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UI proposal using modified diamond pairwise comparison diagram for fuzzy integral-based GIS–MCDM
유정기,김민수 대한공간정보학회 2016 Spatial Information Research Vol.24 No.3
GIS-based data fusion is now considered as a common methodology for selecting appropriate sites to locate government or company sites. Due to the success of GIS-based approaches, its UI system becomes very important in service promotion aspects. In particular, UI system presented to general public has to be intuitive and effective to cope with multi-criteria decision making problems (MCDM) which become majority in GIS-based selection problems. In this paper, based on the fuzzy measure and fuzzy integral method for dealing with GIS– MCDM problems, an intuitive UI system for GIS–MCDM is proposed by modifying conventional UI using diamond pairwise comparison diagram focusing on using the easy- to-understand terms and coinciding appropriate meaningful directions with human‘s intuitive understanding. In addi- tion, strategy for applying the fuzzy measure and fuzzy integral method along with the proposed UI system upon the public service is also described considering the distri- butional aspects of computational burden to process data fusion calculation efficiently.
분산점칼만필터를 이용한 휴머노이드 로봇 SLAM 아키텍쳐
유정기 大田大學校 産業技術硏究所 2015 산업기술연구소 論文集 Vol.26 No.2
For a humanoid robot, its non-linear constraints have to be considered for developing a navigation architecture including simultaneous localization and mapping (SLAM). In particular, its center-of-mass shows sinusoidal function-like sway motion during walking. To cope with these complexity issues, unscented kalman-filter based SLAM has been employed and used as an important component for implementing gaze control-based navigation architecture for a humanoid robot. Especially, modifiable walking pattern generation (MWPG) algorithm is considered for composing motion and observation models for the SLAM architecture. The proposed architecture is verified through simulations using a developed dynamic simulator for a small-sized humanoid robot, HanSaRam(HSR)-VII. 휴머노이드 로봇은 시스템의 특성상 이동 명령에 따른 실제 보행궤적 생성 및 위치 이동이 비선형성과 비주기성을 갖게 된다. 그러한 휴머노이드 로봇을 위한 위치추정 및 지도제작(SLAM) 알고리즘을 구성하기 위해서는 비선형성에 대응하기 위해 분산점 칼만필터를 사용하고, 휴머노이드 로봇의 보행 특성을 고려한 동작 모델과 관측 모델이 필요하다. 본 논문에서는 선행 연구 에서 보행궤적생성에 사용된 가변보행궤적생성(modifiable walking pattern generation: MWPG) 알고리즘에 기반한 동작 모델과 관측모델을 제안하고 그 효용성을 시뮬레이션을 통해 검증하였다.
柳正基 忠南大學校 1966 論文集 Vol.5 No.-
Chapter 1. Introduction A. The national fortunes and the symbols of nation The names of the countries national flags, national anthems and national flowers, which are symbols of the countries are really to symbolize the fortunes of the countires. Now, I think it is proved in our country. B. The flags and names of forign countries The symbol appeares to be just the fortune of the country and national flag. It is proved in japan, China, England, and united State. Chapter 2. A study on the name of our Country A. An origin og the name “Chosun”(朝鮮) 1. “Chosun”of the ancient time “Chosun” was called as a name of our country after Dangun(檀君)set up our country at Pyung yang(平壤), till the time of Kija(箕子) and Weman(衛滿). It also overlaps the name of Buyea(扶餘) and Logurea(高句麗) 2. “Chosun” of Posterity kogurea also overlaps the name of “Chosun”, Sinla(新羅) united Bakje(百濟) and annichilated Kogurea, but the name of “Chosun” was again returned after Korea(高麗) B. An origin of the name “Daehan”(大韓) 1. Samhan(三韓)of the ancient time kijun(箕準) who ran away from Weman(衛滿) to the south at Kummajeu(金馬諸) established the state of Mahan(馬韓) and then Jinhan(辰韓) stood face to face with Byunhan(弁韓) Afterwards they were annichilated by Bakje and Sinla. 2. Daehan(大韓) of coming generations Ree Dynasty was independent as empire of Daehan in the first year of kwangmu(光武). After world war Ⅱ dividing our country into two parts through 38 parallel was hinted. To the south of 38 parallel the independent Republic of Korea consists in Chapter 3. Study on the Flag of our country A. An origin of Taeguk figure and its name 1. A source of Taeguk figure. Taeguk figure is truth of the universe and it is an origin of Mathematics. Taeguk figure skethes the Hado(河圖) which is arranged in the five positions with the number from 1 to 10 (total 55). 2. A source of the Taeguk name. The name of Taeguk came from the kyesajun(繫辭傳) fo the Book of Change(周易). The name and figure of Taeguk was combined in the “Doctrine of Taeguk” by master Chou(周子), and it was completed by the “Hadotaeguk” of Laegudang(來瞿塘). B. A positive of the truth of Taeguk 1. A positive of the truth in the Universe. The Taeguk figure sketches the rolling courses of the universe nature. It sketches the change of one day or one year. 2. A positive of the truth in the all things. Every thing is a Taeguk. Specially an organic body is a representative of Taeguk. One generation of the human life could be sketched a Taeguk figure. Chapter4. Conclusion A. A System of the names and the flags of all countries. Ths names and the flags of the three countries; Japan, Chosun, and China were redused to a system. The flags of the stars and moon in the western Asia and northern Africa, the Flags of cross and stripes in northern Europe and southern Europe have a meaning. B. Betterment of the symbol of our country. Now, the name of Daehan might be changed into “morning land” and the flag of Ryangui(兩儀) might be returned to Taeguk. It will represh peoplses mind and be only a resort to unify our Country.