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지역사회 선교를 위한 에큐메니컬 운동과 지역교회의 과제
김신구 ( Kim¸ Shingu ) 서울신학대학교 기독교신학연구소 2023 神學과 宣敎 Vol.65 No.-
Modern missions are flowing in the direction of holistic missions that encompass evangelical and ecumenical movements. This view of mission is due to the fact that Jesus, who was incarnated, lived by words(evangelism) and actions(social responsibility). Because of this verbal and behavioral life of Jesus, all the universal churches on earth that are united with him must live as incarnated missional beings that embody holistic missions in various cultures and situations of the world. Based on this understanding, this study examined the ecumenical movement for community mission and the task of the local church based on the theological spirit of unity, service, mission, and integration of the ecumenical movement and the Christian theory that contains the biblical, missional, and ontological meaning of the church. First, holistic mission emphasizes evangelism and social responsibility in a balanced way, and evangelism and ecumenical mission theology have seen the unity of this. Therefore, this study does not talk about the difference between the two missional theologies, but about the ecumenical missional approach as the meaning of holisticity, which is the common point of the theological efforts of the two camps. With this understanding, Chapter II deals with the relational understanding of the local community and the local church in the theological, regional and ecological dimensions. Chapter III deals with the comprehensive analysis and practical difficulties of the significance, examples, and types of ecumenical movements in the local community. Chapter IV draws the missionary and practical tasks of the local church for community mission as the core conclusion of this study. Finally, the conclusions drawn from this study, 1) Theology of ecclesiology and hospitality as a missionary local church, 2) Lifelong solidarity and partnership as an incarnate local community, 3) Community service based on Koinonia theology, 4) Continuous development and cultural mission of ecumenical cultural contents, 5) Value realization of social enterprise and local consumption movement. Especially in the pluralistic society of the glocal era, the realization of missional tasks may face many practical difficulties, but the continuous practice of holistic of the incarnated local community will bring about the gradual publicization of the whole Shalom globally.
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이산하(Sanha Lee),정원모(Wonmo Chung),김명건(Myunggun Kim),이상필(Sang-Pill Lee),이충희(Choong-Hee Lee),김신구(Shingu Kim),손흥선(Hungsun Son) 한국로봇학회(논문지) 2023 로봇학회 논문지 Vol.18 No.1
This paper presents an optimal path planning strategy for aerial searching and surveying of a user-designated area using multiple Unmanned Aerial Vehicles (UAVs). The method is designed to deal with a single unseparated polygonal area, regardless of polygonal convexity. By defining the search area into a set of grids, the algorithm enables UAVs to completely search without leaving unsearched space. The presented strategy consists of two main algorithmic steps: cellular decomposition and path planning stages. The cellular decomposition method divides the area to designate a conflict-free subsearch-space to an individual UAV, while accounting the assigned flight velocity, take-off and landing positions. Then, the path planning strategy forms paths based on every point located in end of each grid row. The first waypoint is chosen as the closest point from the vehicle-starting position, and it recursively updates the nearest endpoint set to generate the shortest path. The path planning policy produces four path candidates by alternating the starting point (left or right edge), and the travel direction (vertical or horizontal). The optimal-selection policy is enforced to maximize the search efficiency, which is time dependent; the policy imposes the total path-length and turning number criteria per candidate. The results demonstrate that the proposed cellular decomposition method improves the search-time efficiency. In addition, the candidate selection enhances the algorithmic efficacy toward further mission time-duration reduction. The method shows robustness against both convex and nonconvex shaped search area.
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