• International Journal of Control, Automation, and Systems
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• 제6권3호
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• pp.401-412
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• 2008

This paper discusses a design methodology of cooperative path planning for dynamical multi-agent systems with spatial and temporal constraints. The cooperative behavior of the multi-agent systems is specified in terms of the objective function in an optimization formulation. The path of achieving cooperative tasks is then generated by the optimization formulation constructed based on a differential flatness approach. Three scenarios of multi-agent tasking are proposed at the cooperative task planning framework. Given agent dynamics, both spatial and temporal constraints are considered in the path planning. The path planning algorithm first finds trajectory curves in a lower-dimensional space and then parameterizes the curves by a set of B-spline representations. The coefficients of the B-spline curves are further solved by a sequential quadratic programming solver to achieve the optimization objective and satisfy these constraints. Finally, several illustrative examples of cooperative path/task planning are presented.

• 한국연초학회지
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• 제3권1호
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• pp.41-48
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• 1981

Dihaploid lines were derived from the anthers of the F, of single cross, "Va 115" x"SC 72" (Nicotiana tabacum L.). The path-analysis, correlation coefficient, and variation of characteristics among dihaploid families were evaluated. Dihaploid lines displayed much greater variation than their parents. The genetic correlation coefficient between yield and total alkaloids of dihaploids was significantly lower than that of conventional varieties and lines. In path-analysis which relates yield components to yield, number of leaves harvested and leaf width had a direct effect on yield. a direct effect on yield.

• 한국작물학회지
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• 제45권4호
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• pp.245-250
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• 2000

This study was conducted to analyze the responses of some agronomic traits to the different cultural environments and relations among the agronomic traits for selecting sesame varieties with higher cultural stabilities. The indexes for stability parameters measured were coefficient of variability, heritabilities, genetic correlations and path coefficients of agronomic traits according to locations and years in Korea. The heritabilities of agronomic traits showed different by locations and years. Number of seeds per capsule and 1000 seeds weight showed higher heritabilities, but stem length and seed weight per plant showed relatively lower heritabilities. Average heritabilities of some agronomic traits in 1998 were comparatively higher than those of 1999. Of six areas, Jinju area showed biggest coefficient of yield variability in 1998-1999. Iksan and Taegu areas showed higher heritabilities in 1998, but Iksan and Jinju areas showed lower heritabilities in 1999. Genetic correlations were slightly higher than corresponding phenotypic correlations. Stem length showed positive genetic correlation with the number of capsules per plant, and seed weight per plant and the number of capsule per plant showed positive genetic correlation with seed weight per plant. On the analysis of path coefficients, stem length and number of capsules effected highly on grain yield. Great regional variations were observed on the effects of agronomic traits on grain yield. Higher direct effects of stem length on grain yield were observed at Suwon, Chungwon, Taegu, Jinju and Naju areas, but in Iksan area was observed higher direct effect of the number of capsules per plant on grain yield in 1998. In 1999, higher direct effect of stem length on grain yield was observed at Chungwon and Suwon areas. Iksan and Taegu areas were also observed higher direct effect of the number of capsule per plant on grain yield.

• 분석과학
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• 제26권2호
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• pp.120-124
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• 2013

본 연구에서는 대기오염 및 화산활동에 의한 분출가스의 원거리 가스검출에 제한적으로 사용된 개방형 푸리에 변환 분광 분석기(open path FT-IR spectrometer)를 사용하여 적외선광원을 사용하지 않는 passive mode로 $CO_2$, CO, $SO_2$에 대한 정량 분석을 시도하였다. 표준가스를 이용하여 제작된 적외선흡수 스펙트럼으로 $CO_2$, CO, $SO_2$ 다중 회귀 곡선(MLR)을 사용한 농도 별 검량선 작업 결과, $CO_2$, CO는 결정 계수가 0.90 이상으로 선형성이 좋았으나, $SO_2$는 0.88로 비교적 낮은 선형성을 확인할 수 있었다. 실제 화재 실험을 통하여 3가지 가스에 대해서 측정한 결과 $CO_2$는 높은 농도를 확인하였으나, CO, $SO_2$는 확인되지 않았다. 이 결과를 통해서 적외선 광원 없이 개방형 푸리에 변환 분광 분석기를 활용하여 화재시 배출되는 가스의 원거리측정이 가능함을 확인하였다.

• 한국해양공학회지
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• 제20권6호
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• pp.24-34
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• 2006

Hydrodynamic coefficients strongly affect the dynamic performance of an AUV. Thus, it is important to know the true values of these coefficients, in order to accurately simulate the AUV's dynamic performance. Although these coefficients are generally obtained experimentally, such as through the PMM test, the measured values are not completely reliable because of experimental difficulties and errors. Another approach, by which these coefficients can be obtained, is the observer method, in which a model-based estimation algorithm estimates the coefficients. In this paper, the hydrodynamic coefficients are estimated using two nonlinear observers: a sliding mode observer and an extended Kalman filter. Their performances are evaluated in Matlab simulations, by comparing the estimated coefficients obtained from the two observer methods, with the experimental values as determined from the PMM test. A sliding mode controller is constructed for the diving and steering maneuver by using the estimated coefficients. It is demonstrated that the controller, applied with the estimated values, maintains the desired depth and path with sufficient accuracy.

• 전자공학회논문지S
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• 제34S권10호
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• pp.141-150
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• 1997

In this paepr, we propose an intelligent double talk detector that can enhance the performance of the acoustic echo cancellation system. The conventional double talk detection methods often misunderstand the echo path changes as double talk. Although there exist several detection methods that can distinguish the echo path changes from the double-talks, they show poor tracking performance because of the excessive decision delay for the discrimination and can only be used after the adaptive digital filter converges. A new and more effective ditetion algorithm has been proposed, where the detection mechanism is performed by observing the change rate of the reflection coefficients of the two lattice predictors that re placed on the near-end and far-end terminals. The excellence of the proposed method is verified by extensive computer simulations using real speech signals.

• 한국콘텐츠학회논문지
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• 제10권5호
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• pp.252-258
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• 2010

본 연구는 대학생의 성행동에 영향을 주는 요인 및 경로를 설명하는 모형을 구축하고, 표준화계수를 이용하여 경로가 유의한 경우에는 총 효과를 사용하였다. 본 경로추정치에서 직접영향을 준 경로를 살펴보면 이성교제는 성 지식에 직접적인 영향을 주었고, 성 지식에 대한 총 효과가 가장 높은 것은 이성교제 즉 이성교제 경험이 있는 집단에서 성 지식 수준이 높았다. 성 지식은 성 태도에 직접적인 영향을 주었고, 성 태도에 대한 총 효과가 가장 높은 것은 성 지식으로 성에 대한 지식이 높을수록 성에 대한 태도는 긍정적이었다. 성 역할은 성 태도와 성 행동에도 직접적인 영향을 주었고, 성 행동에 대한 총 효과가 가장 높은 것은 성 역할로 남성위주의 개방적인 성 태도는 허용적이며 왜곡되어있고, 성 행동 경험은 많다고 볼 수 있다.

• 보건교육건강증진학회지
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• 제23권2호
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• pp.91-107
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• 2006

Objectives: The school adjustment problems of the adolescence groups become more aggravated and are on the increase. The objective of this study is to identify the causal relationship of intra-family conflicts, self-concept and school adjustment as health protection behavior. Methods: The study setting is the adolescence groups. Data were collected by self-administered questionnaires from the middle and high school students in Seoul. The study sample consisted of 268 students. Structural Equation Modeling(SEM) analysis was conducted to find the causal relationship of intra-family conflicts, self-concept and school adjustment. Results: This study shows that firstly, the total effects of intra-family conflicts have a negative effect on self-concept(path coefficients=-0.080) and school adjustment(path coefficients=-0.107). And the self-concept factor as an intervening variable are affecting positively on school adjustment(path coefficients=0.411). Secondly, the economic conflicts, personaliy conflicts and social activity conflicts of father and mother among various family conflicts are more highly affecting on self-concept and school adjustment(p<0.01) Conclusions: These results imply that first, communication between parents and students is essential to solve the problems of school adjustment. Especially economic conflicts should be solved to improve the self-concept and school adjustment. second, a variety of programs are available for schools to employ in an effort to provide interventions for students who demonstrate school adjustment. Finally, it is necessary for family, school and all the society members to comprehensively cooperate to solve family conflicts and school adjustment.

• 한국콘텐츠학회논문지
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• 제15권10호
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• pp.517-534
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• 2015

본 연구에서는 유용성, 용이성, 쾌락성, 사회성 등 모바일서비스품질차원이 만족과 신뢰에 미치는 영향을 확인하고, 또한 만족, 신뢰, 몰입 등의 관계품질 구성개념과 이용의도 간에는 어떠한 인과관계를 형성하는가를 검증하였다. 이를 위해 모바일서비스 이용자를 대상으로 표본을 수집하였고, 수집된 자료는 SPSS 20.0 및 AMOS 16.00 통계패키지를 이용하여 제기된 연구가설을 검증하였다. 분석결과 첫째, 모바일서비스품질차원과 만족 관계에서 쾌락성을 제외하고 나머지 구성차원은 유의하였다. 둘째, 모바일서비스품질차원과 신뢰 관계에서 사회성만이 유의한 것으로 확인되었다. 셋째, 만족과 몰입 관계, 신뢰와 몰입 관계 및 몰입과 이용의도 관계는 유의한 반면, 만족과 신뢰 관계와 신뢰와 이용의도 관계는 유의하지 않았다. 따라서 모바일서비스기업의 마케터는 모바일서비스 이용자에게 우수한 모바일서비스를 제공함으로써 서비스에 대한 만족과 신뢰를 높이고, 또한 만족한 고객이 신뢰와 몰입을 유도함으로써 궁극적으로 이용의도를 높일 수 있도록 적합한 마케팅전략을 제시해야할 것이다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.1133-1137
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• 1995

This paper presents a numerical method of the global search for an optimal geometric path for a manipulator arm amid obstacles. Finite term quintic B-splines are used to describe an arbitrary point-to-point manipulator motion with fixed moving time. The coefficients of the splines span a linear vector space, a point in which uniquely represents the manipulator motion. All feasible geometric paths are searched by adjusting the seed points of the obstacle models in the penetration growth distances. In the numerical implementation using nonlinear programming, the globally optimal geometric path is obtained for a spatial 3-link(3-revolute joints) manipulator amid several hexahedral obstacles without simplifying any dynamic or geometric models.