• Journal of Navigation and Port Research
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• v.47 no.2
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• pp.49-56
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• 2023

As interest in autonomous ships continues to grow, researchers around the world are dedicating themselves to the development of relevant technologies. However, these technologies are not yet perfect. Several technical problems remain unresolved. To address these problems, this study presents the implementation of a ship trajectory algorithm for group navigation, where followers can navigate by following the trajectory of a leader. The algorithm works by storing the leader's trajectory as a follow-point and by calculating the azimuth using the line-of-sight guidance law to reach it. A course-keeping controller based on PD control is implemented to follow the target course and a speed control algorithm is designed to prevent collisions. Sea experiments were conducted using 1 m class small RC model boats to verify the proposed algorithm. The follower successfully navigated by following the leader's trajectory and maintained the designated distance to the forward boat. This study is significant in that it implements an algorithm for the follower to follow the trajectory of the leader rather than directly following it as in conventional methods, and verifies it through sea experiments.

• Korean Security Journal
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• no.2
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• pp.227-258
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• 1999

In a broad sense, ‘After-care SYSTEM’ for discharged prisoners mean legal actions of prisoners who have been released from lawful detention In its narrow sense, mean preventive protection and observation activities under regular guidance and supervision against those released from penal facilities after a certain period of detention Therefore, they should not be viewed as objects of mere concern or social work programs but preventive protection should he provided to them as part of national criminal policy After-care system is in the following two ways, The one is based on individual prisoner's request and consent, which is called 'Voluntary After-care system', The other is the one which is not based in personal request or consent but is based on obligation, which is named 'Compulsory After-care system In Korea, however no Compulsory After-care system is in practice Voluntary After-care system is to be carried out 6 method in the following by existing Probation, Parole Law. (1) offer of board and lodging (2) allowance of Traveling expense (3) allowance of occupation instrument or lending rehabilitation fund (4) training of occupation and vocational guidance (5) self-reliance support for After-care probationer (6) guidance of good deed And then to establish the society without offenders is the ideal of human beings, but criminal acts don't fade away, so in the field of the science of criminology, the importance of correctional system has become greater. The correctional idea has moved from severe punishment to educational rehabilitation for the goal of protecting both offender and security from the threat of crime in to day Some it is required that Compulsory After-care system is most important system in effective measures, and that existing Probation, Parole Law in Korea is renewed into Compulsory After-care system in the future.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1871-1876
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• 2005

In this paper, We present a new nonlinear adaptive control law using a disturbance accommodating control (DAC) observer for a Japanese automatic landing flight experiment vehicle called ALFLEX. A future spaceplane must have ability to deal with greater fluctuations in the stability and control derivatives of flight dynamics, because its flight region is much wider than that of conventional aircraft. In our previous studies, digital adaptive flight control systems have been developed based on a linear-parameter-varying (LPV) model depending on dynamic pressure, and obtained good simulation results. However, under previous control laws, it is difficult to accommodate uncertainties represented by disturbance and nonlinearity, and to design a stable flight control system. Therefore, in this study, we attempted to design a nonlinear adaptive control law using the DAC Observer and inverse dynamic methods. A good tracking property of the obtained system was confirmed in numerical simulation.

• International Journal of Control, Automation, and Systems
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• v.5 no.1
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• pp.51-60
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• 2007

This paper describes a visual tracking control law of an Unmanned Aerial Vehicle(UAV) for monitoring of structures and maintenance of bridges. It presents a control law based on computer vision for quasi-stationary flights above a planar target. The first part of the UAV's mission is the navigation from an initial position to a final position to define a desired trajectory in an unknown 3D environment. The proposed method uses the homography matrix computed from the visual information and derives, using backstepping techniques, an adaptive nonlinear tracking control law allowing the effective tracking and depth estimation. The depth represents the desired distance separating the camera from the target.

• Journal of Arbitration Studies
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• v.33 no.3
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• pp.3-30
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• 2023

This article provides an overview of the state of attorney-client related privilege and confidentiality in Korea. It reviews the statutory framework, and how Korean courts have analyzed the privilege and confidentiality related to attorneys and their clients. It then examines the legislative initiatives Korea is currently debating with regard to adopting a more common law-style attorney-client privilege (ACP). If adopted, the new legislation will mark a significant milestone in providing guidance on how communications between attorney and client will be treated. Its impact in the context of international arbitration practice and law related to Korea is explored.

• Journal of Families and Better Life
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• v.26 no.4
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• pp.55-71
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• 2008

Many studies on the relationships between mothers-in-law and daughters-in-law tended to regard the relationship as a conflicting one. This study, unlike the previous ones, aimed to explore the relationship as it is and to describe the experience of the real relationship. Another aim of this study, on the basis of the results, was to provide the basic data for social services to develop and maintain the positive relationships between mothers and daughters-in-law. To achieve these aims, the central question of the study was, "What are the daughters-in-law's experiences with their mothers-in-law like?" The participants for the study consisted of 12 daughters-in-law who volunteered to be interviewed. Data were collected through in-depth interviews and analyzed according to the grounded theory presented by Strauss and Corbin. As a result, 154 concepts and 42 sub-categories were induced, and finally 18 categories were induced in the course of classifying and integrating these sub-categories. This study discovered that the relationship might be both positive and negative, and that it might even be possible to change from one to the other. The results of the study showed that many factors influenced the quality of the relationship, and that the husband's role was one of the most important factors. Using this study's results as guidance, general programs designed to cultivate more positive relationships between mothers and daughters-in-law can be created and implemented; additionally programs that help the husbands understand the complex relationship and roles can be devised.

• Journal of Biomedical Engineering Research
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• v.35 no.3
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• pp.50-54
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• 2014

It is being tried to control robot arm using brain signal in the field of brain-machine interface (BMI). This study is focused on applying guidance laws for efficient robot arm control using 3D coordinates obtained from Magnetoencephalography (MEG) signal which represents movement of upper limb. The 3D coordinates obtained from brain signal is inappropriate to be used directly because of the spatial difference between human upper limb and robot arm's end-effector. The spatial difference makes the robot arm to be controlled from a third-person point of view with assist of visual feedback. To resolve this inconvenience, guidance laws which are frequently used for tactical ballistic missile are applied. It could be applied for the users to control robot arm from a first-person point of view which is expected to be more comfortable. The algorithm which enables robot arm to trace MEG signal is provided in this study. The algorithm is simulated and applied to 6-DOF robot arm for verification. The result was satisfactory and demonstrated a possibility in decreasing the training period and increasing the rate of success for certain tasks such as gripping object.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.42 no.3
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• pp.199-212
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• 2014

This paper describes an autonomous air combat guidance law using a Virtual Pursuit Point (VPP) in one-on-one close engagement for Unmanned Combat Aerial Vehicle (UCAV). The VPPs that consist of virtual lag and lead points are introduced to carry out tactical combat maneuvers. The VPPs are generated based on fighter's aerodynamic performance and Basic Fighter Maneuver (BFM)'s turn circle, total energy and weapon characteristics. The UCAV determines a single VPP and executes pursuit maneuvers based on a smoothing function which evaluates probabilities of the pursuit types for switching maneuvers with given combat states. The proposed law is demonstrated by high-fidelity real-time combat simulation using commercial fighter model and X-Plane simulator.

• Journal of Pharmaceutical Investigation
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• v.34 no.3
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• pp.223-228
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• 2004

A new medical system was started in Korea in 2000 and pharmaceutical affairs law was revised in 2001. According to the revised law, generic substitution is permitted only to the drug products which are proven to be bioequivalent to the reference listed drugs. To expand the list of bioequivalence-proven drug products and to ensure the credibility of the therapeutic equivalence of generic drug are the hot issues in Korea. Also, the KFDA has a plan to revise the pharmaceutical affairs law that bioequivalence reports of all the generic prescription drug products should be submitted to the KFDA for drug approval after July in 2004. Therefore, it is increasing the necessity to develop the bioequivalence-demonstrating methods for specific drug substances and preparations which require to conduct food-effect bioavailability or bioequivalence study. There are some differences between US and Japanese guidances of food-effect bioavailability and bioequivalence studies. In this paper, we examined the recently published US guidance about food-effect study and it will be a reference to make our own guidance about food-effect bioavailability and bioequivalence guidances in Korea.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.46 no.9
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• pp.742-751
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• 2018

In this paper, we propose a time varying biased proportional navigation guidance law that controls the impact angle under Field-of-View(FOV) and the acceleration limit of the missile. The proposed law is composed of three stages in consideration of the FOV limitation. Since the bias directly affects the acceleration at each stage, the final bias value of the previous stage becomes the initial bias value of the next stage when the stage is switched. In addition, the impact angles were controlled by judging whether impact angles were reached in consideration of engagement conditions and physical constraints.