• International Journal of Aeronautical and Space Sciences
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• v.11 no.4
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• pp.326-337
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• 2010

This work addresses problems regarding trajectory planning for unmanned aerial vehicle sensors. Such sensors are used for taking measurements of large nonlinear systems. The sensor investigations presented here entails methods for improving estimations and predictions of large nonlinear systems. Thoroughly understanding the global system state typically requires probabilistic state estimation. Thus, in order to meet this requirement, the goal is to find trajectories such that the measurements along each trajectory minimize the expected error of the predicted state of the system. The considerable nonlinearity of the dynamics governing these systems necessitates the use of computationally costly Monte-Carlo estimation techniques, which are needed to update the state distribution over time. This computational burden renders planning to be infeasible since the search process must calculate the covariance of the posterior state estimate for each candidate path. To resolve this challenge, this work proposes to replace the computationally intensive numerical prediction process with an approximate covariance dynamics model learned using a nonlinear time-series regression. The use of autoregressive time-series featuring a regularized least squares algorithm facilitates the learning of accurate and efficient parametric models. The learned covariance dynamics are demonstrated to outperform other approximation strategies, such as linearization and partial ensemble propagation, when used for trajectory optimization, in terms of accuracy and speed, with examples of simplified weather forecasting.

• Journal of the Korean Institute of Educational Facilities
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• v.26 no.1
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• pp.17-23
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• 2019

Nowadays, the concept of outdoor campus is different from the past. U-Campus with a well-developed high-speed computer network is no longer a constraint on the campus interior and exterior spaces. From this point of view, today's large-scale university outdoor spaces need to be changed from a simple green space. The university campus outdoor spaces need to be changed into a new concept space. This study analyzed the changes in academic activities and preferences of college students who are users of university campus outdoor spaces and it is aimed at space planning that reflects the preference. The university campus should be remodified through changes in students' behaviors. Participants in this study were four different departments students (Social science, Physical education, Natural science and Engineering). The preference results of 17 items were analyzed. As a result of this preference analysis, we found that there is a difference in preference among students belonging to four different departments students. In conclusion, this study will propose that the preferences of each college should be considered in planning the outdoor rest spaces of university campus.

• The Journal of Korea Robotics Society
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• v.6 no.3
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• pp.263-273
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• 2011

This paper analyzes the motion of a horseback riding robot which has two actuators and three joints. It is impossible to control the saddle to get to any position and orientation using the two motors because the robot has less degrees of freedom than the number of joints. Therefore it is required to know the possible location and orientation along with the velocity characteristics of each pose prior to motion planning. For this purpose, this paper analyzes the characteristics of the robot motion. The authors derive the forward and inverse kinematics of the robot motion and developed the trajectory editor for motion planning. Also, Jacobian of the robot is analyzed. It reveals that one of the actuator has little influence to the speed of the saddle motion while the other affects the speed of the saddle motion dominantly. The approach of the paper can be applied for the analysis of characteristics of a robot which has less number of actuators than that of joints.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2018.11a
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• pp.341-342
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• 2018

Unlike previous studies on the optimum route of the ship operating on th ocean, this study proposed an optimization method for the route planning of the ship operating on the coast. In general, passenger ships on the coast navigate along the waypoints indicated in the authorized route. Therefore this study propose objective function considering the braking power and time to determine the speed between waypoints, and the optimum speed was determined by applying the proposed method to the actual route of the passenger ship between Mokpo and Jeju.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 2002.10b
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• pp.321-322
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• 2002

This paper presents study of effects of cutting parameters such as cutting speed, feed rate and depth of cut on the surface roughness in hard turning. Taguchi Method and linear regression model of design parameters were utilized to identify the controlling process parameters that can monitor the surface roughness in the hard turning operation. In the process optimization, experimental planning was performed using the orthogonal array and concept of the signal-to-noise ratio. Cutting parameters such as speed, feed rate, and depth of cut were selected as process parameters and the ANOVA analysis showed that feed rate and cutting speed had more effect on the roughness variation that depth of cut.

• Korean Journal of Computational Design and Engineering
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• v.12 no.1
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• pp.1-7
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• 2007

In this paper, we present a machining time estimation algorithm for 5-axis high-speed machining. Estimation of machining time plays an important role in process planning and production scheduling of a shop. In contrast to the rapid evolution of machine tools and controllers, machining time calculation is still based on simple algorithms of tool path length divided by input feedrates of NC data, with some additional factors from experience. We propose an algorithm based on 5-axis machine behavior in order to predict machining time more exactly. For this purpose, we first investigated the operational characteristics of 5-axis machines. Then, we defined some dominant factors, including feed angle that is an independent variable for machining speed. With these factors, we have developed a machining time calculation algorithm that has a good accuracy not only in 3-axis machining, but also in 5-axis high-speed machining.

• The Journal of Korea Robotics Society
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• v.13 no.3
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• pp.182-189
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• 2018

The purpose of this paper is to suggest the methodology for the establishment of operational concept for speed-up of defense robot and improvement direction of the defense acquisition system for the defense robot. In order to achieve this goal, the current defense acquisition system was analyzed into long-term planning, mid-term programming, and project execution stages. And I suggest the methodology for the establishment of operational concept for speed-up of defense robot and direction of development of the defense robot acquisition system considering the characteristics of the robot in terms of core technologies of robot, robot ecosystem and effectiveness-based-robot-design, respectively. Based on the methodology for establishment of the operational concept of defense robot and development direction of the defense acquisition system presented in this study, it will be possible to design efficiently the defense robot in the future.

• Proceedings of the KIEE Conference
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• 2003.10b
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• pp.275-277
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• 2003

Computer aided simulation is becoming an essential part in planning, design, and operation of railway systems. To determine the adequate performance and specification of railway system, it is necessary to calculate rolling stock's performance such as distance, speed, power etc when train's running. This paper presents result of train performance simulation using the program that developed in advance for Korea high speed train. To verify result of simulation, we have compared that with experiment data.

• Proceedings of the KIEE Conference
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• 2003.11b
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• pp.95-98
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• 2003

Computer aided simulation is becoming an essential part in planning, design, and operation of railway systems. To determine the adequate performance and specification of railway system, it is necessary to calculate rolling stock's performance such as distance, speed, power etc when train's running. This paper presents result of train performance simulation using the program that developed in advance for Korea high speed train. To verify result of simulation, we have developed measurement system and compared simulation result with experiment data.

• Journal of the Korean Operations Research and Management Science Society
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• v.28 no.1
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• pp.115-129
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• 2003

This paper Is concerned with a new techno-economic model Ing of ATM based h19h-speed networks. Coupled with advances of technology, the rapid development of new telecommunication services significantly increases the magnitude of risk in making an Investment decision. Naturally, the success of techno-economic modeling depends on how effectively we manage underlying risk factors such as cost and technology To deal with risk factors, we need to rely on modern decision and risk analysis while Implementing mathematical optimization for solving a complex capacity expansion problem of telecommunication systems during the planning period. We provide a case study that will enhance our understanding of the techno-economic analysis for emerging telecommunication systems.