• 한국수자원학회:학술대회논문집
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• 한국수자원학회 2018년도 학술발표회
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• pp.325-325
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• 2018

The main purpose of this study is to suggest the more reliable flow direction methods within the framework of DEM by investigating the existing methodologies. To this end SFD(single flow direction method), MFD(multiple flow direction method) and IFD(Infinite flow direction method) are applied to determination of flow direction for water particles in Jeonjeokbigyo basin, and then assessed with respect to the variation of flow accumulation. As the main results the different patterns of flow accumulation are found out from each application of flow direction methods. As the flow dispersion increases on DEM contributing areas to outlet grow in sequence of SFD, IFD, MFD but contribution of individual pixels into outlet decreases. Especially MFD and IFD tend to make additional hydrologic abstraction from rainfall excess due to the flow dispersion within flow paths on DEM. Based on parameter estimation for power law distribution by maximum likelihood flow accumulation can be thought of as scale invariance factor. Combination of several flow direction methods could give rise to the more realistic water flow on DEM through separate treatment of flow direction methods for dispersion and aggregation effects of water flow within different topographies.

• Journal of Electrical Engineering and Technology
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• 제6권6호
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• pp.806-816
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• 2011

Interest about social security has recently increased in favor of safety for infrastructure. In addition, advances in computer vision and pattern recognition research are leading to video-based surveillance systems with improved scene analysis capabilities. However, such video surveillance systems, which are controlled by human operators, cannot actively cope with dynamic and anomalous events, such as having an invader in the corporate, commercial, or public sectors. For this reason, intelligent surveillance systems are increasingly needed to provide active social security services. In this study, we propose a core technique for intelligent surveillance system that is based on swarm robot technology. We present techniques for invader enclosing using swarm robots based on multiple distributed object environment. The proposed methods are composed of three main stages: location estimation of the object, specified object tracking, and decision of the cooperative behavior of the swarm robots. By using particle filter, object tracking and location estimation procedures are performed and a specified enclosing point for the swarm robots is located on the interactive positions in their coordinate system. Furthermore, the cooperative behaviors of the swarm robots are determined via the result of path navigation based on the combination of potential field and wall-following methods. The results of each stage are combined into the swarm robot-based invader-enclosing technique on multiple distributed object environments. Finally, several simulation results are provided to further discuss and verify the accuracy and effectiveness of the proposed techniques.

• Industrial Engineering and Management Systems
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• 제8권3호
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• pp.181-193
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• 2009

This paper presents a framework for controlling mobile multiple robots connected by communication networks. This framework provides novel methods to control coordinated systems using mobile agents. The combination of the mobile agent and mobile multiple robots opens a new horizon of efficient use of mobile robot resources. Instead of physical movement of multiple robots, mobile software agents can migrate from one robot to another so that they can minimize energy consumption in aggregation. The imaginary application is making "carts," such as found in large airports, intelligent. Travelers pick up carts at designated points but leave them arbitrary places. It is a considerable task to re-collect them. It is, therefore, desirable that intelligent carts (intelligent robots) draw themselves together automatically. Simple implementation may be making each cart has a designated assembly point, and when they are free, automatically return to those points. It is easy to implement, but some carts have to travel very long way back to their own assembly point, even though it is located close to some other assembly points. It consumes too much unnecessary energy so that the carts have to have expensive batteries. In order to ameliorate the situation, we employ mobile software agents to locate robots scattered in a field, e.g. an airport, and make them autonomously determine their moving behaviors by using a clustering algorithm based on the Ant Colony Optimization (ACO). ACO is the swarm intelligence-based methods, and a multi-agent system that exploit artificial stigmergy for the solution of combinatorial optimization problems. Preliminary experiments have provided a favorable result. In this paper, we focus on the implementation of the controlling mechanism of the multi-robots using the mobile agents.

• 기술혁신연구
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• 제30권2호
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• pp.1-27
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• 2022

최근 급격한 변화를 겪고 있는 자율주행 자동차 분야의 미래 기술 및 시장 전망 예측에 대한 요구와 관심이 집중되고 있다. 자동차 산업의 특성상, 복합적 요인의 상관관계가 미치는 영향력이 크고 요인 간의 복잡도가 높으므로, 체계적인 미래 예측 방법론 적용을 통한 미래 전망분석 및 전략 수립이 시급하다. 본 연구에서는 자동차 분야에 적합한 미래 예측 방법론 중 필드 변칙 완화기법(Field Anomaly Relaxation)과 다중관점 개념 기법(Multiple Perspective Concept)을 복합적으로 적용하여, 자율주행 자동차 분야의 핵심기술 및 산업 동향에 관한 미래 시나리오들을 개발하여 실증하였다. 도출된 3개의 시나리오는 전문가 평가 체크리스트를 통하여 타당성을 검증하였다. 본 연구 결과는 자율주행 자동차 산업과 같은 다양한 변동성이 존재하는 분야의 미래 예측 방법 중 한 가지로 적용될 수 있다는 점에 의의가 있다.

• 한국농공학회지
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• 제22권3호
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• pp.75-87
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• 1980

Most hydro]ogic phenomena are the complex and organic products of multiple causations like climatic and hydro-geological factors. A certain significant correlation on the run-off in river basin would be expected and foreseen in advance, and the effect of each these causual and associated factors (independant variables; present-month rainfall, previous-month run-off, evapotranspiration and relative humidity etc.) upon present-month run-off(dependent variable) may be determined by multiple regression analysis. Functions between independant and dependant variables should be treated repeatedly until satisfactory and optimal combination of independant variables can be obtained. Reliability of the estimated function should be tested according to the result of statistical criterion such as analysis of variance, coefficient of determination and significance-test of regression coefficients before first estimated multiple regression model in historical sequence is determined. But some error between observed and estimated run-off is still there. The error arises because the model used is an inadequate description of the system and because the data constituting the record represent only a sample from a population of monthly discharge observation, so that estimates of model parameter will be subject to sampling errors. Since this error which is a deviation from multiple regression plane cannot be explained by first estimated multiple regression equation, it can be considered as a random error governed by law of chance in nature. This unexplained variance by multiple regression equation can be solved by stochastic approach, that is, random error can be stochastically simulated by multiplying random normal variate to standard error of estimate. Finally hybrid model on estimation of monthly run-off in nonhistorical sequence can be determined by combining the determistic component of multiple regression equation and the stochastic component of random errors. Monthly run-off in Naju station in Yong-San river basin is estimated by multiple regression model and hybrid model. And some comparisons between observed and estimated run-off and between multiple regression model and already-existing estimation methods such as Gajiyama formula, tank model and Thomas-Fiering model are done. The results are as follows. (1) The optimal function to estimate monthly run-off in historical sequence is multiple linear regression equation in overall-month unit, that is; Qn=0.788Pn+0.130Qn-1-0.273En-0.1 About 85% of total variance of monthly runoff can be explained by multiple linear regression equation and its coefficient of determination (R2) is 0.843. This means we can estimate monthly runoff in historical sequence highly significantly with short data of observation by above mentioned equation. (2) The optimal function to estimate monthly runoff in nonhistorical sequence is hybrid model combined with multiple linear regression equation in overall-month unit and stochastic component, that is; Qn=0. 788Pn+0. l30Qn-1-0. 273En-0. 10+Sy.t The rest 15% of unexplained variance of monthly runoff can be explained by addition of stochastic process and a bit more reliable results of statistical characteristics of monthly runoff in non-historical sequence are derived. This estimated monthly runoff in non-historical sequence shows up the extraordinary value (maximum, minimum value) which is not appeared in the observed runoff as a random component. (3) "Frequency best fit coefficient" (R2f) of multiple linear regression equation is 0.847 which is the same value as Gaijyama's one. This implies that multiple linear regression equation and Gajiyama formula are theoretically rather reasonable functions.

• 지능정보연구
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• 제19권2호
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• pp.55-71
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• 2013

부도예측을 위한 지식기반시스템에서 모델은 실적에 영향을 끼치는 주요한 요인이다. 예측 모형의 개발에 있어 초기 연구들은 통계기법 및 인공지능기법들을 이용하여 최고 실적을 가지는 단일 모델을 만드는데 주력하였다. 1980년대 중반 이후에는 다수 기술의 통합(하이브리드), 더 나아가, 다수 모델의 결과의 결합(앙상블) 기법이 수많은 실험에서 개별 모델들보다 더 나은 결과를 보여왔다. 다수 모델들의 출력값들을 결합하여 한 개의 최종 예측값을 산출하는 앙상블 모델링에서 결합기법은 앙상블의 예측 정확도에 영향을 끼치는 중요한 이슈이다. 본 논문은 부도예측을 위한 앙상블 결합기법으로서 앙상블 멤버들이 다른 유형의 연속형 수치 출력값들을 산출하더라도 통일된 확신을 측정할 수 있는 확신 기반의 선택 접근법을 제안하고 이에 대한 앙상블 멤버 사이즈의 영향을 연구하였다. 실험 결과는 앙상블 멤버들의 생성 타입에 따라 결합하는 모델 개수를 변화시켰을 때 가장 많은 기본 모델들을 가지는 앙상블에서의 제안 결합기법이 부도예측에 가장 자주 사용되는 다른 방법들에 비해서도 가장 높은 실적을 가진다는 것을 보였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.1904-1909
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• 1991

Software linear and exponential acceleration/deceleration algorithms for control of machine axes of motion in industrial robots and CNC machine tools are proposed. Typical hardware systems used to accelerate and decelerate axes of motion are mathematically analyzed. Discrete-time state equations are derived from the mathematical analyses for the development of software acceleration/deceleration algorithms. Synchronous control method of multiple axes of motion in industrial robots and CNC machine tools is shown to be easily obtained on the basis of the proposed acceleration/deceleration algorithms. The path error analyses are carried out for the case where the software linear and exponential acceleration/deceleration algorithms are applied to a circular interpolator. A motion control system based on a floating point digital signal processor (DSP) TMS 320C30 is developed in order to implement the proposed algorithms. Experimental results demonstrate that the developed algorithms and the motion control system are available for control of multiple axes and nonlinear motion composed of a combination of lines and circles which industrial robots and CNC machine tools require.

• 한국소음진동공학회논문집
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• 제12권1호
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• pp.21-28
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• 2002

This paper intends to investigate the effects of speed fluctuation caused by the cogging torque in permanent magnetic motors on the stability of the transverse vibration for a spinning disk. Based on the Kirchhoff\`s plate theory and the assumed mode methods, a set of discretized equations of motion were derived for an annular disk rotating with a harmonically varying speed. Then, a perturbation method using the multiple time scales was employed and stability boundaries were determined explicitly in terms of the magnitude and frequency of speed fluctuation, a nominal sped and the modal characteristics of the disk. It is found that parametric resonance occurs at several speed ranges and a single mode or a combination of two modes are involved to cause instability. It is also observed that unstable regions become broadened as the spinning speed increases or two modes are combined in parametric instability. As numerical simulations, stability analysis of a conventional CD-ROM drive was performed. Results of this work can e used as guidelines for motor design and operations with low vibration.

• 대한토목학회논문집
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• 제10권3호
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• pp.1-6
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• 1990

다지점지진하중(多支點地震荷重)을 받는 사경문(四徑問) 연속철도교양(連續鐵道橋梁)의 동적거동(動的擧動)을 응답(應答)스펙트럼법(法)에 의하여 조사(調査)하였다. 소진복(小振福)의 진동(振動)과 재료(材料)의 선형(線形)-탄성거동(彈性擧動)을 가정(假定)하였으며, 지반(地盤)-구조물(構造物) 상호작용(相互作用) 효과(效果)는 무시(無視)하였고, 교량(橋梁)의 횡방향(橫方向) 등답(應答)만을 고려(考慮)하였다. 응답(應答)스펙트럼해석(解析)의 결과(結果)는 시간이력해석결과(時間履歷解析結果)와 비교(比較)되었으며 모우드 최대치(最大値)와 지지점운동(支持點運動)의 중량(重量)은 여러가지 조합법칙(組合法則) 즉(卽), Square-Root-Of-Sum-Squares, Double Sum, 그리고 P-Norm Rule을 적용(適用)하였다.

• Journal of Acupuncture Research
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• 제35권4호
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• pp.244-247
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• 2018

Multiple vertebral compression fractures are a rare condition and are a serious consequence of postpartum osteoporosis. This report describes the case of a 35-year-old woman who had given birth to her first child 2 months before the onset of pain. Magnetic resonance imaging showed compression fractures of 7 vertebrae. The patient was treated with both conventional, and Korean medicine methods including acupuncture and herbal prescriptions. The patient's progress was assessed using self-reported symptoms, scale scores and laboratory test results. Her pain was gradually alleviated and biochemical inflammation marker levels improved, but her functional status remained severely impaired. Clinical practitioners who treat women in the postpartum period must be aware of osteoporosis and potential vertebral fractures and need to consider Korean medicine as an alternative therapy to help such patients.