• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.168-173
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• 2003

In this paper, we will present a deeper look on optimal design methods that are related to path-planning for a mobile robot. To control the motion of a mobile robot in a clustered environment, it's necessary to know a suitable trajectory assuming certain start and goal point. Up to now, there are many literatures that concern optimal path planning for an obstacle avoided mobile robot. Among those literatures, we have chosen 2 novel methods for our further analysis. The first approach [4] is based on HJB(Hamilton-Jacobi-Bellman) equation whose solution is the return-function that helps to generate a shortest path to the goal. The later [5] is called polynomial-path-planning approach, in this method, a shortest polynomial-shape path would become a solution if it was a collision-free path. The camera network plays the role as sensors to generate updated map which locates the static and dynamic objects in the space. Therefore, the exhibition of both path planning and dynamic obstacle avoidance by the updated map would be accomplished simultaneously. As we mentioned before, our research will include the motion control of a true mobile robot on those optimal planned paths which were generated by above algorithms. Base on the kinematic and dynamic simulation results, we can realize the affection of moving speed to the stable of motion on each generated path. Also, we can verify the time-optimal trajectory through velocity tuning. To simplify for our analysis, we assumed the obstacles are cylindrical circular objects with the same size.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제15권4호
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• pp.268-276
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• 2015

A ship's sailing route or plan is determined by the master as the decision maker of the vessel, and depends on the characteristics of the navigational environment and the conditions of the ship. The trajectory, which appears as a result of the ship's navigation, is monitored and stored by a Vessel Traffic Service center, and is used for an analysis of the ship's navigational pattern and risk assessment within a particular area. However, such an analysis is performed in the same manner, despite the different navigational environments between coastal areas and the harbor limits. The navigational environment within the harbor limits changes rapidly owing to construction of the port facilities, dredging operations, and so on. In this study, a support vector machine was used for processing and modeling the trajectory data. A K-fold cross-validation and a grid search were used for selecting the optimal parameters. A complicated traffic route similar to the circumstances of the harbor limits was constructed for a validation of the model. A group of vessels was composed, each vessel of which was given various speed and course changes along a specified route. As a result of the machine learning, the optimal route and voyage data model were obtained. Finally, the model was presented to Vessel Traffic Service operators to detect any anomalous vessel behaviors. Using the proposed data modeling method, we intend to support the decision-making of Vessel Traffic Service operators in terms of navigational patterns and their characteristics.

• 한국대기환경학회지
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• 제31권5호
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• pp.472-481
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• 2015

Black carbon (BC) aerosols were monitored at the KIST site ($37.603^{\circ}N$, $127.046^{\circ}E$) and Cheonan-KOREATECH site ($36.766^{\circ}N$, $127.281^{\circ}E$) during the pre KORea-US Air Quality Study (KORUS-AQ) campaign using a couple of Muliti Angle Absorption Photometers (MAAP). BC mass concentrations were presented as $2.14{\pm}1.06{\mu}g/m^3$ and $0.94{\pm}0.60{\mu}g/m^3$ at KIST site (Seoul) and KOREATECH site (Cheonan), respectively. BC mass concentrations measured at KIST and KOREATECH sites from 22:00 on May 22 to 12:00 on May 23, 2015 showed 80% and 72% higher than average BC mass concentrations measured during campaign period, respectively. It indicates both sites could be influenced by a remote source. Similar patterns of BC concentrations between two sites from 20:00 to 24:00 on June 6, 2015 implies that the BC could be transported into both sites and then be stagnant inside the Korean Peninsula. Diurnal variation of BC in weekdays and weekends were also presented for the KIST and KOREATECH sites. Morning rush hour peak was observed at KIST site located in metropolitan area though no distinct morning rush hour peak was not observed at KOREATECH site located in a suburban area. This study revealed transport pathways of BC near the Korean Peninsula using back-trajectory analysis of BC measured both in a metropolitan area and in a suburban area.

• 한국대기환경학회지
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• 제31권1호
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• pp.15-27
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• 2015

The collection of fine particulate matter samples was made at Gosan site of Jeju Island, one of the background sites of Korea, during a year of 2013, and their water-soluble ionic species were analyzed in order to examine the chemical compositions and pollution characteristics. The concentrations of $nss-SO_4{^{2-}}$, $NH_4{^{+}}$, $NO_3{^{-}}$, and $K^+$ had occupied 66.0% of water-soluble ionic species in $PM_{10}$, especially 94.3% in $PM_{2.5}$ fine mode, however the $nss-Ca^{2+}$ and $Na^+$ showed high concentrations in $PM_{10-2.5}$ coarse mode. $NO_3{^-}/nss-SO_4{^{2-}}$ concentration ratios in $PM_{10}$ and $PM_{10-2.5}$ were 0.30 and 0.13, showing less significant effect from automobile and local pollution sources. The sulfate and nitrate compounds were presumed to be long-range transported to Gosan area by the relatively high SOR and NOR values. The trajectory cluster analysis showed the higher concentrations of the major secondary pollutants ($nss-SO_4{^{2-}}$, $NO_3{^{-}}$, $NH_4{^{+}}$) and $nss-Ca^{2+}$ when the air masses had moved from China continent and Korean peninsula into Gosan area.

• 대한기계학회논문집A
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• 제38권6호
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• pp.585-592
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• 2014

본 논문에서는 도마뱀 로봇 설계를 위한 생체운동 모사 다물체 동역학 시뮬레이터가 개발되었다. 시뮬레이터에 사용된 다물체-기구 동역학 모델은 상용 소프트웨어인 RecurDyn 에 쿠반에놀 도마뱀의 모션 캡쳐 데이터와 Micro-CT 데이터를 적용하여 생성되었다. 다양한 도마뱀의 보행 운동 특성 해석을 위해서 생체운동 시뮬레이터는 궤적 생성모듈, 역기구학 모듈, 역동역학 모듈로 구성된다. 궤적생성 모듈은 도마뱀의 속도에 따른 척추운동과 발 궤적을 생성한다. 또한, 도마뱀 로봇 설계를 위해서 역기구학을 통한 관절 각도 계산과 그를 통한 역동역학 해석으로 이동속도에 대한 요구 조인트 구동력을 생성한다.

• 한국대기환경학회지
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• 제12권5호
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• pp.541-554
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• 1996

A set of 1994 data was analyzed to investigate the characteristics of background surface SO$_{2}$ concentrations at Kosan, Cheju Island, Korea. The SO$_{2}$ concentrations at Kosan site show a seasonal variation with a minimum(0.46 ppb) in summer, maximum(1.02 ppb) in spring and an annual mean of 0.83 ppb. These values were 4-7 times higher than those measured in other remote areas, such as Bermuda and Oki Island, but they were similar to the baseline concentrations of other sites in the world. The diurnal variation of SO$_{2}$ concentrations was very small and it shows a peak at 10 am in spring and fall, 2 pm in summer, and 1 pm in winter, respectively. Correlations between local meteorological parameters and SO$_{2}$ concentrations were mot significant. This suggests that the variations of the Kosan's SO$_{2}$ comcentrations were relatively independent on local meteorological variables. Backward trajectory analysis results showed that the seasonal variation of the OS$_{2}$ concentration was mainly due to the inflow of air masses from the continent in spring and from the Pacific Ocean im summer. The results also revealed that the air masses with the highest SO$_{2}$ concentration came through China or the Korea peninsula in spring and through Japan during summer. It was found that the SO$_{2}$ concentrations at Kosan were under the influence of passage of air masses arriving at this site.

• 한국대기환경학회지
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• 제16권5호
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• pp.487-497
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• 2000

Spring time is a favorable season to be easily observed the Yellow Sand phenomenon in East Asia. In particular most of the phenomenon tend to occur in April. However, Yellow Sand phenomenon was observed from almost the whole country of Korea in winter of 1966, 1977 and 1999. The features of the synoptic weather pattern in the source regions, air stream flow between the source region and Korea, the measurement of TSP concentration, aerosol size distribution, and chemical composition of snow samples associated with Yellow Sand phenomenon were investigated. The result showed the characteristic evolutionary feature of the synoptic system associated with Yellow Sand phenomena, that is, a strong low level wind mobilized the dust within 2 or 3 days before Yellow Sand phenomenon being observed in Seoul. The wind was remarkably intensified in the source region on January 24, 1999 under the strong pressure gradient, A trajectory analysis showed that the Yellow Sand particle could be reached to Korea within 2 days from the source region, Gobi desert, through Loess plateau and Loess deposition region. The TSP concentration at the top of Kwanak mountain during the Yellow Sand phenomenon is abruptly increasing than the monthly mean concentration. The size resolved number concentration of aerosols ranging from 0.3 to 25${\mu}{\textrm}{m}$ was analyzed during Yellow Sand episode. It was evident that aerosols were distinguished by particles in the range of 2-3 ${\mu}{\textrm}{m}$ to result in the abrupt increase in January 1999, After Yellow Sand phenomenon, there was heavy snow in Seoul. By the analysis of snow collected during that time, it was observed that both the Ca(sup)2+ concentration and pH were increased abnormally compared to those in the other winter season.

• 대기
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• 제23권1호
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• pp.1-11
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• 2013

The angular momentum transport of an idealized axisymmetric vortex in the developing stage was investigated using the Weather Research and Forecast (WRF) model. The balanced axisymmetric vortex was constructed based on an empirical function for tangential wind, and the temperature, geopotential, and surface pressure were obtained from the balanced equation. The numerical simulation was carried out for 6 days on the f-plane with the Sea Surface Temperature (SST) set as constant. The weak vortex at initial time was intensified with time, and reached the strength of tropical cyclone in a couple of days. The Absolute Angular Momentum (AAM) was transported along with the secondary circulation of the vortex. Total AAM integrated over a cylinder of radius of 2000 km decreased with simulation time, but total kinetic energy increased rapidly. From the budget analysis, it was found that the surface friction is mainly responsible for the decrease of total AAM. Also, contribution of the surface friction to the AAM loss was about 90% while that of horizontal advection was as small as 8%. The trajectory of neutral numerical tracers following the secondary circulation was presented for the Lagrangian viewpoint of the transports of absolute angular momentum. From the analysis using the trajectory of tracers it was found that the air parcel was under the influence of the surface friction continuously until it leaves the boundary layer near the core. Then the air parcel with reduced amount of angular momentum compared to its original amount was transported from boundary layer to upper level of the vortex and contributed to form the anti-cyclone. These results suggest that the tropical cyclone loses angular momentum as it develops, which is due to the dissipation of angular momentum by the surface friction.

• 한국항공우주학회지
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• 제30권7호
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• pp.51-60
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• 2002

통계학적 해석인 몬테-칼로 모의실험은 대기권 재진입 분산의 결과인 낙하예정지역뿐만 아니라 상태변수들의 최종조건들을 조사하는데도 사용된다. 본 논문에서 재진입 분산은 위도, 경도, 고도, 뱅크각, 비행경로각, 기수 오차, 그리고 항속거리로 생성되는 $7\times7$ 공분산 행렬로 한정된다. 감속을 목표로 하는 대기권 재진입시 이것들에 영향을 미치는 오차 원인들은 대기밀도, 온도, 초기오차, 바람, 그리고 항력계수의 추정오차 등에 관련된 불확실성들로서 이들 오차의 $3{\sigma}_n$와 공칭 비행궤적을 사용해서 상태변수의 공분산 행렬은 궤적 오차 해석을 수행함으로 결정될 수 있다. 재진입에 대한 몬테-칼로법의 적용에 있어서 주요 고려할 점은 교란궤적, 뱅크역전, 그리고 이 제적들 각각에 대한 최종 낙하지점의 결정이다. 본 논문은 불확실성에 대한 결과를 공력계수와 뱅크역전의 관점에서 해석한다.

• 한국융합학회논문지
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• 제10권2호
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• pp.217-225
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• 2019

대표적인 종단자료 분석방법인 잠재성장모형(Latent Growth Modeling)은 무조건적 모형과 조건적 모형으로 구분한다. 잠재성장모형의 무조건적 모형 성장궤적은 선형으로 가정하여 분석하는 경우가 많다. 본 연구는 선형 성장궤적으로 가정하여 모형 적합도가 미달하는 경우 연관규칙기법을 이용하여 모형 적합도를 제고하는 방법론을 제안한다. 방법론은 연관규칙 마이닝의 순차패턴(Sequential Pattern)을 사용한다. 이를 위하여 종단자료를 분위별로 나누고, 각 분위에 속한 종단자료의 기간 변화를 산출한 뒤 이를 순차 패턴 화하였다. SPSS AMOS를 이용하여 한국고용정보원의 2001년부터 6년간 조사한 청년 패널 자료로 효과성을 검증하였다. 기존 단순선형함수를 가정할 때와 비교하여 모형 적합도가 상승하는 것을 확인할 수 있었다.