• The Journal of Korea Robotics Society
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• v.17 no.1
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• pp.76-85
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• 2022

One of the most fundamental challenges when designing controllers for dynamic systems is the adjustment of controller parameters. Usually the system model is used to get the initial controller, but eventually the controller parameters must be manually adjusted in the real system to achieve the best performance. To avoid this manual tuning step, data-driven methods such as machine learning were used. Recently, reinforcement learning became one alternative of this problem to be considered as an agent learns policies in large state space with trial-and-error Markov Decision Process (MDP) which is widely used in the field of robotics. However, on initial training step, as an agent tries to explore to the new state space with random action and acts directly on the controller parameters in real systems, MDP can lead the system safety-critical system failures. Therefore, the issue of 'safe exploration' became important. In this paper we meet 'safe exploration' condition with Control Barrier Function (CBF) which converts direct constraints on the state space to the implicit constraint of the control inputs. Given an initial low-performance controller, it automatically optimizes the parameters of the control law while ensuring safety by the CBF so that the agent can learn how to predict and control unknown and often stochastic environments. Simulation results on a quadrotor UAV indicate that the proposed method can safely optimize controller parameters quickly and automatically.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2022.06a
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• pp.1-3
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• 2022

코로나 19 팬데믹으로 인한 4차 산업혁명이 앞당겨지고 초현실, 초실감, 초연결 사회 등의 키워드가 대두되고 언택트(Untact) 시대가 일상생활에 불가항력적으로 접목되면서 몰입감과 흥미성, 유희성을 목적으로 한 콘텐츠들이 다양하게 활성화되었다. 특히, 메타버스(Metaverse) 플랫폼이 빠르게 진화하면서 물리적 현실과 디지털 가상성을 융합한 다중 사용자에게 다양한 경험이 가능한 서비스가 주목받고 있다. 메타버스는 다중 사용자 플랫폼에서 원활한 커뮤니케이션과 대규모 멀티플레이가 가능한 온라인 비디오 게임, 오픈 게임 월드, AR 협업 공간과 호환되는 사회적, 몰입감이 있는 VR(Virtual Reality) 플랫폼 서비스 중 하나이다. 우리는 메타버스 플랫폼 개발 시 필요로 하는 요소기술 및 3D 데이터 획득을 통한 VR 콘텐츠를 설계하고 구현하고자 한다. 1) 콘텐츠 시나리오 및 사용자 인터랙션 설계; 2) 볼류메트릭 캡처를 활용한 실사 기반의 동적(Dynamic) 데이터 생성; 3) 컴퓨터 그래픽 기반 가상공간 설계 및 정적(Static)데이터 요소기술 개발; 4) 가상 현실 공간 데이터와 볼류메트릭 캡처의 실사 데이터 정합; 5) 공간 데이터 시각화 생성 및 모듈형 공간 이동 제어 기능 개발; 최종적으로 6) VR 환경에서의 콘텐츠 구현을 목표로 한다.

• International conference on construction engineering and project management
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• 2015.10a
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• pp.639-640
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• 2015

Traditional construction planning based on historical data and heuristic adjustment can no longer incorporate all the operational details and guarantee the expected performance. The variation between the expected and the actual production leads to cost overruns or delay. Although predicting reliable productivity on construction site is getting more important, the difficulty of this increases. In this regard, this paper suggested to develop BIM-integrated simulation framework. This framework could predict productivity dynamics by considering factors affecting on construction productivity at operational phase. We developed the following processes; 1) enabling a BIM model to produce input data for simulation; 2) developing the construction operation simulation; 3) running simulation using BIM data and obtaining productivity results. The BIM-integrated simulation framework was tested with structural steel erection model because steel erection work is one of the most critical process influencing on the whole construction budget and duration. We could improve to predict more dynamic productivity from this framework, and this reliable productivity helps construction managers to optimize resource allocation, increase schedule reliability, save storage cost, and reduce material loss.

• KDI Journal of Economic Policy
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• v.12 no.4
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• pp.3-20
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• 1990

The multisector model is designed to analyze and forecast structural change in industrial output, employment, capital and relative price as well as macroeconomic change in aggregate income, interest rate, etc. This model has 25 industrial sectors, containing about 1,300 equations. Therefore, this model is characterized by detailed structural disaggregation at the sectoral level. Individual industries are based on many of the economic relationships in the model. This is what distinguishes a multisector model from a macroeconomic model. Each industry is a behavioral agent in the model for industrial investment, employment, prices, wages, and intermediate demand. The strength of the model lies in the simulating the interactions between different industries. The result of its simulation will be introduced in the next paper. In this paper, we only introduce the structure of the multisector model and the coefficients of the equations. The multisector model is a dynamic model-that is, it solves year by year into the future using its own solutions for earlier years. The development of a dynamic, year-by-year solution allows us to combine the change in structure with a consideration of the dynamic adjustment required. These dynamics have obvious advantages in the use of the multisector model for industrial planning. The multisector model is a medium-term and long-term model. Whereas a short-term model can taken the labor supply and capital stock as given, a long-term model must acknowledge that these are determined endogenously. Changes in the medium-term can be analyzed in the context of long-term structural changes. The structure of this model can be summarized as follow. The difference in domestic and world prices affects industrial structure and the pattern of international trade; domestic output and factor price affect factor demand; factor demand and factor price affect industrial income; industrial income and relative price affect industrial consumption. Technical progress, as measured in terms of total factor productivity and relative price affect input-output coefficients; input-output coefficients and relative price determine the industrial input cost; input cost and import price determine domestic price. The differences in productivity and wage growth among different industries affect the relative price.

• The Journal of Korean Academy of Prosthodontics
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• v.60 no.2
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• pp.222-230
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• 2022

Digital technology is gradually expanding its field and has a great influence on various fields of dentistry. Recently in digital dentistry, the importance of superimposing various 3-dimensional (3D) image data is emerging, in order to utilize gathered data effectively for diagnosis and prosthesis fabrication. Integrating data from facial scans, intraoral scans, and mandibular movement recordings can create a virtual patient. A virtual patient is formed by integrating digital 3D diagnostic data such as intraoral and extraoral soft tissues, residual dentition, and dynamic occlusion, and the results of prosthetic treatment can be evaluated virtually. The patients in this case report were a 37-year-old female whose chief complaint is that the appearance of the existing prosthesis was distorted and a 55-year-old female patient whose anterior prosthesis needed to be refabricated after the endodontic treatment. 3D facial scans were obtained from each patient, and the patient's mandibular movements were recorded using ARCUS Digma 2 (KaVo Dental GmbH, Biberach an der Riss, Germany). The collected data were integrated on computer-aided design (CAD) software (Exocad dental CAD; exocad GmbH, Darmstadt, Germany) and transferred to a virtual articulator to create a digital virtual patient. The temporary fixed prostheses were designed, restored, and evaluated, and it was reflected into the final restorations. With the aid of the virtual dental patient, accuracy and predictability could be increased throughout treatment, simplifying the occlusal adjustment and clinical evaluation with improved esthetic outcomes.

• Environmental and Resource Economics Review
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• v.22 no.4
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• pp.613-641
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• 2013

This paper uses the error correction model to analyse dynamic gasoline price adjustments of the four refiners. Unlike the existing studies, this model allows a refiner's asymmetric adjustment to changes in the other refiners' prices as well as in its own price and costs. With the estimation results, we can obtain the following findings. First, there are the asymmetric price adjustments to changes in exchange rate and international gasoline price, but showing opposing directions. Second, for most of the refiners, the prices respond immediately to the lagged deviation from the long run equilibrium price, but asymmetrically respond for a few refiners. Third, there are some refiners that adjust their price to the other refiners' price deviation from the long run equilibrium. For some refiners, there are competitive price adjustments to the others' price deviations. These findings imply that a refiner faces inelastic demand, intends to maintain implicitly a relative level of its own price to others, and tends to respond competitively to the others' price deviation from the equilibrium.

• Journal of Korean Society for Geospatial Information Science
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• v.19 no.4
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• pp.119-126
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• 2011

During precise survey on the top of High rise buildings and civil structures, optical surveying equipments like a Total Station are not recommended to use because of some reasons that uneasier alignment with reflectors located at the top of building, increasing error depends on increasement of observation distance and unavailable dynamic positioning etc. Recently various GPS positioning methods have been applied to this job however almost of them are post-processing method which is required much longer time during for whole process includes stake-out, cross checking, fixing positions and final inspections. Therefore, in this study, we applied with RTK surveying system which allows stake-out and inspection in realtime to avoid delaying of construction schedule and also applied with Quasi Static RTK measurement and network adjustment to get a high accuracy within a few millimeters in structure positioning to achieve a successful management for process and quality control of the project. As a result, very high accurate surveying for structures within approx. 2mm in realtime has been achieved when surveyor conduct a network adjustment using least square method for 4 base lines created by Quasi Static RTK data and we expect this method will be applied to construction survey for high rise buildings and civil structures in the future.

• Korea Trade Review
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• v.48 no.3
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• pp.69-88
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• 2023

This study analyzes the dynamic characteristics of cargo volume (demand), ship fleet (supply), and freight rate (price) of container, dry bulk, and tanker shipping markets by using the VAR and VECM models. This analysis is expected to enhance the statistical understanding of market dynamics, which is perceived by the actual experiences of market participants. The common statistical patterns, which are all shown in the three shipping markets, are as follows: 1) The Granger-causality test reveals that the past increase of fleet variable induces the present decrease of freight rate variable. 2) The impulse-response analysis shows that cargo shock increases the freight rate but fleet shock decreases the freight rate. 3) Among the three cargo, fleet, and freight rate shocks, the freight rate shock is overwhelmingly largest. 4) The comparison of adjR² reveals that the fleet variable is most explained by the endogenous variables, i.e., cargo, fleet, and freight rate in each of shipping markets. 5) The estimation of co-integrating vectors shows that the increase of cargo increases the freight rate but the increase of fleet decreases the freight rate. 6) The estimation of adjustment speed demonstrates that the past-period positive deviation from the long-run equilibrium freight rate induces the decrease of present freight rate.

• Journal of KIISE:Information Networking
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• v.35 no.5
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• pp.374-383
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• 2008

IEEE 802.11 WLANs support various data rates in order to adapt to wireless channel condition. It is known that when some WLAN stations use a lower data rate than the others, total throughput is considerably degraded. The concept of temporal fairness which provides equal time to all stations has been introduced to alleviate this performance anomaly problem. However, most previous mechanisms assume that stations have infinite backlogs in the MAC layer and do not consider transport layer. In this paper, we first examine and analyze the performance of previous methods considering transport layer protocols. We then propose two new temporal fairness guarantee methods: AP priority and dynamic CWmin adjustment. We carried out extensive performance study via ns-2 computer simulations. The results show that the proposed methods provide temporal fairness and improve the throughput of WLANs in various environments.

• Journal of Advanced Marine Engineering and Technology
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• v.34 no.1
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• pp.102-108
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• 2010

The T-S fuzzy model of a ship is made from the nonlinear extension of Nomoto's 2nd-order model as the previous step before designing of the fuzzy type autopilot to consider the design specifications and the economic efficiency. The T-S fuzzy model is considered as a design variable of the heading angular velocity of ship. The linear models will be combined as "IF-THEN" fuzzy rules after get in this one area of the linear model(sub-system) by change of the heading angular velocity of a ship. The dynamic characteristic of a ship with the parameters of linear models and fuzzy membership functions are estimated to match by using the model adjustment technic with input/output data and a RCGA.