• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.4
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• pp.698-707
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• 2017

This paper deals with predictive control methods of mobile robots for reference trajectory tracking control. Predictive control methods using predictive model are known as effective schemes that minimize the future errors between the reference trajectories and system states; however, the amount of real-time computation for the predictive control are huge so that their applications were limited to slow dynamic systems such as chemical processing plants. Lately with high computing power due to advanced computer technologies, the predictive control methods have been applied to fast systems such as mobile robots. These predictive controllers have some control parameters related to control performance. But these parameters have not been optimized. In this paper we employed the genetic algorithm to optimize the control parameters of the predictive controller for mobile robots. The improved performances of the proposed control method are demonstrated by the computer simulation studies.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.5
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• pp.609-617
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• 2013

This paper presents a near-minimum time path planning algorithm for autonomous driving. The problem of near-minimum time path planning is an optimization problem in which it is necessary to take into account not only the geometry of the circuit but also the dynamics of the vehicle. The path planning algorithm consists of a candidate path generation and a velocity optimization algorithm. The candidate path generation algorithm calculates the compromises between the shortest path and the path that allows the highest speeds to be achieved. The velocity optimization algorithm calculates the lap time of each candidate considering the vehicle driving performance and tire friction limit. By using the calculated path and velocity of each candidate, we calculate the lap times and search for a near-minimum time path. The proposed algorithm was evaluated via computer simulation using CarSim and Matlab/Simulink.

• Journal of the Korean Society of Marine Environment & Safety
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• v.24 no.6
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• pp.701-708
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• 2018

Human error is an important cause of maritime accidents and the identification of human error is fundamental to maritime-accident preventions. In particular, the pattern of technical behavior taken in the circumstance of bridge teams(navigator & helmsman) provides important information to identify human error. The purpose of this study is to identify and analyze technical behavior pattern of bridge teams using Williamson's turn for rescue of persons overboard. The focus of this study is to build and analyze a cognitive model of the human behavior factors of the bridge teams in the process of implementing the experiments. The experimental environment was constructed using a ship-handling simulator and conducted an experiment on participants from 24 bridge teams. As a result of the experiment, it was able to identify the behavior pattern of the ship's maneuvering and maintain trajectory using the rudder and engine. This study is expected to correct human error in the bridge teams application to the certification and training of seafarers.

• Journal of the Korea Society of Computer and Information
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• v.16 no.10
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• pp.53-62
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• 2011

In this paper, high-tech IT Convergence, to the development of complex technology, special technology, video object recognition technology was considered only as a smart - phone technology with the development of personal portable terminal has been developed crossroads. Technology-based detection of 3D face recognition technology that recognizes objects detected through the intelligent video recognition technology has been evolving technologies based on image recognition, face detection technology with through the development speed is booming. In this paper, based on human face recognition technology to detect the object recognition image processing technology is applied through the face recognition technology applied to the IP camera is the party of the mouth, and allowed the ability to identify and apply the human face recognition, measurement techniques applied research is suggested. Study plan: 1) face model based face tracking technology was developed and applied 2) algorithm developed by PC-based measurement of human perception through the CPU load in the face value of their basic parameters can be tracked, and 3) bilateral distance and the angle of gaze can be tracked in real time, proved effective.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.43 no.4 s.310
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• pp.35-44
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• 2006

The network induced transmission delay deteriorates the performance and stability of the real-time distributed control system on LonWorks over IP (LonWorks/IP) virtual device network (VDN). LonWorks/IP virtual device network is an integrated form of LonWorks device network and IP data network. The time delay in servo control on the LonWorks/IP-based VDN has highly stochastic nature. In the real-time distributed servo applications for predictive maintenance on the factory floor, timely response is essential.

• Journal of the Korean Institute of Telematics and Electronics C
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• v.35C no.6
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• pp.99-108
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• 1998

In this paper, we proposed a multi-layer neural network for direct control method of nonlinear system. The proposed control method uses neural network as the controller to learn inverse model of plant. The neural network used consists of two parts; one part is for identification of linear part, and the other is for identification of nonlinear part of inverse system. The neural network has to be learned the liner part with RLS algorithm and the nonlinear part with error of plant. From the simulation and experiment of tracking control to use one link manipulator as plant, we proved usefulness of the proposed control method to comparing to conventional direct neural network control method. By comparing the two methods, from simulation and experiment, we were convinced that the proposed control method is more simple and accuracy than the conventional method. Moreover, number of weight and bias to be controller parameter are small, and it has smaller steady state error than conventional method.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.31 no.5D
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• pp.671-677
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• 2011

A diversity of railway network function enhancement projects such as the double tracking, electrification, and direct operation have been actively executed to improve the railway service. When the new rapid transit is provided, how many people will use it instead of other transports? How will the railway choice behavior be changed? Accordingly, in this paper, the applicability of diverted travel demand forecast methods, by Revealed Preference(RP) and Stated Preference(SP) data was reviewed for Daegu metropolitan rail rapid transit service. As the result of combining RP and SP data, including the sequential and simultaneous approach, the total travel time and travel cost parameters are of the right sign and are highly significant. The simultaneous approach is more efficient in terms of the estimation of coefficients. In particular, methods to improve validity of the Mixed RP/SP models, when RP data is used proportionally, the diverted travel demand can be easily identified by railway fare and travel time service level. Therefore, it is considered that this will practically apply even in other regions as well as Daegu metropolitan railway.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.33 no.3
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• pp.1131-1142
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• 2013

This study aims to verify the applicability of TRANSIMS (TRansportion ANalysis SIMulation System) in interrupted traffic flow through calibration and validation process based on observation data; such as headway, traffic volume, speed, and travel time from Dalguberl Boulevard in Dae-gu metropolitan city. On this study, several micro-simulation parameters are derived from the calibration and validation process through performing a headway comparison and applying an ID back tracking methodology. As a result, it is figured out that actual circumstances of Korean roadway; for example, traffic volume per lane, speed, and travel time, can be applied on the TRANSIMS. Especially, it was possible to find out the influence of cell size parameter to traffic flow characteristic of simulation. However, it is hard to conclude that TRANSIMS is applicable to Korean roadway environment with studying particular target area. Therefore, additional studies; such as more case studies with various types of road, signal, and land use, will be required to localize TRANSIMS to Korea.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.36 no.6
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• pp.1037-1048
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• 2016

In this study, nonlinear wave interaction in the presence of a uniform current is studied using numerical model, named CADMAS-SURF which is based on the Navier-Stokes equations coupled with Volume of Fluid for tracking free surface deformation. The original CADMAS-SURF developed for interaction of wave with structure is modified/extended to simulate nonlinear fluid dynamic motions within wave-current coexisting field. The capability of Numerical Wave-Current Tank (NWCT) in this study is validated by comparing with available existing laboratory experiments for both wave-following and wave-opposing current. The numerical results for interaction between wave and current are shown to be in good agreement with experimental data. Then, this study focused on the dynamic motions of the water velocity, surface elevation and vorticity within combined wave-current field in demonstrating complex nonlinear physical phenomena due to interaction between wave and current. In addition, NWCT is applied to simulate a more complex wave-current-structure field for wave propagating over a submerged breakwater associated with current. Detailed discussion including characteristics of velocity and vorticity fields and the relation between free surface and vorticity are given.

• The Journal of the Korea Contents Association
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• v.7 no.12
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• pp.123-130
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• 2007

The purpose of this paper is to capture risk profiles of smaller-sized Korean firms $vis-{\grave{a}}-vis$ larger-sized firms during the Asian financial crisis. For this purpose, risk profiles are provided by estimating expected default risks and by tracking how these have changed during this period with respect to their magnitude, volatility, and sensitivity measures. Methodology used in this study employs the Black-Scholes-Merton model for producing estimates of default risks. And the conventional trans-log function is utilized for obtaining sensitivity measures of the estimated default risks. According to empirical evidence obtained here, it is revealed that contractions of corporate loans associated with IMF austerity policy was the main factor responsible for the drastic change in the default risk profile of Korean firms after occurrence of the Asian financial crisis.