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자율주행 차량 운행을 위한 이상 의미 탐지 및 모니터링
윤한솔(Hansol Yoon) 국방로봇학회 2024 국방로봇학회 논문집 Vol.3 No.1
We investigate the problem of detecting anomalous behaviors of deployed autonomous vehicles that are not consistent with “typical” or “baseline” behaviors. Detecting anomalies requires us to process large volumes of high dimensional data from on-board sensors including GPS, camera, LiDAR and RADAR. In this work, we propose a simple methodology of runtime monitoring through “property templates” that allow us to detect meaningful anomalies of interest to stakeholders, while at the same time reducing from a very high dimensional space to a lower dimensional space through the property templates. Next, we use Pareto frontiers to define anomalous instances in the data with respect to the property. We conduct a preliminary evaluation of our property template approach using data collected from a pilot autonomous shuttle vehicle deployment. We demonstrate our approach through a set of standard property templates that seek to specify common safety-critical behaviors around maintaining following distance to a lead vehicle, navigating through stop signs, and operating under a speed limit. Using this case-study, we examine the anomalies detected in detail, and discuss some practical challenges for real-time anomaly monitoring.
강의평가 주관식 응답에 나타난 교수와 학생의 의견 차이 비교 분석: 강의의 장‧단점 의견에 대한 네트워크 및 내용분석
민혜리(Hyeree, Min),윤한솔(Hansol, Yoon) 학습자중심교과교육학회 2017 학습자중심교과교육연구 Vol.17 No.11
본 연구는 강의에 대한 교수의 자기평가와 학생의 평가를 비교하기 위해, 교수와 학생의 동일 강의에 대한 주관식 응답결과를 분석하여 교수집단과 학생집단의 인식 차이, 단과대학별 특성 등을 살펴보고자 하였다. 2013년부터 2016년까지 동일 문항의 강의평가에 참여한 교수133명, 학생 4665명의 강의평가 주관식 응답자료를 6개 단과 대학으로 나누어 분석하였다. 분석방법은 네트워크분석방법으로 고려대 김규태 교수 연구팀이 제작한 엑셀 매크로 프로그램을 이용하여 키워드와 워드클라우드 이미 지를 추출하고, 키워드 네트워크를 Ucinet과 Netdraw로 분석하였다. 추출한 키워드는 다시 최종 8개 범주(강의환경, 강의자료, 강의운영, 설명방식, 상호작용, 교수특성, 평가, 기타)로 분류하였다. 연구결과, 교수와 학생 모두 설명방식에 대한 언급이 가장 많았는데 두 집단 모두수업을 평가할 때 가장 많이 고려하는 부분이 설명방식이 며, 학생의 수준과 이해도를 고려한 설명에 비중을 두어야 함을 시사한다. 또한 강의 자료와 교수특성, 강의운영 영역의 분석결과는 교수가 학생의 의견에 조금만 귀를 기울여도 강의개선이 가능함을 시사한다. 단과대별로 살펴보면 자연대에서는 교수-학생 그룹 간 의견의 일치도가 가장 낮게 나타났다. 강의개선을 위한 방향 설정에서양 집단의 인식차이를 파악하는 노력이 필요하다는 것을 의미한다 This study analyzed the result of response to the comment/essay survey on the same lecture between for both professors and students to compare self rating by professor on his or her lecture with student evaluation in order to find out the difference in recognition between professor group and student group and the characteristic of college etc. The lecture evaluation with same questions by 133 professors and the responses to the comment/essay survey on lecture by 4665 students that were conducted respectively from 2013 to 2016 were analyzed by dividing 6 colleges. For the method of analysis, Excel macro program produced by Prof. Kim Kyu-tae’s research team was used as network analysis method to extract key words and word cloud image and the keyword network was analyzed by Ucinet and Netdraw. The extracted keywords were classified as the final 8 categories: lecture environment, lecture material, lesson management, how to explain, interaction, the characteristic of professor, evaluation and others. The result showed that there were greatest number of comments in How to explain for both professor and student group and these both groups take account of How to explain most. In other words, it implies that it should put emphasis on explanation that considers the level of students and understanding. In addition, the analyzed result of lecture environment, the characteristic of professor and lesson management suggests that it’s possible to improve the quality of lecture if the professors give careful attention to the opinion of students. To review it by each college, the college of natural sciences showed lowest consistency for the opinions between professors and students. It means that it’s necessary to make efforts to understand the gap in recognition between both groups in terms of setting direction for lecture improvement.
조철민(Chulmin Cho),윤한솔(Hansol Yoon),윤헌준(Heonjun Yoon),김홍진(Hongjin Kim),이소원(Sowon Lee),윤병동(Byeng Dong Youn),김재은(Jae Eun Kim),김윤영(Yoon Young Kim) 대한기계학회 2012 대한기계학회 춘추학술대회 Vol.2012 No.11
Prior to designing energy harvesters, it is important to understand ambient energy characteristics and preliminary computation of harvestable energy. With special attention to vibrational and thermal ambient energy sources, this study aims at developing a corresponding energy map that can visualize ambient and harvestable energy). The energy map benefits energy harvesting technology in many ways. First, economic feasibility can be studied while selecting best sites for energy harvesting. Second, the map facilitates the conceptual and detailed design of an energy harvester type (e.g., piezoelectric, thermoelectric) and its target application such as wireless sensor network. The three-fold steps are proposed to build the energy map: 1) data acquisition for available energy, 2) harvestable energy analysis with energy conversion models, and 3) visualization of harvestable energy. We obtain site-specific harvestable energy maps and open discussion about the benefits of the proposed idea.
고정형 위상 천이기를 이용한 동일 위상 마이크로파 전력 분배기
김정욱(Jung Ouk Kim),김한솔(Hansol Kim),안보람(Boram An),김수정(Sujeong Kim),김찬호(Chan-Ho Kim),윤원상(Won-Sang Yoon),한상민(Sang-Min Han) 한국전자파학회 2018 한국전자파학회논문지 Vol.29 No.8
본 논문에서는 고정형 위상천이기를 이용한 동위상 급전 평면형 전력분배기 회로를 제안하였다. 정교한 빔 조향을 위한 위상배열안테나의 집적도가 높아짐에 따라, 소자 안테나에 동일한 위상 신호를 공급하기 위해 급전 선로의 길이를 조정하는 기존의 방법에는 공간적 제약이 존재하게 된다. 따라서 평면형 위상천이 기능을 갖는 결함접지구조를 이용하여 인위적인 급전선 길이 조정 없이 소자 안테나에 동일 위상 신호를 공급하는 전력분배기를 설계하였다. 결함접지구조는 선로의 삽입손실을 최소화하고, 위상 천이를 조절할 수 있도록 설계되었으며, 안테나 포트간 격리도와 평면형 구현이 가능한 분배기를 설계 제작하였다. In this paper, a planar equi-phase power divider is proposed using fixed phase shifters. As the integrability of a phased array antenna increases for accurate beam steering, a conventional method to excite equi-phase signals to all element antennas, extending the feedline, has spatial limitations. Therefore, the planar equi-phase power divider is designed using a defected ground structure with a planar phase shift function without intentional feedline extension. The defected ground structure has been considered for a low insertion loss and a controllable phase shift, whereas the power divider has been designed and implemented with a port-to-port isolation and a planar configuration.
임펄스 측정잡음에 강인한 저가형 볼앤빔 시스템의 접촉식 볼 추적센서 개발
장주영(Joo Young Jang),이자승(Jaseung Lee),윤한솔(Hansol Yoon),나원상(Won-Sang Ra) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.11
This paper proposes a new contact type ball tracking sensor to improve the control performance of a low cost ball-and-beam system. It is well-known that the impulsive measurement noise contained in ball position measurement is one of the factors which severely degrades the ball-and-beam control performance. The impulsive ball position measurement noises often appear under the sporadical ball floating on the beam. This fact motivates us to devise a simple analog preprocessing circuit to determine whether the ball loses the contact or not. Once the abnormal ball position measurement is detected, the design problem of the ball tracking sensor can be cast into the typical state estimation problem with missing data. In order to tackle the real-time implementation issue, a steady-state Kalman filter is applied to the problem. Through the experimental results, the usefulness of the proposed scheme is demonstrated.