• 한국항공우주학회지
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• 제36권1호
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• pp.22-30
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• 2008

본 논문은 헬리콥터 기동비행문제를 비선형 최적제어기법으로 정식화 하고 이를 indirect method를 적용하여 해석하는 기법에 대해 연구하였다. 주어진 기동비행 경로에 대한 오차를 벌칙함수 형태의 가격(비용, 목적)함수로 채택하고 이를 최소화하도록 정식화하면 기동비행은 구속조건이 없는 최적제어문제로 정식화 된다. 정식화 결과로 얻어지는 이점 경계값 문제는 Multiple Shooting Method (MSM)을 적용하여 해석하였다. 본 논문은 shooting node의 수와 상태변수의 초기화 방법 등이 수치해법에 주는 영향을 분석하여 수렴성 확보에 필요한 조건을 식별하고 수렴반경을 증가시킬 수 있는 방안에 초점을 두었다. 연구결과는 헬리콥터와 같이 불안정한 시스템의 최적제어 문제에 indirect method를 적용하는 경우 수치해법의 안정성과 수렴성을 확보할 수 있는 방법을 제시한다.

• 한국항공우주학회지
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• 제36권1호
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• pp.31-38
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• 2008

본 논문은 헬리콥터 기동비행문제를 비선형 최적제어기법으로 정식화 하고 이를 indirect method를 적용하여 해석하는 기법에 대한 연구결과이다. 주어진 기동비행 경로에 대한 오차를 벌칙함수 형태의 가격함수로 채택하고 이를 최소화하도록 정식화하면 기동비행은 구속조건이 없는 최적제어문제로 정식화 된다. 정식화 결과로 얻어지는 이점 경계값 문제는 Multiple Shooting Method (MSM)를 적용하여 해석하였다. 본 논문은 high fidelity 헬리콥터 모델링을 적용할 경우 수치해의 불안정성과 과도한 계산시간에 따른 해석의 어려움을 해소하는 방안을 찾는데 초점을 두고 있다. 이를 위해 2가지의 선형모델과 로터의 비선형 모델링을 포함한 2개의 비선형 모델을 정의하였다. 각 모델링 방법의 적용에 따른 수치해석결과를 상대적인 계산시간과 함수계산 횟수 등을 비교하여 헬리콥터 모델 선정 시 활용할 수 있도록 하였다.

• 한국대기환경학회지
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• 제33권3호
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• pp.217-232
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• 2017

An Eulerian-Lagrangian hybrid modeling system to analyze physical and chemical processes during the transport of air parcels was developed. The Backward-tracking Model Analyzer (BMA) was designed to take advantages of both Eulerian and Lagrangian modeling approaches. Simulated trajectories from the National Oceanic and Atmospheric Administration HYSPLIT model were combined with the US Environmental Protection Agency Community Multi-scale Air Quality (CMAQ)-simulated concentrations and additional diagnostic analyses. In this study, we first introduced a generalized methodology to seamlessly match polylines (HYSPLIT) and threedimensional polygons (CMAQ), which enables mass-conservative analyses of physio-chemical processes of transporting air parcels. Two applications of the BMA were conducted: (1) a long-range transport case of pollutant plume across the Yellow Sea using CMAQ Integrated Process Rate analyses, and (2) a domestic circulation of pollutants within (and near) the South Korea based on the sulfate tracking analyzer. The first episode demonstrated a secondary formation of nitrate and ammonium during the transport over the Yellow Sea while sulfate is mostly transported after being formed over the China, and the second episode demonstrated a dominant impact of boundary condition with active sulfate formation from gas-phase oxidation near the Seoul Metropolitan Area.

• Journal of Astronomy and Space Sciences
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• 제28권3호
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• pp.203-216
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• 2011

To prepare for a future Korean lunar orbiter mission, semi-optimal lunar capture orbits using finite thrust are designed and analyzed. Finite burn delta-V losses during lunar capture sequence are also analyzed by comparing those with values derived with impulsive thrusts in previous research. To design a hypothetical lunar capture sequence, two different intermediate capture orbits having orbital periods of about 12 hours and 3.5 hours are assumed, and final mission operation orbit around the Moon is assumed to be 100 km altitude with 90 degree of inclination. For the performance of the on-board thruster, three different performances (150 N with $I_{sp}$ of 200 seconds, 300 N with $I_{sp}$ of 250 seconds, 450 N with $I_{sp}$ of 300 seconds) are assumed, to provide a broad range of estimates of delta-V losses. As expected, it is found that the finite burn-arc sweeps almost symmetric orbital portions with respect to the perilune vector to minimize the delta-Vs required to achieve the final orbit. In addition, a difference of up to about 2% delta-V can occur during the lunar capture sequences with the use of assumed engine configurations, compared to scenarios with impulsive thrust. However, these delta-V losses will differ for every assumed lunar explorer's on-board thrust capability. Therefore, at the early stage of mission planning, careful consideration must be made while estimating mission budgets, particularly if the preliminary mission studies were assumed using impulsive thrust. The results provided in this paper are expected to lead to further progress in the design field of Korea's lunar orbiter mission, particularly the lunar capture sequences using finite thrust.

• 지능정보연구
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• 제10권2호
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• pp.15-37
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• 2004

최근 데이터 양이 급증하면서 데이터 마이닝에 대한 연구가 활발하게 진행되고 있으며 특히 GPS 시스템, 감시시스템, 기상 관측 시스템과 같은 다양한 응용 시스템으로부터 수집된 데이터를 분석하고자 하는 시공간 데이터 마이닝 연구에 대한 관심이 더욱 높아지고 있다. 기존의 시공간 데이터 마이닝 연구들에서는 비시공간 데이터 기반의 일반적인 클러스터링 기법들을 그대로 적용하고 있으나 데이터의 속성이 다른 시공간 데이터 마이닝에서 기존의 알고리즘들이 어느 정도의 성능을 보장하는지, 데이터의 시공간 속성에 따라 적절한 마이닝 알고리즘을 선택하기 위한 기준이 무엇인지 등에 대한 연구는 미흡한 실정이다. 본 논문에서는 기존의 시공간 데이터 마이닝 연구에서 일반적으로 많이 사용되어 온 알고리즘인 SOM(Self-Organizing Map)을 기반으로 시공간 데이터 마이닝 모듈을 개발하고, 개발된 클러스터링 모듈의 성능을 K-means과 두 가지 응집 계층(Hierarchical Agglomerative) 알고리즘들과 균질도, 분리도, 반면영상 너비, 정확도의 네 가지 평가 기준을 기반으로 비교하였다. 또한 입력 데이터의 특성 가시화 및 클러스터링 결과의 정확한 분석을 위해 시공간 데이터 클러스터링을 위한 가시화 모듈을 개발하였다.

• 한국콘텐츠학회논문지
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• 제14권2호
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• pp.294-307
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• 2014

본 연구는 초기 청소년기의 공격성 수준이 시간에 따라 어떠한 변화를 보이는지, 그리고 그러한 변화에 가족요인, 즉, 부모애착, 부모감독, 가족갈등이 어떠한 영향을 미치는지를 검증하고자 하는 것이다. 이를 위하여 본 연구에서는 한국청소년패널(KYPS) 초등학교 4학년 1~5차년도 자료에 대하여 다층모형을 구성하여 가족요인을 시간의존적 변수로 처리한 후 시간독립적 효과와 시간의존적 효과에 대한 실증적 검증을 실시하였다. 분석 결과, 5년 동안 청소년의 공격성 수준은 증가하다가 그 증가율이 감소하는 이차함수 패턴을 보이는 것으로 확인되었다. 그리고 부모애착, 부모감독, 가족갈등은 공격성에 유의한 시간독립적 효과를 보이는 반면, 시간의존적 효과를 보이는 가족요인은 가족갈등 뿐이었다. 이러한 결과에 근거하여 청소년기 공격성에 대한 예방 및 개입과 관련된 함의가 제시되었다.

• Asian Journal of Atmospheric Environment
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• 제11권4호
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• pp.313-321
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• 2017

$PM_{10}$ and $PM_{2.5}$ were collected at the Gosan Site on Jeju Island from 2013 to 2015, and their ionic and elemental species were analyzed to examine the variations in their chemical compositional characteristics related to different meteorological conditions. Concentrations of nss-$SO_4{^{2-}}$ and $NH_4{^+}$ were respectively 6.5 and 4.7 times higher in the fine particle mode ($PM_{2.5}$) compared to the coarse particle mode ($PM_{10-2.5}$), however $NO_3{^-}$ concentrations were 2.4 times higher in the coarse mode compared to the fine particle mode. During Asian dust days, the concentrations of nss-$Ca^{2+}$ and $NO_3{^-}$ increased to 8.2 and 5.0 times higher in $PM_{10}$, and 3.5 and 6.0 times higher in $PM_{2.5}$, respectively. During haze days, the concentrations of secondary pollutants increased by 3.1-4.7 and 3.2-7.9 in $PM_{10}$ and $PM_{2.5}$, respectively, and they were, respectively, 1.2-2.1 and 0.9-2.1 times higher on mist days. The aerosols were acidified largely by sulfuric and nitric acids, and neutralized mainly by ammonia in the fine particle mode during the haze days, but neutralized by calcium carbonate in coarse particle mode during the Asian dust days. Clustered back trajectory analysis showed that concentrations of nss-$SO_4{^{2-}}$, $NO_3{^-}$, and $NH_4{^+}$ were relatively high when air masses travelled from China.

• 로봇학회논문지
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• 제7권4호
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• pp.259-266
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• 2012

In these days, researches about underwater robots have been actively in progress for the purposes of ocean detection and resource exploration. Unlike general underwater robots such as ROV(Remotely Operated Vehicle) and AUV(Autonomous Underwater Vehicle) which have propellers, an articulated underwater robot which is called Crabster has been being developed in KORDI(Korea Ocean Research & Development Institute) with many cooperation organizations since 2010. The robot is expected to be able to walk and swim under the sea with its legs. Among many researching fields of this project, we are focusing on a swimming section. In order to find effective swimming locomotion for the robot, we approached this subject in terms of Biomimetics. As a model of optimized swimming organism in nature, diving beetles were chosen. In the paper, swimming motions of diving beetles were analyzed in viewpoint of robotics for applying them into the swimming motion of the robot. After modeling the kinematics of diving beetle through robotics engineering technique, we obtained swimming patterns of the one of living diving beetles, and then compared them with calculated optimal swimming patterns of a robot leg. As the first trial to compare the locomotion data of legs of the diving beetle with a robot leg, we have sorted two representative swimming patterns such as forwarding and turning. Experimental environment has been set up to get the motion data of diving beetles. The experimental equipment consists of a transparent aquarium and a high speed camera. Various swimming motions of diving beetles were recorded with the camera. After classifying swimming patterns of the diving beetle, we can get angular data of each joint on hind legs by image processing software, Image J. The data were applied to an optimized algorithm for swimming of a robot leg which was designed by robotics engineering technique. Through this procedure, simulated results which show trajectories of a robot leg were compared with trajectories of a leg of a diving beetle in desired directions. As a result, we confirmed considerable similarity in the result of trajectory and joint angles comparison.

• Journal of Korean Neurosurgical Society
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• 제41권1호
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• pp.16-21
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• 2007

Objective : Civilian gunshot injuries to the brain are relatively rare and study of these injuries has been neglected in South Korea. We present our experience with penetrating gunshot injuries to the brain and review the outcome of surgical management, as well as other clinical predictors influencing the prognosis. Methods : We present a retrospective analysis of 13 patients with penetrating gunshot injuries to the brain who were treated at our hospital over a period of 22 years. Results : The Glasgow Coma Scale[GCS] score on admission was recorded to be : 3-5 in 1 patient, 6-8 in 3 patients, 9-12 in 2 patients and 13-15 in 7 patients. There were 11 patients who underwent surgical treatment, and the surgical mortality rate was 0%. The admission GCS score was the most valuable prognostic factor. The best results were found to be in patients admitted with an initial GCS higher than 13. There were no favorable outcomes in patients admitted with a GCS of 8 or lower. There was a correlation between the presence of a transventricular or bihemispheric trajectory and poor outcome. The patients admitted with unilobar wounds resulted in better outcome than those with bilobar or multilobar wounds. Retained deep intracranial bone or metal fragments were the most common postoperative complication. However, retained fragments did not increase the risk of infection or seizure. Conclusion : Our results suggest that a less aggressive approach, consisting of minimal local debridement and removal of the bone and metal fragments that are easily accessible, can be successfully used in civilian gunshot wounds to the brain.

• Structural Engineering and Mechanics
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• 제62권5호
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• pp.619-629
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• 2017

This paper focuses on the study of complete dynamic modeling and maximum dynamic load carrying capacity computation of N-flexible links and N-flexible joints mobile manipulator undergoing large deformation. Nonlinear dynamic analysis relies on the Timoshenko theory of beams. In order to model the system completely and precisely, structural and joint flexibility, nonlinear strain-displacement relationship, payload, and non-holonomic constraints will be considered to. A finite element solution method based on mixed method is applied to model the shear deformation. This procedure is considerably more involved than displacement based element and shear deformation can be readily included without inducing the shear locking in the element. Another goal of this paper is to present a computational procedure for determination of the maximum dynamic load of geometrically nonlinear manipulators with structural and joint flexibility. An effective measure named as Moment-Height Stability (MHS) measure is applied to consider the dynamic stability of a wheeled mobile manipulator. Simulations are performed for mobile base manipulator with two flexible links and joints. The results represent that dynamic stability constraint is sensitive when calculating the maximum carrying load. Furthermore, by changing the trajectory of end effector, allowable load also changes. The effect of torsional spring parameter on the joint deformation is investigated in a parametric sensitivity study. The findings show that, by the increase of torsional stiffness, the behavior of system approaches to a system with rigid joints and allowable load of robot is also enhanced. A comparison is also made between the results obtained from small and large deformation models. Fluctuation range in obtained figures for angular displacement of links and end effector path is bigger for large deformation model. Experimental results are also provided to validate the theoretical model and these have good agreement with the simulated results.