• 제어로봇시스템학회논문지
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• 제15권10호
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• pp.1047-1055
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• 2009

Since nuclear and chemical materials could damage people and disturb battlefield missions in a wide region, nuclear/chemical reconnaissance systems utilizing multiple mobile robots are highly desirable for rapid and safe reconnaissance. In this paper, we design a nuclear/chemical reconnaissance system including mobile robots. Also we propose time-efficient trajectory planning algorithms using grid coverage and contour finding methods for reconnaissance operation. For grid coverage, we performed in analysis on time consumption for various trajectory patterns generated by straight lines and arcs. We proposed BCF (Bounded Contour Finding) and BCFEP (Bounded Contour Finding with Ellipse Prediction) algorithms for contour finding. With these grid coverage and contour finding algorithms, we suggest trajectory planning algorithms for single, two or four mobile robots. Various simulations reveal that the proposed algorithms improve time-efficiency in nuclear/chemical reconnaissance missions in the given area. Also we conduct basic experiments using a commercial mobile robot and verify the time efficiency of the proposed contour finding algorithms.

• 로봇학회논문지
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• 제2권4호
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• pp.304-309
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• 2007

This paper describes an efficient path generation method for area coverage. Its applications include robots for de-mining, cleaning, painting, and so on. Our method is basically based on a divide and conquer strategy. We developed a novel cell decomposition algorithm that divides a given area into several cells. Each cell is covered by a robot motion that requires minimum time to cover the cell. Using this method, completeness and time efficiency of coverage are easily achieved. For the completeness of coverage in dynamic environments, we also propose a path following method that makes the robot cover missed areas as a result of the presence of unknown obstacles. The effectiveness of the method is verified using computer simulations.

• Journal of Communications and Networks
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• 제18권4호
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• pp.600-609
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• 2016

In this paper, we propose a two-stage base station (BS) sleeping scheme to save energy consumption in cellular networks. The BS sleeping mode is divided into a light sleeping stage and a deep sleeping stage according to whether there is a user in the BS's coverage. In the light sleeping stage, a BS will retain its coverage and frequently switch between the on state and the doze state according to the service characteristics. While in the deep sleeping stage analysis, the BS will shut down its coverage, and neighbor BSs will patch the coverage hole. Several closed-form formulas are derived to demonstrate the power consumption in each sleeping stage and the stage switching conditions are discussed to minimize the average power consumption. The average traffic delay caused by BS sleeping and the average deep sleeping rate under a given traffic load have also been studied. In addition, it is shown that BS sleeping is not always possible because of the limited quality of service (QoS) requirements. Simulation results show that the proposed scheme can effectively reduce the average BS power consumption, at the cost of some extra traffic delay. In summary, our proposed framework provides an essential understanding of the design of future green networks that aim to take full advantage of different stages of BS sleeping to obtain the best energy efficiency.

• 한국전자파학회논문지
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• 제13권7호
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• pp.693-701
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• 2002

본 논문에서는 간섭제거기(IC: Interference Cancellation or MUD; Multi-User Detector)를 적용한 WCDMA (Wideband Code Division Multiple Access)방식 의 비동기식 IMT(International Mobile Telecommunication)-2000 시스템에서 역방향 링크의 통화권에 대해 분석하였다. 간섭제거기는 역방향 링크의 통화권 확장을 위해 사용되었으며, 시스템 용량과 통화권의 관계를 대수-정규(log-normal)분포의 전파음영 환경에서 경로손실과 전파음영감쇠를 포함하는 전파손실모델 및 간섭의 영향을 고려하였다. 간섭량은 정량 산출이 어렵기 때문에 본 논문에서는 전체 셀의 간섭 대 내부 셀의 간섭비를 이용하였다. 간섭제거기를 사용하여 다중접속간섭(MAI; Multiple Access Interference)의 제거를 통한 시스템의 성능향상을 비교 분석하기 위해 간섭제거기 효율($\beta$)을 이용하였다. 모의실험은 실제 무선전파환경에 근접한 전파예측 모델인 Hata모델을 이용하여 반송파 주파수 800 MHz와 1900 MHz에서 음성서비스와 데이터서비스의 전송속도(bit rate)에 따라 동일한 대역폭(3.84 MHz)에서의 통화권을 분석하고, 내부셀에 간섭제거기를 적용하여, 용량 및 통화권의 성능을 비교 분석하여 실제 시스템에서의 성능을 예측하였다.

• 농업과학연구
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• 제50권3호
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• pp.427-435
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• 2023

This study was conducted to evaluate the spraying performance according to the flight conditions of agricultural drones for the development of a variable control system. The analyzed flight conditions comprised six factors: spraying direction, flight speed, altitude, wind speed, wind direction, and rotor rotational speed. The ratio of the area sprayed on the water-sensitive paper was used as the coverage, and the distribution and amount of the coverage were evaluated. The coverage distribution based on the distance from the drone was used to evaluate a spray pattern, and the distribution was expressed as a Gaussian function approximation. In addition, the probability distribution based on coverage was expressed as the cumulative probability via Gamma function approximation to analyze the spraying efficiency in the target area. The results showed that the averaged coverage decreased significantly as the flight speed and wind speed increased, and the wind direction changed the spray pattern without a coverage decrease. This study contributes to the development of a control technique for the precision control system of agricultural drones.

• 대한화학회지
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• 제56권4호
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• pp.401-405
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• 2012

Corrosion inhibition efficiencies of holy basil on Al in HCl solution were studied by weight loss and thermometric methods in presence and in absence of stem extract of three different varieties of holy basil viz. ocimum basilicum ($E_B$), ocimum canum ($E_C$) and ocimum sanctum ($E_S$). Inhibition efficiency increases with the increasing concentration of stem extract and decreases with increases in acid strength. Results show that all varieties under study are good corrosion inhibitors, among which, $E_B$ is most effective. Maximum inhibition efficiency was found 97.09% in 0.5N HCl solution with 0.6% stem extract. The Langmuir adsorption isotherm indicates that surface coverage also increases with increasing in the concentration of extract of stem in HCl solution.

• 한국조사연구학회지:조사연구
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• 제6권1호
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• pp.39-62
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• 2005

본 논문에서는 표본조사에서 흔히 말하여지는 ‘표본의 대표성’과 추정의 ‘일치성’, ‘비편향성’, ‘효율성’의 개념을 알아보았다. 표본의 대표성은 표집에 연관된 개념으로 조사모집단의 포함률 및 기초조사의 응답률, 표본섭외 과정의 승락률과 밀접한 관련이 있다. 그리고 추정의 일치성, 비편향성 및 효율성은 표집설계 및 추정량에 동시에 연관된 개념이다. 일치성 및 비편향성은 표본의 대표성을 전제로 한 개념인 반면, 효율성은 표본의 대표성을 전제로 하지 않는다. 표본의 대표성은 포함률, 응답률, 승낙률 등을 제고함으로써 높일 수 있다. 일치성은 관심변수의 일치성과 보조변수의 일치성으로 구분할 수 있으며, 잘 알려진 래킹비 가중법은 모집단 크기를 일치시키는 방법으로 보조변수의 일치성을 높이고자 하는 방법이다. 효율성은 표본의 대표성과는 직접적인 관련이 없으며, 층화표집에서 비례배정과 네이만 배정같은 표본배정, 그리고 사후층화 등은 모두 표본의 대표성이 만족된다는 전제 아래 추정의 효율성을 높이고자 하는 방법들이다.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2009년도 추계학술발표대회
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• pp.131-132
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• 2009

지형의 상태를 알 수 없는 타겟 지역에 구축되는 USN 환경은 각기 서로 다른 connectivity degree와 이동 가능한 센서들의 수를 가지면서 coverage의 최대화를 요구한다. 본 논문에서 설계한 모바일 센서 네트워크 시뮬레이터(MSNS)는 USN 환경을 GML로 구성하고, 각 센서들의 센싱/통신 범위가 설정된 센서 노드들의 수와 유지해야할 connectivity를 입력받아 주어진 조건에서 타겟 영역이 얼마나 효율적으로 coverage되는지를 가시화한다.

• 한국통신학회논문지
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• 제33권7B호
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• pp.567-574
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• 2008

본 논문에서는 OFDMA 방식을 사용하는 MMR (Mobile Multi-hop Relay) 시스템에서 RS (Relay Station)를 사용하여 커버리지 확장을 위한 최적화 방법을 제안하고 이에 대한 성능을 분석한다. 최적화 방법으로 최대 처리량을 만들기 위한 두 개의 주파수 할당 방법을 제안하고 각각의 할당 방법에 따른 BS의 처리량과 프레임 효율로 성능을 분석한다. 마지막으로 주파수 할당 방법에 따라 주어진 BS (Base Station)의 총 처리 용량(capacity)에서 RS의 최대 흡수를 분석한다. 결과를 통해 제안된 주파수 할당 방법이 커버리지 확장에 효율적이고, BS의 처리량도 증가시킬 수 있음을 알 수 있다. 또한 트래픽 밀도가 낮을 경우 MMR 시스템이 효율적임을 알 수 있다. 본 논문의 결과를 통해 향후 릴레이를 사용하여 휴대인터넷 서비스 지역과, 셀룰러 망을 넓히는데 있어 참고할만한 가이드라인이 될 수 있을 것이다.

• 한국농공학회논문집
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• 제62권4호
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• pp.87-97
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• 2020

The livestock infections had been happened seasonally, but they have gradually changed to be irrelevant to seasons and have an aspect to rapidly spread after outbreak. Especially in Korea, proactive disinfection measures are very important because the livestock farms are located densely so high as to accelerate the spread of disease between farms. livestock disease outbreaks like HPAI and FMD occurred with high probability due to vehicles visiting the farms, this study is to evaluate the efficiency of livestock vehicle disinfection systems by investigating the disinfectant coverage according to the type of vehicle disinfection system and the type of vehicle quantitatively. In field experiments, water-sensitive papers (WSPs) were attached to 21 locations on the surface of four vehicles (sedan, SUV, truck, and feed transport), respectively, and exposed to disinfectants while the vehicle was sprayed in two vehicle disinfection systems (tunnel type and simplified type). The WSPs were scanned and image-processed to calculate the disinfectant coverage. The results showed that the tunnel-type vehicle disinfection system had a better disinfection performance with an average coverage of 90.27% for all vehicles compared to 32.62% of the simplified type system. The problem of the simplified system was a wide coefficient of variation (1.05-1.31) of the disinfectant coverage between 21 locations indicating a need for further improvement of nozzle location and arrangement.