• 철학연구
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• 제116권
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• pp.79-110
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• 2010

필자는 이 논문에서 칸트 도덕철학에서의 자율적 자유 개념의 루소적 기원에 대해 고찰하고자 한다. 칸트가 자신의 자율적 자유 개념을 형성함에 있어서 그리고 자유를 자기 철학체계의 요석으로 간주함에 있어서 루소로부터 영향을 받았음이 사실이라 하더라도, 루소 자유론의 어떤 측면이 칸트 자유론의 어느 부분에 영향을 주었는가에 대해서는 아직 세부적인 연구가 이루어 지지 않았다. 필자가 주목하고자 하는 부분이 바로 이것이다. 필자는 먼저 루소가 인간의 본성을 자유로 보았음을 살펴볼 것이다. 둘째로 루소의 세 가지 자유 개념을 고찰할 것이다. 루소는 자연적 자유, 시민적 자유, 도덕적 자유에 대해 고찰한다. 셋째로 칸트가 언급하는 다양한 자유 개념들을, 즉 선험적 자유, 실천적 자유, 자율적 자유의 개념들을 간략히 살펴본 뒤, 이 세 가지 자유 개념의 공통적인 요소가 자발성, 자기입법성, 보편성임을 밝힐 것이다. 마지막으로 그 세 가지 요소의 루소적 기원을 살펴보는 방식으로, 루소의 자유 개념을 해명하고자 한다. 보다 세부적으로 말한다면, 칸트는 루소의 자연적 자유 개념으로부터 의지의 자발성의 요소를, 루소가 말하는 시민적 자유의 개념으로부터 자기입법성을, 루소가 말하는 도덕적 자유의 개념으로부터 보편성을 받아들였음을 밝히고자 한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1110-1115
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• 2004

Water covers two-thirds of the earth and has a great influence on the future existence of all human being. Thailand has extensive coastline and near shore water that contain vast biological and mineralogical resources. The rivers and canals can be found around the country especially in the Bangkok, which once called the Venice of the East. Autonomous underwater robot (AUR) will be soon a tool to help us better understand water resources and other environmental issues. This paper presents the design and basic control of a six-degree of freedom AUR "Chalawan", which was constructed to be used as a testbed for shallow. It is a simple low cost open-frame design, which can be modified easily to supports various research areas in the underwater environment. It was tested with a conventional proportional-integral-derivative (PID) controller. After fine-tuning of the controller gains, the results showed the controller's good performances. In the future, the dynamic model of the robot will be analyzed and identified. The advanced control algorithm will be implemented based on the obtained model.

• International Journal of Control, Automation, and Systems
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• 제4권4호
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• pp.395-404
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• 2006

The objective of this paper is to generate a desired flight path to be followed by an autonomous airship. The space is supposed without obstacles. As there are six degrees of freedom and only three inputs for the LSC AS200 airship, three equality constraints appear due to the under-actuation.

• 건축역사연구
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• 제21권1호
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• pp.135-154
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• 2012

The goal of this paper is to analyze the Freedom Center Apacle in Seoul designed by Kin Soo Geun who was a leading architect in Korean Modern architecture. Freedom Center was built in 1963, that was the largest monumental building to support military regime during cold war period in Korea. This paper deals with historical background of construction of Freedom Center and its characteristics compared to similar monumental buildings, especially Corbusier's Chandigar and Kenzo Tange's Hiroshima Peace Center. The Monumentality in Freedom Center came from the reference to these two buildings and its site plan. This paper tried to show how similar the layout of buildings between the Freedom Center and Peace Center. The origin of the sublime aura in Tange's linear layout of Peace Center is from Japanese Famous Shrine(Jinku). Kim translated it to serve the ideological purpose to protect from socialist regime in the name of freedom. Its over-scaled roof and weak contents showed Freedom center was a kind of theaterical setting belong to formalist building. But in spite of its symbolic and representational gesture its also had a architectonic physical quality to make it a monument. The change and duration in time testified the autonomous power of architecture in Freedom Center. Freedom Center was also important for using the exposed concrete and its superior finish. It was influenced not from western way of Benton Brut which was usually called New Brutalism but Japanese way of treating expose concrete. In spite of its limits Freedom center achieved new trend and sensibility in Korean Modern Architecture.

• International Journal of Naval Architecture and Ocean Engineering
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• 제7권5호
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• pp.817-832
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• 2015

This paper presents a state feedback based backstepping control algorithm to address the trajectory tracking problem of an underactuated Unmanned Surface Vessel (USV) in the horizontal plane. A nonlinear three Degree of Freedom (DOF) underactuated dynamic model for USV is considered, and trajectory tracking controller that can track both curve trajectory and straight line trajectory with high accuracy is designed as the well known Persistent Exciting (PE) conditions of yaw velocity is completely relaxed in our study. The proposed controller has further been enriched by incorporating an integral action additionally for enhancing the steady state performance and control precision of the USV trajectory tracking control system. Global stability of the overall system is proved by Lyapunov theory and Barbalat's Lemma, and then simulation experiments are carried out to demonstrate the effectiveness of the controller designed.

• 디지털산업정보학회논문지
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• 제5권3호
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• pp.39-45
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• 2009

In this paper we present a cleaning robot system for an autonomous mobile robot. Our robot performs goal reaching tasks into unknown indoor environments by using sensor fusion. The robot's operation objective is to clean floor or any other applicable surface and to build a map of the surrounding environment for some further purpose such as finding the shortest path available. Using its cleaning robot system for an autonomous mobile robot can move in various modes and perform dexterous tasks. Performance of the cleaning robot system is better than a fixed base redundant robot in avoiding singularity and obstacle. Sensor fusion using the clean robot improves the performance of the robot with redundant freedom in workspace and Map-Building. In this paper, Map-building of the cleaning robot has been studied using sensor fusion. A sequence of this alternating task execution scheme enables the clean robot to execute various tasks efficiently. The proposed algorithm is experimentally verified and discussed with a cleaning robot, KCCR.

• 동력기계공학회지
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• 제20권1호
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• pp.24-29
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• 2016

Remotely operated vehicles or autonomous underwater vehicles have been used for exploiting seabed natural resources. In this study, the autonomous underwater vehicle of hovering type(HAUV) is developed to observe underwater objects in close distance. A dynamic model with six degrees of freedom is established, capturing the motion characteristics of the HAUV. The equations of motion are generated for the dynamic control simulation of the HAUV. The added mass, drag and lift forces are included in the computer model. Computational fluid dynamics simulation is carried out using this computer model. The drag coefficients are produced from the CFD.

• 제어로봇시스템학회논문지
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• 제16권6호
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• pp.592-600
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• 2010

The problem of motion control for AUV (Autonomous Underwater Vehicles) is addressed. The utilization of such robotic vehicles has gained an increasing importance in many marine activities. In this paper the objective is to describe how to design and apply FGS (Fuzzy Gain Scheduling) PD (Proportional Derivative) controller for an AUV (Autonomous Underwater Vehicle) to control the yaw and depth of the vehicle by keeping the path of the navigation to a desired point, and/or changing the path according to a set point.

• International Journal of Automotive Technology
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• 제5권2호
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• pp.135-144
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• 2004

In this paper, the model-matching control in the longitudinal autonomous driving system is investigated by vehicle dynamics simulation, which contains nonlinear subcomponents and simplified subcomponents. The design of the robust model-matching controller is performed by the characteristics of the 2 degrees of freedom controller, which is composed of the feedforward compensator and the feedback compensator. It makes the characteristics of tractive and brake force to be equivalent to the specific transfer function, which is suggested as the reference model. Mathematical models of vehicle dynamic analysis including the model-matching control are constructed for computer simulation. Then, simple examples on open-loop simulation without any controller and closed loop simulation with the model-matching controller are applied to check the validity of the robust controller. As the practical example, the autonomous driving system in the longitudinal direction is adopted. It is proved that the model-matching control is effective and adequate to the disturbances and the perturbations, which are shown in the responses of the change of a vehicle mass and a road gradient.

• 대한임베디드공학회논문지
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• 제19권3호
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• pp.131-139
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• 2024

Crew Transfer Vessels (CTVs) are primarily used for the maintenance of offshore wind farms. Despite being manually operated by professional captains and crew, collisions with other ships and marine structures still occur. To prevent this, the introduction of autonomous navigation systems to CTVs is necessary. In this study, research on the obstacle avoidance system of the autonomous navigation system for CTVs was conducted. In particular, research on obstacle avoidance simulation for CTVs using deep reinforcement learning was carried out, taking into account the currents and wind loads in offshore wind farms. For this purpose, 3 degrees of freedom ship maneuvering modeling for CTVs considering the currents and wind loads in offshore wind farms was performed, and a simulation environment for offshore wind farms was implemented to train and test the deep reinforcement learning agent. Specifically, this study conducted research on obstacle avoidance maneuvers using MATD3 within deep reinforcement learning, and as a result, it was confirmed that the model, which underwent training over 10,000 episodes, could successfully avoid both static and moving obstacles. This confirms the conclusion that the application of the methods proposed in this study can successfully facilitate obstacle avoidance for autonomous navigation CTVs within offshore wind farms.