• 정보과학회 논문지
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• 제42권7호
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• pp.889-900
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• 2015

최근 복잡해진 시스템의 실행 환경에서 발생하는 문제들을 해결하기 위해 자가적응형 시스템의 중요성이 대두되고 있다. 그러나 시스템 설계 시점에 구축된 모델과 실행 환경 사이의 불확실성이 시스템을 알 수 없는 상황으로 이끌 수 있기 때문에 이를 다루기 위한 연구가 중요한 이슈로 떠오르고 있다. 본 논문은 불확실한 상황에서 적응 시점을 결정하고 모델에 실시간 환경을 반영하기 위한 방법을 제안한다. 적합한 적응 시점을 위해 시스템의 이전 상태들과 현재상태를 비교하여 베이지안 서프라이즈를 계산하고, 설계된 모델에 실시간 환경을 수행된 적응 정책의 결과를 모델에 반영한다. 제안 방법론을 네비게이션 시스템에 적용하여 제안 사항의 유효성을 확인하였다.

• Journal of Korean Society for Atmospheric Environment
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• 제18권E2호
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• pp.107-120
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• 2002

Dimethyl sulfide (DMS) is the major sulfur gas released from the ocean. The atmospheric DMS released from the ocean is oxidized mainly by hydroxyl (OH) radical during the day and nitrate (NO$_3$) radical at night to form sulfur dioxide (SO$_2$) as well as other stable products. The oxidation mechanism of DMS via OH has been known to proceed by two channels; abstraction and addition channels. The major intermediate product of the addition channel has been known to be dimethylsulfoxide (DMSO) based on laboratory chamber studies and field experiments. However, a branching ratio for DMSO formation is still uncertain. The reaction of DMSO with OH ultimately produces SO$_2$and dimethylsulfone. The major product of the abstraction channel has known to be SO$_2$from laboratory chamber studies. But overall conversion efficiency for DMS to SO$_2$from DMS oxidation is still inconsistent in the literature. Based on laboratory and field studies, the conversion efficiency from the abstraction channel is likely to be greater than 0.5, while that from the addition channel is likely to be greater than 0.6. Overall conversion efficiency from DMS to SO$_2$might be greater than 0.5 based on the above two values in the remote marine boundary layer (MBL). This high efficiency in the remote MBL is supported by strong coupling between DMS and SO$_2$measurements with high temporal resolution.

• 제어로봇시스템학회논문지
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• 제12권4호
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• pp.389-394
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• 2006

Inaccurate localization exposes a robot to many dangerous conditions. It could make a robot be moved to wrong direction or damaged by collision with surrounding obstacles. There are numerous approaches to self-localization, and there are different modalities as well (vision, laser range finders, ultrasonic sonars). Since sensor information is generally uncertain and contains noise, there are many researches to reduce the noise. But, the correctness is limited because most researches are based on statistical approach. The goal of our research is to measure more exact robot location by matching between built VRML 3D model and real vision image. To determine the position of mobile robot, landmark-localization technique has been applied. Landmarks are any detectable structure in the physical environment. Some use vertical lines, others use specially designed markers, In this paper, specially designed markers are used as landmarks. Given known focal length and a single image of three landmarks it is possible to compute the angular separation between the lines of sight of the landmarks. The image-processing and neural network pattern matching techniques are employed to recognize landmarks placed in a robot working environment. After self-localization, the 2D scene of the vision is overlaid with the VRML scene.

• International Journal of Control, Automation, and Systems
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• 제5권6호
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• pp.674-680
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• 2007

The probabilistic roadmap (PRM) method, which is a popular path planning scheme, for a manipulator, can find a collision-free path by connecting the start and goal poses through a roadmap constructed by drawing random nodes in the free configuration space. PRM exhibits robust performance for static environments, but its performance is poor for dynamic environments. On the other hand, reinforcement learning, a behavior-based control technique, can deal with uncertainties in the environment. The reinforcement learning agent can establish a policy that maximizes the sum of rewards by selecting the optimal actions in any state through iterative interactions with the environment. In this paper, we propose efficient real-time path planning by combining PRM and reinforcement learning to deal with uncertain dynamic environments and similar environments. A series of experiments demonstrate that the proposed hybrid path planner can generate a collision-free path even for dynamic environments in which objects block the pre-planned global path. It is also shown that the hybrid path planner can adapt to the similar, previously learned environments without significant additional learning.

• 한국환경생태학회지
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• 제20권3호
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• pp.352-358
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• 2006

한반도 도마뱀류의 지리적 분포와 분류학적 현황을 발표된 자료와 채집된 표본을 이용하여 재고찰하였다. 1996년 4월부터 2005년 10월 사이에 채집된 총 138 개체의 형태학적 특성에 근거하여, 한반도 도마뱀류의 목록표와 종검색표를 제시하였다. 또한 각 종의 채집지를 한반도 지도에 표기하였다. 추가적으로 도마뱀부치(Gekko japonicus)의 분포, 도마뱀속(genus Scincella)의 연구, 장지뱀속(genus Takydromus)의 동종이명(synonym)에 대한 견해를 밝혔다. 특히 한반도산 올디장지뱀(Takydromus tachydromoides oldi)의 서식 여부에 대해서는 추가적인 연구가 필요하다고 본다.

• Structural Engineering and Mechanics
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• 제59권4호
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• pp.739-759
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• 2016

The failure of civil engineering systems is a consequence of decision making under uncertain conditions. Generally, buried flexible pipes are designed for their transversal behavior to prevent from the important failure mode of buckling. However, the interaction effects between soil and pipe are neglected and the uncertainties in their properties are usually not considered in pipe design. In this regard, the present research paper evaluates the effects of these uncertainties on the uncertainty of the critical buckling hoop force of flexible pipes shallowly buried using the subgrade reaction theory (Winkler model) and First-Order Second-Moment (FOSM) method. The results show that the structural uncertainties of the studied pipes and those of the soil properties have a significant effect on the uncertainty of the critical buckling hoop force, and therefore taking into account these latter in the design of the shallowly flexible pipes for their buckling behavior is required.

• 융합보안논문지
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• 제16권7호
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• pp.61-68
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• 2016

국네트워크를 통한 데이터의 공유로 인해 각종 분야에서 첨단 응용 연구 성과를 보여 왔다. 그만큼 이에 적합한 안정적 데이터 공유 환경의 필요성 역시 꾸준히 제기되었다. 본 연구에서는 이러한 필요성에 따라 등장한 여러 성과 중 일방향 통신 지향 프로토콜에 대해 다룬다. 이 프로토콜은 오직 일방향만으로 데이터를 전송토록 하는 체계이다. 이는 불확실하고 잠재적인 위협 요소로부터 시스템을 지켜낼 가능성이 높아지지만, 데이터에 대한 확인/응답(ACK) 패킷을 전혀 받을 수 없다. 따라서 TCP, ICMP와 같은 양방향 프로토콜이 제대로 작동하면서 실질적인 통신이 이루어지도록 해야 한다. 이에 따라 본 연구에서는 인터페이스 계층, 인터넷 계층, 전송 계층에 대해서 각각 존재하는 프로토콜별 가능한 시나리오에 대해 분석하고 각각의 해결방법에 대해 접근하였다.

• 제어로봇시스템학회논문지
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• 제13권7호
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• pp.631-636
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• 2007

An efficient obstacle avoidance algorithm is proposed in this paper to avoid dynamic obstacles using a collision vector while a tele-operated mobile robot is moving. For the verification of the algorithm, an operator watches through a monitor and controls the mobile robot with a force-reflection joystick. The force-reflection joystick transmits a virtual force to the operator through the Inter-net, which is generated by an adaptive impedance algorithm. To keep the mobile robot safe from collisions in an uncertain environment, the adaptive impedance algorithm generates the virtual force which changes the command of the operator by pushing the operator's hand to a direction to avoid the obstacle. In the conventional virtual force algorithm, the avoidance of moving obstacles was not solved since the operator cannot recognize the environment realistically by the limited communication bandwidth and the narrow view-angle of the camera. To achieve the dynamic obstacle avoidance, the adaptive virtual force algorithm is proposed based on the collision vector that is a normal vector from the obstacle to the mobile robot. To verify the effectiveness of the proposed algorithm, mobile robot navigation experiments with multiple moving obstacles have been performed, and the results are demonstrated.

• The Korean Journal of Ecology
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• 제25권6호
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• pp.383-389
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• 2002

Pb and Cd concentrations and reproductive progress of feral pigeons were investigated in urban (Seoul) and industrial complex (Ansan) areas from November 2000 to May 2001. Results of the Pb analysis for the feral pigeons from the Ansan industrial complex (egg contents: 1.13 $\mu$g/wet g, bones of adult: 10.5 $\mu$g/wet g) and Seoul (1.64 $\mu$g/wet g, 29.5 $\mu$g/wet g, respectively) indicated that the Pb level of eggs and bones of adults were significantly different between the two colonies (p<0.05). Cd concentrations in liver and kidney of adult pigeons were also significantly different between the Ansan (liver: 0.14 $\mu\textrm{g}$/wet g, kidney: 0.43 $\mu$g/wet g) and Seoul (liver. 0.24 $\mu$g/wet g, kidney: 1.05 $\mu$g/wet g) colonies. (p<0.05). However, egg size and thickness, incubation period and nestling growth rates did not differ between the study areas. Also, clutch size, number of young hatched per nest and number of young fledglings per nest did not significantly different in the noted areas. Considering the lead and cadmium concentrations of pigeons, these were not as high as those considered as results in toxic effects in other species, and the biological significance from these level differences is uncertain.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 심포지엄 논문집 정보 및 제어부문
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• pp.318-320
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• 2006

Inaccurate localization exposes a robot to many dangerous conditions. It could make a robot be moved to wrong direction or damaged by collision with surrounding obstacles. There are numerous approaches to self-localization, and there are different modalities as well (vision, laser range finders, ultrasonic sonars). Since sensor information is generally uncertain and contains noise, there are many researches to reduce the noise. But, the correctness is limited because most researches are based on statistical approach. The goal of our research is to measure more exact robot location by matching between built VRML 3D model and real vision image. To determine the position of mobile robot, landmark-localitzation technique has been applied. Landmarks are any detectable structure in the physical environment. Some use vertical lines, others use specially designed markers, In this paper, specially designed markers are used as landmarks. Given known focal length and a single image of three landmarks it is possible to compute the angular separation between the lines of sight of the landmarks. The image-processing and neural network pattern matching techniques are employed to recognize landmarks placed in a robot working environment. After self-localization, the 2D scene of the vision is overlaid with the VRML scene.