• 전기학회논문지
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• 제60권11호
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• pp.2152-2156
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• 2011

In this paper, we propose the novel behavior control algorithm by using the efficient searching method based on the characteristic of the swarm robots in unknown space. The proposed method consists of identifying the position and moving state of a robot by the dynamic modelling of a wheel drive vehicle, and planing behavior control rules of the swarm robots based on the sensor range zone. The cooperative search for unknown space is carried out by the proposed behavior control. Finally, some experiments show the effectiveness and the feasibility of the proposed method.

• 전기학회논문지
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• 제66권1호
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• pp.114-120
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• 2017

The work present in this paper deals with a navigation problem for multiple mobile robots in unknown indoor environments. The environments are completely unknown to the robots; thus, proximity sensors installed on the robots' bodies must be used to detect information about the surroundings. The environments simulated in this work are dynamic ones which contain not only static but also moving obstacles. In order to guide the robot to move along a collision-free path and reach the goal, this paper presented a navigation method based on fuzzy approach. Then genetic algorithms were applied to optimize the membership functions and rules of the fuzzy controller. The simulation results verified that the proposed method effectively addresses the mobile robot navigation problem.

• 한국엔터테인먼트산업학회논문지
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• 제14권3호
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• pp.251-265
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• 2020

이 연구는 드론 쇼트(Drone Shot)와 핸드헬드 쇼트(Hand-held Shot)라는 두 촬영기법의 미학적 기능을 비교, 분석하는 데에 그 목적이 있다. 연구를 위해 세르토(Certeau)의 장소와 공간의 개념을 이해하였다. 두 촬영기법의 미학적 기능을 비교, 분석할 텍스트로서 <세계테마기행> '유카탄 반도'편을 선정하고 그들의 미학적 특성이 잘 드러나는 장면들을 중심으로 장소와 공간의 개념을 적용, 분석하였다. 분석 결과, 드론 쇼트는 자기반영성이 제거된 고요한 움직임으로 도시를 내려다보면서 지역의 전반적인 분위기와 정보를 제공하는 권위적인 시점을 취하였으며, 이러한 기능은 그 지역의 고유한 규칙 및 질서 등에 대한 선지식을 전달하는 내레이션이나 자막 등을 통해 강화되었다. 반대로 핸드헬드 쇼트는 도시에 내재된 규칙과 질서 등에 얽매이지 않고 자유보행을 통해 공간을 실천적으로 경험하였다. 관람 코스로 굳어진 주요 명소보다 소도시와 시골의 일상에 관심을 기울이면서 인간적인 보행을 실천한다는 점에서 권력 주체의 전략에 저항하는 전술을 담아내었다.

• 융합보안논문지
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• 제13권2호
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• pp.67-73
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• 2013

본 연구는 경호무도로서 점차 활성화되고 있는 공수도를 미학적으로 탐색해 봄으로서 공수도가 경호무도로서 가지고 있는 미학을 정립하고자 하였다. 연구방법은 문헌연구로 공수도, 미학 관련서적과 자료, 논문을 수집, 참고하였다. 첫째, 공간미이다. 둘째, 시간미이다. 셋째, 통일미이다. 넷째, 대칭미이다. 다섯째, 균형미이다. 여섯째, 조화미이다. 일곱째, 곡선미이다. 여덟째, 리듬미이다. 아홉째, 도덕미이다. 이러한 경호무도로서 공수도의 미학을 연구함으로 내재적 아름다움과 철학, 윤리를 갖춘 경호원과 경호무도로서 발전될 것으로 사료된다.

• 한국중재학회지:중재연구
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• 제16권2호
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• pp.3-49
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• 2006

The purpose of this paper is to make research on the settlement mechanism of the commercial disputes between the South and the North of Korea. Also, this paper is to make research on the south-north Korea's cooperative tasks to promote the disputes settlement, including the operation and management of the South-North Arbitration Commission as well as the enactment of the South-North Arbitration Rules. To realize the spirit of the South-North Joint Declaration of June 15, 2000, the Authorities concerned of the South and the North of Korea have reached an agreement titled 'Agreement on Settlement Procedure of Commercial Disputes' on December of the same year. As the follow-up measures of the said Agreement, the South-North Authorities have signed an another agreement called 'Agreement on Organization and Administration of the South-North Arbitration Commission' on October, 2003, which is becoming vital importance for settlement of the commercial disputes between south and north Korea including the Gaeseong Industrial Complex. Gaeseong, a city surrounded by the North Korean military and a symbol of inter-Korean tensions, is now turning into a peace zone where thousands of North and South Koreans are working side by side. The Gaeseong Industrial Complex project, driven by the logic and economic necessity of cooperation, has been steadily moving forward since the North designated it as a special economic zone and has enacted related laws and regulations for its development. Under the situation, the matter of primary concern is how to organize and conduct the Arbitration Commission for the prompt and effective settlement of the south-north commercial disputes. First of all, the South-North Authorities should recognize that the availability of prompt, effective and economical means of dispute resolution such as arbitration and mediation to be made by the Arbitration Commission would promote the orderly growth and encouragement of the south-north trade and investment. In this connection, the Korean Commercial Arbitration Board(KCAB) should be designated as the arbitral institution of the south Korean side under the Agreement on Organization and Administration of the South-North Arbitration Commission. The KCAB is the only authorized arbitral organization in South Korea to settle all kinds of commercial disputes at home and abroad.

• 수도
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• 제24권5호통권86호
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• pp.29-44
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• 1997

Sewage sludge produced in Korea was 1,275,800 tons (dewatered sludge cake) per year in 1996, which is 3,495 tons per day, 0.303% of 11,526,100 tons per day of sewage treated in 79 sewage treatment plants. Sludge production has been and will be increasing in accordance with construction of new facilities for sewage treatment. Most of the sludge is currently disposed by landfill and ocean dumping, but it is becoming difficult to find suitable sites for landfill, particularly in big cities such as Seoul. In addition, rapid increase of landfill cost is anticipated in a near future. Current trend for sludge disposal in advanced countries is land application. Over the past 10 to 20 years in the United States, sludge management practices have changed significantly, moving from disposal to beneficial use. They use biosolid for utilization instead of sludge for disposal. Under the Clean Water Act of 1972, amended in 1987 by Congress, the U.S. EPA was required to develop regulations for the use and disposal of sewage sludge. The EPA assessed the potential for pollutants in sewage sludge to affect public health and the environment through a number of different routes of exposure. The Agency also assessed the potential risk to human health through contamination of drinking water sources or surface water when sludge is disposed on land. The Final Rules were signed by the EPA Administrator and were published (Federal Register, 1993). These rules state that sewage sludge shall not be applied to land if the concentration of any pollutant in the sludge exceeds the ceiling concentration. In addition, the cumulative loading rate for each pollutant shall not exceed the cumulative pollutant loading rate nor should the concentration of each pollutant in the sludge exceed the monthly average concentration for the pollutant. The annual pollutant loading rate generally applies to applications of sewage sludge on agricultural lands. The most popular beneficial use of sewage sludge is land application. The sludge has to be stabilized for appling to land. One of the stabilization process for sewage sludge is lime stabilization process. The stabilization process is consisted of the stabilizing process and the drying process. Stabilization reactor can be a drum type reactor in which a crossed mixer is equipped. The additive agents are a very reactive mixture of calcium oxide and others. The stabilized sludge is dried in sun drier or rotary kiln.

• 대한조선학회논문집
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• 제56권4호
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• pp.343-351
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• 2019

Green water impact may sometimes cause some structure damages on ship's bow deck. Prediction of proper design pressure against the green water impact is an essential task to prevent the possible damages on bow deck. This paper presents a computational method of the bow deck's design pressure against the green water impact. Large heave and pitch motions of ship are calculated by the time domain nonlinear strip method. Green water flow and pressure on bow deck are simulated by the predictor-corrector second kind upstream finite difference method. This green water simulation method is based on the shallow water wave equations expanded for moving bottom conditions. For various kind of ships such as container ship, VLCC, oil tanker and bulk carrier, the green water design pressures on bow deck are computed and discussed. Also, the obtained results of design pressure on bow deck are compared with those of the classification society rules and discussed.

• 한국콘텐츠학회논문지
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• 제9권11호
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• pp.1-9
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• 2009

본 논문은 게임 또는 애니메이션과 같이 가상 환경 속에서의 군중 행동을 구현함에 있어 군중 전체의 움직임을 제어하기보다는 군중을 구성하고 있는 각 개체들의 감정요소를 개별적으로 제어하는 방식을 사용함으로써 군중의 형태 및 행동 양식에 사실감과 다양성을 부여하는 새로운 방안을 제시한다. 인간의 행동을 모사하기 위해 군중을 구성하고 있는 개체들이 각자의 감정과 기질에 따라 이동경로를 결정하도록 행동패턴을 설계한다. 제안된 방법은 군집을 구성하는 개체들이 제각기 주어진 기질과 환경에 따라 변화하는 감정을 기반으로 이동 경로뿐 아니라 군집간의 이동을 자유롭게 결정하기 때문에 다양한 군집이동을 표현할 수 있다. 이를 위해, 감정과 기질을 정의하고 행동제어 규칙을 정의한다. 또한 인간의 감정과 같은 모호한 정보를 처리하기 위하여 퍼지이론을 적용함으로써 기질과 감정에 대한 모호한 언어적 표현을 자연스럽게 정의하도록 한다. 실험을 통해 제안된 방법으로 자연스럽고 다양한 형태의 군중 시뮬레이션이 가능함을 보인다.

• 한국주조공학회지
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• 제3권1호
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• pp.13-21
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• 1983

In order to determine the feeding distance of aluminiun alloys (Alsi7Mg and AlCu4Ti) bar castings in the sand mold, the distance of the sound castings has been observed by radiograph for various risers, melt treatment, and casting design. Variation of porosity and hardness with the distance from the riser were also measured in order to determine the casting soundness. The results obained were as follows; 1) The modulus of riser should be 1.4 times of the casting`s 2) The maximum distance which can be made sound is greatly dependent on chemical composition and ingate location, and follows the rules given by the formula; a) When the melt flows into the casting first, and the riser afterward, D = 37.7 ${\sqrt{T}}$ for AlSi7Mg D = 31.2 ${\sqrt{T}}$ for pure aluminium D ${\ge}$ 54.8 ${\sqrt{T}}$ for AlCu4Ti Where T = casting thickness in mm Of this maximum distance, $aa{\sqrt{T}}$ for AlSi7Mg and 7.5 ${\sqrt{T}}$ for pure aluminium is made sound by the chilling effect of the casting edge. b) When the melt flows into the casting passing through the riser, $30{\times}30{\times}600mm$ bars can be made sound in all cases 3) Percentage of porosity is higer in AlCu4Ti than AlSi7Mg. And it is increased gradually by moving closer to the riser in case of $30{\times}30{\times}600mm$ bars, but for the $30{\times}30{\times}600mm$ bars it is increased gradually by moving closer to the center of bars. 4) Hardness variation is similar to the tendency of porosity. And it decreased gradually with approaching to the center in case of $30{\times}30{\times}600mm$ bars.

• 한국산업정보학회논문지
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• 제19권5호
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• pp.69-79
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• 2014

본 논문은 도심환경에서 차량과 보행자가 위치하고 있는 도로 정보에 따라 위험도를 추론하고, 이 정보를 이용하여 차량 간의 충돌사고와 차량과 보행자간의 충돌사고를 예방하는 퍼지 기반 차량 충돌 예방 시스템을 제안한다. 제안하는 퍼지기반 차량 충돌 예방 시스템은 첫째, 보행자의 스마트 기기로 보행자의 위치를 파악하고, 차량은 차량에 장착된 GPS로 차량 위치를 파악하여, 보행자와 차량의 자신의 정보를 이웃들에게 전달한다. 둘째, 보행자와 차량은 이동방향과 속도, 도로 정보를 고려하여 위험도를 추론한다. 셋째, 추론한 정보를 보행자와 차량에게 전달하여 경로 우회 또는 속도 감속과 같은 정보를 보행자와 차량에게 제공한다. 그 결과, 퍼지기반 차량 충돌예방 시스템은 보행자와 차량에게 발생할 수 있는 위험성을 미리 추론하고 예방함으로 인해 충돌사고를 미연에 방지할 수 있을 뿐만 아니라 사고와 교통체증을 방지함으로써 다양한 자원 손실을 줄일 수 있다.