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An Efficient Underwater Coverage Method for Multi-AUV with Sea Current Disturbances
정연수,이성용,최명환,이범희,이공우 제어·로봇·시스템학회 2009 International Journal of Control, Automation, and Vol.7 No.4
This paper presents an online coverage method for the exploration of unknown oceanic terrains using multiple autonomous underwater vehicles (AUVs). Working from the concept of planar algorithm developed by Hert, this study attempts to develop an improved method. Instead of theoretical research, it focuses on the practical aspects of exploration by considering the equations of motion for AUVs that are actually used in oceanic exploration as well as on the characteristics of complex oceanic topography and other realistic variables, such as sea current. These elements are used to calculate cross track error (CTE) and path width for AUV movement. The validity of the improved algorithm for terrain coverage is first verified mathematically and then by a simulation of the real underwater environ-ment that analyzes the path length and time taken for the coverage as well as the missed areas, which is the key element of efficiency. In order to apply the improved method to the multi-AUV operation, each AUV was assigned a covering or a scanning role by means of a dynamic role-changing mechanism. The results showed that the multi-AUV operation has an advantage over a single-AUV operation in many ways. The method proposed in this study will be useful not only for commercial applications but also for mine countermeasures (MCMs) and rapid environmental assessments (REAs) as part of naval military operations as well. We also believe that it will be ideal for use in variable oceanic environment, particularly in shallow water terrains. For the purposes of this study, we assume that the communication between AUVs is problem-free.
Viewpoint Invariant ROI Localization for Gas Leakage Monitoring Using Quadrupedal Patrol Robot SAFER
S. Park(박상율),O. Sim(심옥기),J. Kim(김주형),K. Lee(이공우) Korean Society for Precision Engineering 2021 한국정밀공학회 학술발표대회 논문집 Vol.2021 No.11월
We present a novel framework for gas leakage monitoring throughout the semiconductor fabrication facilities using an ultrasonic camera attached on an autonomous mobile robot. We exploit a quadrupedal patrol robot SAFER (Samsung Autonomous Facility Exploring Robot) as a robotic platform, so that the platform can be deployed on various terrains. In this work, we particularly propose a viewpoint invariant ROI (Region of Interest) localization framework which can robustly localize potential leakage points even if the robot acquires data with imprecise and inconsistent pose. By doing so, we can monitor for gas leakage at each ROI in a consistent manner, so that the trend of ultrasonic sound at each ROI can be trackable. Using the robot pose information and pre-measured 3D information of each target equipment, we could increase the performance and robustness of the proposed algorithm. Lastly, to verify feasibility and performance of our framework, we conducted experiments at real semiconductor fabrication site using a quadruped mobile robot.
장노순(Rho-Soon Chang),유호선(Ho-Sun Yu),이공우(Kong-Woo Lee) 강원대학교 사회과학연구원 2011 사회과학연구 Vol.50 No.1
지방세 비과세 감면제도는 중앙정부 혹은 지방자치단체가 특정한 정책목표를 달성하기 위하여 개인이나 기업이 부담해야할 세금을 감소해 주는 것을 의미한다. 이러한 비과세 감면제도는 세제적 지원을 통해 경제적 효율성을 제고하고, 동시에 경제적 약자에 대한 소득보전을 통해 과세의 공평성을 이루는데 그 목적을 두고 있다. 1990년대 초반 이후 지방세 비과세 감면제도가 중앙정부 주도하에 중앙정부 정책수단이라든지, 또는 지방자치단체의 정책목표를 달성하기 위한 수단으로 적극 활용되면서 비과세 감면의 규모가 크게 증가할 뿐만 아니라 그 구조도 매우 복잡해져 부정적 측면에서 적지 않게 지적되어 왔다. 이와 같은 지방세 비과세 감면 비중의 증가 추세로 말미암은 문제점을 해소하기 위해 2011년부터 지방세특례제한법 제정, 개별(조항별) 일몰방식, 그리고 지방세지출예산제도의 도입?운영하기로 하였다. 그럼에도 불구하고 지방세 비과세 감면제도는 지방자치단체의 재정운영에 적지 않은 영향을 미칠 것으로 사료된다. 따라서 이 연구에서는 1990년대 초반 지방자치의 실시이후 강원도의 비과세 감면 규모가 어떤 근거에서 얼마나 증대해 왔는지에 대한 변화 추이를 실증적으로 분석하고, 이를 토대로 향후 개선해야 할 규범적?실증적(normative and positive), 그리고 공공선택론(public choice)적 과제들이 어떤 것인지를 도출하고 논의하는 데 그 목적을 두었다. It means local reduction?exemption systems to achieve specific policy goals reduce individuals or business tax by the central government or local governments. These systems aim to improve the economic efficiency through the tax supports, at the same time to improve the equity of taxation for the weak/poor people through the tax reduction?exemption. Since the early 1990s local tax reduction?exemption systems were generally used as policy instruments of the central government, or as the means for the positive policy in local government. Therefore these systems were brought as following problems; the increase of reduction?exemption size, the complexity of reduction?exemption structure, and the deduction of local tax revenue etc.). There is no exception in Gangwon-do. To improve the some problems of the tax reduction?exemption the central government enacted new law and introduced new system in 2011. This study aims to two purposes. One is a positive analysis of realities for the tax reduction?exemption after the early 1990s in Gangwon-do. The other one is a finding of issues based upon realities, and a discussion of issues with three dimensions (normative, positive, and public choice) in Gangwon-do.