• 대한원격탐사학회지
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• 제22권4호
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• pp.235-242
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• 2006

본 연구에서는 TOMS와 OMI 위성 관측 자료를 SAM 방법에 적용하여 산출한 북반구 여름 동안의 남위 20$^{\circ}$ 에l서 북위 40$^{\circ}$ 지역의 대류권 오존을 공간적 분포와 오존양 차이 및 상관관계 측면에서 비교 및 분석하였다 SAM 방법을 OMI와 TOMS 자료에 적용한 대류권 오존 분포는 모델의 대류권 오존과 오존 전구물질인 CO 분포와 일치하였다. 적도 지역의 경우, 생태계 화재(biomass burning) 영향을 잘 보여주었으며, 중위도 지역의 경우, 중동 지역과 아라비아 해 및 북 남미 대륙의 특징을 잘 보여주었다. SAM 방법을 적용하여 산출한 대류권 오존 분포는 모델의 대류권 오존 분포의 양상과 유사하지만, SAM방법의 대류권 오존 분포는 모델의 대류권 오존 보다 북반구에서 낮게 관측되었으며, 특히 북태평양과 북대서양과 같은 해양 지역에서 더 낮은 경향을 보였다. OMI 자료를 이용하여 산출한 대류권 오존 분포는 TOMS 자료를 이용하여 산출한 대류권 오존 분포보다 높게 나타났으며, 특히 biomass horning 영향을 받는 남반구 적도 지역에서 더 높게 관측되었다. 이러한 차이의 원인은 위성간의 위성각(viewing angle)과 자료 샘플링 빈도 및 a-priori ozone profile이 다르기 때문이라고 사료된다. CO와의 지역별 상관관계는 적도 지역의 경우 SAM 방법을 이용한 대류권 오존과 CO의 상관관계가 모델을 통한 대류권 오존과 CO의 상관관계보다 더 좋은 결과를 보이는 반면, 중위도 지역의 경우 모델과 CO의 상관관계가 더 좋은 결과를 보여주었다.

• 한국멀티미디어학회논문지
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• 제5권6호
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• pp.745-752
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• 2002

도로에서의 최적 경로 탐색은 출발지와 목적지의 위치를 알고 있는 경우로서 탐색에 대한 일종의 사전 지식을 가진 탐색으로 A* 알고리즘이 널리 사용되고 있다. 단방향 A* 알고리즘은 최적의 경로를 보장해 주는 반면 탐색 시간이 많이 소요되고 양방향 A* 알고리즘은 최적 경로를 보장해 주지 못하거나 최적 경로 보장을 위해서는 오히려 단방향 A* 보다 탐색 시간이 더 많이 소요될 수도 있다. 본 논문에서는 탐색 시간이 우수하며 최적 경로를 보장하는 새로운 양방향 A* 알고리즘을 제안한다. 본 논문에서 제안하는 알고리즘의 효용성을 확인하기 위하여 실제 도로에 적용한 격과 정확한 최적 경로를 탐색하고 탐색 시간도 매우 우수한 것으로 확인되었다.

• 지구물리와물리탐사
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• 제6권4호
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• pp.199-206
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• 2003

MT 탐사자료의 역산에 있어서 지하의 전기비저항과 함께 정적효과를 파라미터로 설정하여 동시 역산을 수행하는 알고리듬을 하나의 지하구조 모델에 각기 다른 양의 정적효과를 포함시킨 4개의 자료에 대하여 적용시키고 이를 정적효과가 전혀 고려되지 않은 경우와 비교하여, 3차원 역산에서 정적효과가 미치는 영향 및 그 특성에 대하여 분석하였다. 일반적으로 현장자료에 정적효과가 어느 정도 포함되어 있는지에 대한 사전 정보가 전혀 없으므로 역산과정에서 이를 조절하는 trade-off 파라미터의 적절한 선택이 매우 중요하며, 본 연구에서는 모델의 smoothness와 static shift의 양을 조절하는 각각의 파라미터의 크기를 매 반복마다 구하는 알고리듬을 동시역산에 적용하였으며 4개의 이론자료에 적용한 결과 만족할 만한 결과를 얻었다. 정적효과가 포함된 자료에 대하여 정적효과를 고려하지 않은 역산(기존의 MT 역산)에서는 지표 block의 전기비저항을 바꿔 역산 스스로가 정적효과를 유발하려는 경향을 보였으며 이의 결과로 저주파수에서는 상당한 정적효과를 발생시켜 정적효과가 그리 크지 않은 경우 심부구조를 어느 정도 규명해 내는 것으로 나타났다. 그러나 고주파수에서는 이들 지표 block의 영향이 주파수에 무관하지 않게 되어 정적효과를 포함하는 자료의 겉보기 전기비저항과 위상을 동시에 만족시키지 못하게 된다. 그러나 정적효과를 파라미터로 하는 동시역산의 경우, 매우 심한 정적효과를 포함하는 자료에 대해서도 지하구조를 매우 정확히 영상화 하는 것이 가능하였다.

• Transactions on Control, Automation and Systems Engineering
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• 제4권1호
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• pp.100-107
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• 2002

The advanced bilateral control algorithm, which can enlarge a reflected force by combining force reflection and compliance control, greatly enhances workability in teleoperation. In this scheme the maximum boundaries of a compliance controller and a force reflection gain guaranteeing stability and good task performance greatly depend upon characteristics of a slave arm, a master arm, and an environment. These characteristics, however, are generally unknown in teleoperation. It is, therefore, very difficult to determine such maximum boundary of the gain. The paper presented a novel method for design of an advanced bilateral controller. The factors affecting task performance and stability in the advanced bilateral controller were analyzed and a design guideline was presented. The neurofuzzy compliance model (NFCM)-based bilateral control proposed herein is an algorithm designed to automatically determine the suitable compliance for a given task or environment. The NFCM, composed of a fuzzy logic controller (FLC) and a rule-learning mechanism, is used as a compliance controller. The FLC generates compliant motions according to contact forces. The rule-learning mechanism, which is based upon the reinforcement learning algorithm, trains the rule-base of the FLC until the given task is done successfully. Since the scheme allows the use of large force reflection gain, it can assure good task performance. Moreover, the scheme does not require any priori knowledge on a slave arm dynamics, a slave arm controller and an environment, and thus, it can be easily applied to the control of any telerobot systems. Through a series of experiments effectiveness of the proposed algorithm has been verified.

• Management Science and Financial Engineering
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• 제19권2호
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• pp.31-36
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• 2013

We propose a war-game model that is appropriate for a raid-type warfare in which, a priori, the maneuver of the attacker is relatively certain. The model is based on a multi-weapon extention of the Lanchester's law. Instead of a continuous time dynamic game with the differential equations from the Lanchester's law, however, we adopt a multi-period model relying on a time-discretization of the Lanchester's law. Despite the obvious limitation that two players make a move only on the discrete time epochs, the pragmatic model has a manifold justification. The existence of an equilibrium is readily established by its equivalence to a finite zero-sum game, the existence of whose equilibrium is, in turn, well-known to be no other than the LP-duality. It implies then that the war-game model dictates optimal strategies for both players under the assumption that any strategy choice of each player will be responded by a best strategy of her opponent. The model, therefore, provides a sound ground for finding an efficient reinforcement of a defense system that guarantees peaceful equilibria.

• 한국해양공학회지
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• 제19권2호
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• pp.74-81
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• 2005

A 3-D localization method of an autonomous underwater vehicle (AUV) has been developed, which can solve the limitations oj the conventional localization, such as LBL or SBL that reduces the flexibility and availability of the AUV. The system is composed of a mother ship (small unmanned marine prober) on the surface of the water and an unmanned underwater vehicle in the water. The mother ship is equipped with a digital compass and a GPS for position information, and an extended Kalman filter is used for position estimation. For the localization of the AUV, we used only non-inertial sensors, such as a digital compass, a pressure sensor, a clinometer, and ultrasonic sensors. From the orientation and velocity information, a priori position of the AUV is estimated by applying the dead reckoning method. Based on the extended Kalman filter algorithm, a posteriori position of the AUV is, then, updated by using the distance between the AUV and a mother ship on the surface of the water, together with the depth information from the pressure sensor.

• Journal of Electrical Engineering and Technology
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• 제7권1호
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• pp.115-123
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• 2012

A video analysis system used to detect events in video streams generally has several processes, including object detection, object trajectories analysis, and recognition of the trajectories by comparison with an a priori trained model. However, these processes do not work well in a complex environment that has many occlusions, mirror effects, and/or shadow effects. We propose a new approach to a context-aware video surveillance system to detect predefined contexts in video streams. The proposed system consists of two modules: a feature extractor and a context recognizer. The feature extractor calculates the moving energy that represents the amount of moving objects in a video stream and the stationary energy that represents the amount of still objects in a video stream. We represent situations and events as motion changes and stationary energy in video streams. The context recognizer determines whether predefined contexts are included in video streams using the extracted moving and stationary energies from a feature extractor. To train each context model and recognize predefined contexts in video streams, we propose and use a new ensemble classifier based on the AdaBoost algorithm, DAdaBoost, which is one of the most famous ensemble classifier algorithms. Our proposed approach is expected to be a robust method in more complex environments that have a mirror effect and/or a shadow effect.

• Nuclear Engineering and Technology
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• 제42권2호
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• pp.163-174
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• 2010

As pointed out in the OECD BEMUSE Program, when a high computation time is taken to obtain the relevant output values of a complex physical model (or code), the number of statistical samples that must be evaluated through it is a critical factor for the sampling-based uncertainty analysis. Two alternative methods have been utilized to avoid the problem associated with the size of these statistical samples: one is based on Wilks' formula, which is based on simple random sampling, and the other is based on the conventional nonlinear regression approach. While both approaches provide a useful means for drawing conclusions on the resultant uncertainty with a limited number of code runs, there are also some unique corresponding limitations. For example, a conclusion based on the Wilks' formula can be highly affected by the sampled values themselves, while the conventional regression approach requires an a priori estimate on the functional forms of a regression model. The main objective of this paper is to assess the feasibility of the ACE-RSM approach as a complementary method to the Wilks' formula and the conventional regression-based uncertainty analysis. This feasibility was assessed through a practical application of the ACE-RSM approach to the LOFT L2-5 LBLOCA PCT uncertainty analysis, which was implemented as a part of the OECD BEMUSE Phase III program.

• 제어로봇시스템학회논문지
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• 제13권5호
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• pp.434-443
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• 2007

Presently, the exploration of an unknown environment is an important task for thee new generation of mobile service robots and mobile robots are navigated by means of a number of methods, using navigating systems such as the sonar-sensing system or the visual-sensing system. To fully utilize the strengths of both the sonar and visual sensing systems. This paper presents a technique for localization of a mobile robot using fusion data of multi-ultrasonic sensors and vision system. The mobile robot is designed for operating in a well-structured environment that can be represented by planes, edges, comers and cylinders in the view of structural features. In the case of ultrasonic sensors, these features have the range information in the form of the arc of a circle that is generally named as RCD(Region of Constant Depth). Localization is the continual provision of a knowledge of position which is deduced from it's a priori position estimation. The environment of a robot is modeled into a two dimensional grid map. we defines a vision-based environment recognition, phisically-based sonar sensor model and employs an extended Kalman filter to estimate position of the robot. The performance and simplicity of the approach is demonstrated with the results produced by sets of experiments using a mobile robot.

• 제어로봇시스템학회논문지
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• 제11권5호
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• pp.398-405
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• 2005

The intelligent robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, robots need to recognize their position and posture in known environment as well as unknown environment. Moreover, it is necessary for their localization to occur naturally. It is desirable for a robot to estimate of his position by solving uncertainty for mobile robot navigation, as one of the best important problems. In this paper, we describe a method for the localization of a mobile robot using image information of a moving object. This method combines the observed position from dead-reckoning sensors and the estimated position from the images captured by a fixed camera to localize a mobile robot. Using a priori known path of a moving object in the world coordinates and a perspective camera model, we derive the geometric constraint equations which represent the relation between image frame coordinates for a moving object and the estimated robot's position. Also, the control method is proposed to estimate position and direction between the walking human and the mobile robot, and the Kalman filter scheme is used for the estimation of the mobile robot localization. And its performance is verified by the computer simulation and the experiment.