리나라 철도산업의 생산특성과 효율성에 관하여 충분히 검토된 양질의 정보가 축적되기 위해서는 다양한 각도에서 다양한 방법으로 검토가 필요하다. 본 논문에서는 거리함수를 이용한 우리나라 철도산업의 생산특성 및 기술효율성 분석결과를 제시한다. Shephard(1953)가 처음 소개한 거리함수는 가격에 관한 정보를 필요로 하지 않는다. 따라서 가격에 관한 자료를 구하기 어렵거나 또는 공공부문의 경우처럼 가격에 대한 통제가 존재하는 상황에서 효과적인 분석수단이 될 수 있다. 또한 다수투입 다수산출 생산기술을 다룰 수 있으며 생산특성과 효율성을 동시에 분석할 수 있는 장점을 갖고 있다. 한국철도의 1963년부터 2004년까지의 연도별 자료로부터 이차계획법모형을 사용하여 거리함수를 추정하였다. 추정된 기술효율성은 1980년 이후 2004년까지 점진적으로 개선되고 있는 것으로 나타났다. 간접 Morishima대체탄력성 추정결과는 노동을 다른 투입으로 대체하는 것이 매우 어렵거나 또는 불가능한 것으로 나타났다. 평균 규모탄력성은 2.7로 나타났으며 이는 규모를 1%증가시켰을 때 산출이 2.7%증가함을 의미한다. 즉 한국철도에 규모의 경제가 존재함을 의미한다.

• 제어로봇시스템학회논문지
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• 제5권2호
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• pp.174-179
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• 1999

In this paper, we propose an optimal algorithm for finding the shortest connection of two kinds of parts to pairs. If total part numbers are of size N, then there are order 2ㆍ(N/2)$^{N}$ possible solutions, of which we want the one that minimizes the energy function. The appropriate dynamic rule and parameters used in network are proposed by a new energy function which is minimized when 3-constraints are satisfied. This dynamic nile has three important parameters, an enhancement variable connected to pairs, a normalized distance term and a time variable. The enhancement variable connected to pairs have to a perfect connection of two kinds of parts to pairs. The normalized distance term get rids of a unstable states caused by the change of total part numbers. And the time variable removes the un-optimal connection in the case of distance constraint and the wrong or not connection of two kinds of parts to pairs. First of all, we review the theoretical basis for Hopfield model and present a new energy function. Then, the connection matrix and the offset bias created by a new energy function and used in dynamic nile are shown. Finally, we show examples through computer simulation with 20, 30 and 40 parts and discuss the stability and feasibility of the resultant solutions for the proposed connection algorithm.m.

• 정보처리학회논문지A
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• 제11A권5호
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• pp.391-400
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• 2004

서로 다른 종류의 영상을 정확하게 연관시켜 복합적인 정보를 제공하는 다중모달리티 의료 영상정합기법 중 표면정보 기반 영상정합에서는 일반적으로 동일 대상에 대한 서로 다른 모달리티에서 추출된 표면 윤곽정보 사이의 거리를 최소화함으로써 매칭이 이루어진다. 그런데 동일대상에 대해 취득되는 서로 다른 두 모달리티는 관심 영역 상의 표면 특성이 서로 유사하다. 그러므로 다중모달리티 영상정합에서 표면거리와 함께 표면의 형태 특성을 고려하여 두 영상을 매칭하는 방법이 정합결과의 정확도를 향상시킬 수 있다. 본 연구에서는 동일 대상의 서로 다른 두 모달리티 뇌영상 간의 표면거리와 표면곡률을 최적화하는 정합기법을 제안한다. 영상정합은 참조영상과 테스트영상에 대한 표면정보 생성과 이 두 개의 표면정보를 최적화하는 단계로 구성된다. 표면정보 생성 단계에서는 두 모달리티로부터 관심영역의 윤곽선을 추출하고, 이 중 참조 볼륨의 윤곽선에 대해서는 표면거리맵과 표면곡률맵을 구성하게 된다. 최적화 단계에서는 표면거리맵과 표면곡률맵을 참조하는 최적화 평가함수(cost function)에 의해 두 객체의 표면거리 차이와 표면곡률 차이를 최소화하는 정합 변환 값이 결정되고, 이것이 테스트영상의 변환에 적용되어 결과적으로 두 영상이 정합 되게 된다. 제안된 최적화 평가함수는 표면거리 정보만을 사용하는 평가함수에 비해 보다 견고한 정합 정확도를 보였으며 또한 본 연구는 정합결과의 볼륨 가시화를 통해 효율적인 영상 분석 수단을 제공하고자 하였다.