• 제목/요약/키워드: time-distance function

검색결과 501건 처리시간 0.026초

실해역 환경을 고려한 선박의 최적항해계획 알고리즘 연구 (A Study on Ship Path Planning Algorithm based on Real-time Ocean Environment)

  • 김동준;설현주;김진주
    • 한국군사과학기술학회지
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    • 제19권2호
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    • pp.252-260
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    • 2016
  • Unlike terrestrial transportation, marine transportation should consider environment factors in order to optimize path planning. This is because, ship's path planning is greatly influenced by real-time ocean environment-sea currents, wave and wind. Therefore, in this study, we suggest a ship path planning algorithm based on real-time ocean environment using not only $A^*$ algorithm but also path smoothing method. Moreover, in order to improve objective function value, we also consider ship's moving distance based on ship's location and real-time ocean environment data on grid map. The efficiency of the suggested algorithm is proved by comparing with $A^*$ algorithm only. This algorithm can be used as a reasonable automatics control system algorithm for unmaned ship.

정상 시계열에서의 이상치 발견과 시계열 모형구축 (Outlier detection and time series modelling in the stationary time series)

  • 이종협;최기헌
    • 응용통계연구
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    • 제5권2호
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    • pp.139-156
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    • 1992
  • 최근에 시계열에서의 이상치 발견을 위한 여러 가지 반복적인 방법들이 소개되었으나 이들 대부분은 시계열의 기저모형이 알려져 있거나 식별될 수 있다는 가정하에서 개발되었다. 그 렇지만 실제로 이상치들이 모형식별을 왜곡 시키거나 심지어는 불가능하게 만드는 경우가 발생한다. 본 논문에서는 두 개의 시계열 관측치 사이의 거리에 근거한 새로운 척도를 이용 한 이상치 탐색 방법을 제시하였다. 특히 이방법은 이상치를 발견하는데 시계열 모형에 의 존하지 않는다. 제안된 통계량에 대한 여러 가지 성질을 밝혔으며 이상치의 형태를 구별하 기 위해 전이함수모형을 이용하였다. 그밖에 이상치를 포함하고 있는 시계열의 모형을 구축 하기 위한 반복적인 절차를 제안했다.

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Impact of aperture-thickness on the real-time imaging characteristics of coded-aperture gamma cameras

  • Park, Seoryeong;Boo, Jiwhan;Hammig, Mark;Jeong, Manhee
    • Nuclear Engineering and Technology
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    • 제53권4호
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    • pp.1266-1276
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    • 2021
  • The mask parameters of a coded aperture are critical design features when optimizing the performance of a gamma-ray camera. In this paper, experiments and Monte Carlo simulations were performed to derive the minimum detectable activity (MDA) when one seeks a real-time imaging capability. First, the impact of the thickness of the modified uniformly redundant array (MURA) mask on the image quality is quantified, and the imaging of point, line, and surface radiation sources is demonstrated using both cross-correlation (CC) and maximum likelihood expectation maximization (MLEM) methods. Second, the minimum detectable activity is also derived for real-time imaging by altering the factors used in the image quality assessment, consisting of the peak-to-noise ratio (PSNR), the normalized mean square error (NMSE), the spatial resolution (full width at half maximum; FWHM), and the structural similarity (SSIM), all evaluated as a function of energy and mask thickness. Sufficiently sharp images were reconstructed when the mask thickness was approximately 2 cm for a source energy between 30 keV and 1.5 MeV and the minimum detectable activity for real-time imaging was 23.7 MBq at 1 m distance for a 1 s collection time.

완전제어형 식물 생산 시스템에서 선형 지수 함수를 이용한 씀바귀의 생육 모델 (Growth Model of Sowthistle (Ixeris dentata Nakai) Using Expolinear Function in a Closed-type Plant Production System)

  • 차미경;손정익;조영열
    • 원예과학기술지
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    • 제32권2호
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    • pp.165-170
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    • 2014
  • 본 연구는 완전제어형 식물공장에서 선형 지수 함수를 이용하여 재식거리($15{\times}10$, $15{\times}15$, $15{\times}20$, $15{\times}25$cm)에 따른 씀바귀의 생육과 수량 모델을 개발하고자 수행되었다. 개체당 건물중은 25cm 처리구가 가장 높았으며, 10cm 처리구가 가장 낮았다. 단위면적당 건물중으로 보면 15cm 처리구가 가장 높았으며, 25cm 처리구가 가장 낮았다. 따라서 씀바귀 생육을 위한 적정 재식밀도와 재식거리는 각각 44 plants/$m^2$$15{\times}15$cm였다. 정식 후 일수에 따른 건물중의 변화 곡선은 선형 지수적인 형태를 보였으며, 재식거리에 따른 선형 지수 형태를 이용하여 모델식을 예측할 수 있었다. 개체당 건물중과 개체당 생체중과의 관계는 재식거리와는 무관하게 직선적인 관계를 보여, 건물중 예측으로 생체중도 예측할 수 있었다. 선형 지수 함수식에서 작물생장율과 상대생장율, lost time는 쌍곡선 형태를 보였다. 씀바귀의 광사용효율는 $4.3-6.1g{\cdot}MJ^{-1}$였다. 재식거리에 따른 씀바귀의 생육과 수량은 선형 지수 함수식으로 정확하게 예측할 수 있었다. 결론적으로, 선형 지수 함수는 완전제어형 식물 공장에서 씀바귀의 생육과 수량을 예측하는데 유용한 함수였으며, 생육과 수량 모델을 개발할 수 있었다.

전치부 임플란트 보철을 이용한 후방연장 국소의치 수복 (Distal-Extension Removable Partial Denture with Anterior Implant Prostheses: Case Report)

  • 나현준;강동완;손미경
    • 구강회복응용과학지
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    • 제27권4호
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    • pp.437-447
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    • 2011
  • 오랜 기간 국소의치를 장착한 부분 무치악 환자에서, 치아가 결손된 부위는 점진적인 치조골의 흡수가 발생되는 반면, 잔존 지대치 부위는 치조골이 유지되어 있는 것을 볼 수 있다. 이는 차후 잔존 지대치를 상실한 후에도 치아 상실의 시점에 따라 수직적인 골 높이의 현저한 차이를 나타낸다. 이와 같이 전체 치아 발거 후 상하악 악간 거리가 좌우측 또는 전후방으로 다르게 나타나는 환자에서 임플란트를 이용한 고정성 보철물이나 임플란트 피개의치의 제작 시 여러 가지 보철적 문제가 야기될 수 있다. 본 논문은 구치부 결손으로 인해 오랫동안 국소의치를 사용했던 환자에서 치아 상실 후 잔존 치조골의 높이를 고려하여 임플란트 지지 국소의치를 제작한 증례로서 잔존 치조골 량이 많아 악간거리가 짧은 전치부는 임플란트를 식립하여 고정성 보철물로, 오랫동안 치조골의 흡수로 인해 악간거리가 긴 구치부는 국소의치로 수복하였다. 본 증례에서의 임플란트 지지 국소의치는 부가적인 수술이 없이 소수의 임플란트를 식립하고 환자에게 기존 보철물의 양식과 유사한 보철물을 제공함으로서 경제적이고 편안한 치료결과를 보여주었다.

한국주요빙계의 소유역에 대한 순간단위권 유도에 관한 연구 (I) (Studies on the Derivation of the Instantaneous Unit Hydrograph for Small Watersheds of Main River Systems in Korea)

  • 이순혁
    • 한국농공학회지
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    • 제19권1호
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    • pp.4296-4311
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    • 1977
  • This study was conducted to derive an Instantaneous Unit Hydrograph for the accurate and reliable unitgraph which can be used to the estimation and control of flood for the development of agricultural water resources and rational design of hydraulic structures. Eight small watersheds were selected as studying basins from Han, Geum, Nakdong, Yeongsan and Inchon River systems which may be considered as a main river systems in Korea. The area of small watersheds are within the range of 85 to 470$\textrm{km}^2$. It is to derive an accurate Instantaneous Unit Hydrograph under the condition of having a short duration of heavy rain and uniform rainfall intensity with the basic and reliable data of rainfall records, pluviographs, records of river stages and of the main river systems mentioned above. Investigation was carried out for the relations between measurable unitgraph and watershed characteristics such as watershed area, A, river length L, and centroid distance of the watershed area, Lca. Especially, this study laid emphasis on the derivation and application of Instantaneous Unit Hydrograph (IUH) by applying Nash's conceptual model and by using an electronic computer. I U H by Nash's conceptual model and I U H by flood routing which can be applied to the ungaged small watersheds were derived and compared with each other to the observed unitgraph. 1 U H for each small watersheds can be solved by using an electronic computer. The results summarized for these studies are as follows; 1. Distribution of uniform rainfall intensity appears in the analysis for the temporal rainfall pattern of selected heavy rainfall event. 2. Mean value of recession constants, Kl, is 0.931 in all watersheds observed. 3. Time to peak discharge, Tp, occurs at the position of 0.02 Tb, base length of hlrdrograph with an indication of lower value than that in larger watersheds. 4. Peak discharge, Qp, in relation to the watershed area, A, and effective rainfall, R, is found to be {{{{ { Q}_{ p} = { 0.895} over { { A}^{0.145 } } }}}} AR having high significance of correlation coefficient, 0.927, between peak discharge, Qp, and effective rainfall, R. Design chart for the peak discharge (refer to Fig. 15) with watershed area and effective rainfall was established by the author. 5. The mean slopes of main streams within the range of 1.46 meters per kilometer to 13.6 meter per kilometer. These indicate higher slopes in the small watersheds than those in larger watersheds. Lengths of main streams are within the range of 9.4 kilometer to 41.75 kilometer, which can be regarded as a short distance. It is remarkable thing that the time of flood concentration was more rapid in the small watersheds than that in the other larger watersheds. 6. Length of main stream, L, in relation to the watershed area, A, is found to be L=2.044A0.48 having a high significance of correlation coefficient, 0.968. 7. Watershed lag, Lg, in hrs in relation to the watershed area, A, and length of main stream, L, was derived as Lg=3.228 A0.904 L-1.293 with a high significance. On the other hand, It was found that watershed lag, Lg, could also be expressed as {{{{Lg=0.247 { ( { LLca} over { SQRT { S} } )}^{ 0.604} }}}} in connection with the product of main stream length and the centroid length of the basin of the watershed area, LLca which could be expressed as a measure of the shape and the size of the watershed with the slopes except watershed area, A. But the latter showed a lower correlation than that of the former in the significance test. Therefore, it can be concluded that watershed lag, Lg, is more closely related with the such watersheds characteristics as watershed area and length of main stream in the small watersheds. Empirical formula for the peak discharge per unit area, qp, ㎥/sec/$\textrm{km}^2$, was derived as qp=10-0.389-0.0424Lg with a high significance, r=0.91. This indicates that the peak discharge per unit area of the unitgraph is in inverse proportion to the watershed lag time. 8. The base length of the unitgraph, Tb, in connection with the watershed lag, Lg, was extra.essed as {{{{ { T}_{ b} =1.14+0.564( { Lg} over {24 } )}}}} which has defined with a high significance. 9. For the derivation of IUH by applying linear conceptual model, the storage constant, K, with the length of main stream, L, and slopes, S, was adopted as {{{{K=0.1197( {L } over { SQRT {S } } )}}}} with a highly significant correlation coefficient, 0.90. Gamma function argument, N, derived with such watershed characteristics as watershed area, A, river length, L, centroid distance of the basin of the watershed area, Lca, and slopes, S, was found to be N=49.2 A1.481L-2.202 Lca-1.297 S-0.112 with a high significance having the F value, 4.83, through analysis of variance. 10. According to the linear conceptual model, Formular established in relation to the time distribution, Peak discharge and time to peak discharge for instantaneous Unit Hydrograph when unit effective rainfall of unitgraph and dimension of watershed area are applied as 10mm, and $\textrm{km}^2$ respectively are as follows; Time distribution of IUH {{{{u(0, t)= { 2.78A} over {K GAMMA (N) } { e}^{-t/k } { (t.K)}^{N-1 } }}}} (㎥/sec) Peak discharge of IUH {{{{ {u(0, t) }_{max } = { 2.78A} over {K GAMMA (N) } { e}^{-(N-1) } { (N-1)}^{N-1 } }}}} (㎥/sec) Time to peak discharge of IUH tp=(N-1)K (hrs) 11. Through mathematical analysis in the recession curve of Hydrograph, It was confirmed that empirical formula of Gamma function argument, N, had connection with recession constant, Kl, peak discharge, QP, and time to peak discharge, tp, as {{{{{ K'} over { { t}_{ p} } = { 1} over {N-1 } - { ln { t} over { { t}_{p } } } over {ln { Q} over { { Q}_{p } } } }}}} where {{{{K'= { 1} over { { lnK}_{1 } } }}}} 12. Linking the two, empirical formulars for storage constant, K, and Gamma function argument, N, into closer relations with each other, derivation of unit hydrograph for the ungaged small watersheds can be established by having formulars for the time distribution and peak discharge of IUH as follows. Time distribution of IUH u(0, t)=23.2 A L-1S1/2 F(N, K, t) (㎥/sec) where {{{{F(N, K, t)= { { e}^{-t/k } { (t/K)}^{N-1 } } over { GAMMA (N) } }}}} Peak discharge of IUH) u(0, t)max=23.2 A L-1S1/2 F(N) (㎥/sec) where {{{{F(N)= { { e}^{-(N-1) } { (N-1)}^{N-1 } } over { GAMMA (N) } }}}} 13. The base length of the Time-Area Diagram for the IUH was given by {{{{C=0.778 { ( { LLca} over { SQRT { S} } )}^{0.423 } }}}} with correlation coefficient, 0.85, which has an indication of the relations to the length of main stream, L, centroid distance of the basin of the watershed area, Lca, and slopes, S. 14. Relative errors in the peak discharge of the IUH by using linear conceptual model and IUH by routing showed to be 2.5 and 16.9 percent respectively to the peak of observed unitgraph. Therefore, it confirmed that the accuracy of IUH using linear conceptual model was approaching more closely to the observed unitgraph than that of the flood routing in the small watersheds.

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Development and Characterization of Asymmetric Swelling-Induced Wrinkles on Natural Rubber Surface

  • Lee, Gi-Bbeum;Sathi, Shibulal Gopi;Kim, Min Jung;Park, Changsin;Huh, Yang Il;Nah, Changwoon
    • Elastomers and Composites
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    • 제51권4호
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    • pp.342-349
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    • 2016
  • Characteristics of the swelling-induced wrinkles on the surfaces of natural rubber (NR) film were investigated. The wrinkle structure was generated by swelling of NR film pre-stretched and firmly bonded onto an aluminum substrate in hexane. A novel experimental method was adopted to replicate the swelling-induced wrinkles on the NR film using an epoxy-hardener system. To get insight into the wrinkle parameters; the wrinkle length (L), wrinkle distance (D), wrinkle height (H) and the angle between two consecutive wrinkles (${\theta}$), the cross-sections of the replicas obtained from saturated swollen NR film were examined using an optical microscopy (OM). From the OM images, the wrinkling parameters were measured as a function of the thickness of NR film from 0.42 to 1.76 mm. Also, it was evaluated that the effects of swelling time on the wrinkling parameters. The length (L), distance (D) and height (H) of wrinkles increased as the thickness of the NR film and the swelling time increased. However, the angle between the wrinkles (${\theta}$) showed a sharp decrease up to a swelling time of 200 minutes and slightly decreased afterwards.

CCN에서 응답시간 감소를 위한 생산자 거리 기반 캐시정책 (Cache Policy based on Producer Distance to Reduce Response Time in CCN)

  • 김건;권태욱
    • 한국전자통신학회논문지
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    • 제16권6호
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    • pp.1121-1132
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    • 2021
  • 지금은 스마트폰, 태블릿 등 모바일기기를 사용하지 않는 사람을 찾는 것이 더 어려운 시대다. 손가락만 움직이면 접근 가능한 콘텐츠들이 넘쳐난다. 하지만 기존 네트워크는 넘치는 콘텐츠들로 인해 발생하는 문제들에 대해 효율적인 대응이 어려운 구조를 가지고 있다. 특히, 다수의 사용자가 동시에 집약적으로 서버에 콘텐츠를 요구할 시 발생하는 병목현상 문제가 대표적인데 이를 해소하기 위해 미래 네트워크의 대안으로 CCN이 등장했다. CCN은 중간노드의 In-Network Cache 기능을 통해 네트워크의 대역폭을 효율적으로 사용해 사용자들의 요청이 Server에 도달하기 위해 소요되는 트래픽을 개선해 네트워크 내에서 응답시간을 줄이고 트래픽 집중을 분산한다. 이런 CCN 환경에서 효율성을 향상시킬 수 있는 캐시정책을 제안한다.

A many-objective optimization WSN energy balance model

  • Wu, Di;Geng, Shaojin;Cai, Xingjuan;Zhang, Guoyou;Xue, Fei
    • KSII Transactions on Internet and Information Systems (TIIS)
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    • 제14권2호
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    • pp.514-537
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    • 2020
  • Wireless sensor network (WSN) is a distributed network composed of many sensory nodes. It is precisely due to the clustering unevenness and cluster head election randomness that the energy consumption of WSN is excessive. Therefore, a many-objective optimization WSN energy balance model is proposed for the first time in the clustering stage of LEACH protocol. The four objective is considered that the cluster distance, the sink node distance, the overall energy consumption of the network and the network energy consumption balance to select the cluster head, which to better balance the energy consumption of the WSN network and extend the network lifetime. A many-objective optimization algorithm to optimize the model (LEACH-ABF) is designed, which combines adaptive balanced function strategy with penalty-based boundary selection intersection strategy to optimize the clustering method of LEACH. The experimental results show that LEACH-ABF can balance network energy consumption effectively and extend the network lifetime when compared with other algorithms.

양팔 로봇의 협조제어를 위한 최적 경로 설계 (Optimal Trajectory Planning for Cooperative Control of Dual-arm Robot)

  • 박치성;하현욱;이장명
    • 제어로봇시스템학회논문지
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    • 제16권9호
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    • pp.891-897
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    • 2010
  • This paper proposes a cooperative control algorithm for a dual-arms robot which is carrying an object to the desired location. When the dual-arms robot is carrying an object from the start to the goal point, the optimal path in terms of safety, energy, and time needs to be selected among the numerous possible paths. In order to quantify the carrying efficiency of dual-arms, DAMM (Dual Arm Manipulability Measure) has been defined and applied for the decision of the optimal path. The DAMM is defined as the intersection of the manipulability ellipsoids of the dual-arms, while the manipulability measure indicates a relationship between the joint velocity and the Cartesian velocity for each arm. The cost function for achieving the optimal path is defined as the summation of the distance to the goal and inverse of this DAMM, which aims to generate the efficient motion to the goal. It is confirmed that the optimal path planning keeps higher manipulability through the short distance path by using computer simulation. To show the effectiveness of this cooperative control algorithm experimentally, a 5-DOF dual-arm robot with distributed controllers for synchronization control has been developed and used for the experiments.