해도 정보를 이용한 선박의 최적 항로 생성

김민규(Min-Kyu Kim),김종화(Jong-Hwa Kim),양현(Hyun Yang) 한국항해항만학회 2022 한국항해항만학회 학술대회논문집 Vol.2022 No.2

Min-Kyu Kim*․Jong-Hwa Kim**․†최근 자율 운항 선박에 대한 관심이 높아지고 있다. 특히, MUNIN (Maritime Unmanned Navigation through Intelligence in Networks) 프로젝트를 계기로 자율 운항 선박에 대한 개발과 연구가 활발히 진행되고 있다. 또한 국제해사기구 IMO는 자율 운항 선박 시대에대응하기 위해 자율 선박을 MASS (Maritime Autonomous Surface Ship)라 정의하고 선박 자율화 정도에 따라 4단계 등급을 제시하고 있다. 완전한 자율 운항 선박에 대한 요구조건을 만족하기 위해서는 항로 결정과 제어기술이 필수적이다. 본 연구에서는 여러 가지 기술 중 선박의최적경로를 생성하는 기법을 다룬다. 기존에 최적항로를 생성하기 위한 방법으로는   , Dijkstra와 같은 알고리즘들이 주로 사용되었다. 그러나 이와 같은 알고리즘은 섬이나 육지에 대한 충돌 회피는 고려하고 있지만 수심 및 연안 선박에 대한 규정들은 고려하지 않고 있어실제로 적용하기에는 한계점이 있다. 따라서 본 연구에서는 안전을 위해 선박의 선저 여유 수심과, 해도에 규정되어 있는 선박 운항에 대한여러 규정들을 반영하여 최적 항로를 생성하고자 한다. 최적 항로를 생성하기 위한 알고리즘으로는 강화학습 기반의 Q-learning 알고리즘을적용하였다.

사람의 정액에서 세 종류의 β - N - Acetyl - D - glucosaminidase 의 분리 및 성질에 관한 연구

김종화,양철학 ( Jong Hwa Kim,Chul Hak Yang ) 생화학분자생물학회 1982 BMB Reports Vol.15 No.4

Three β-N-acetyl-D-glucosaminidases (E. C. 3. 2. 1. 30) of one B form an d two A forms were isolated from human semen. The enzyme from human seminal plasma was fractionated by (NH₄)₂SO₄. By DEAE-cellulose chromatography, β-N-acetyl-D-glucosaminidase B was eluted with buffer alone and A₁ form and A₂ form of β-N-acetyl-D-glucosaminidase were eluted with 0.1 M NaCl and 0.25 M NaCl respectively. Each enzyme was further purified by Pll cellulose phosphate and Sephadex G-200 chromatography. The highly purified β-N-acetyl-D-glucosaminidase B showed one major protein band and A₁ form and A₂ form showed one major and one minor bands on disc gel electrophoresis at pH 8.3. Three of the enzyme had maximum activities at pH 4.5, but the temperature optimum was 50-54 ℃ for B, 43-47 ℃ for A1 and A2. The three enzymes had identical Km values of 1. 33 mM with p-nitrophenyl-β-N-acetyl-D-glucosaminide as substrate. Sulfite, acetate and β-N-acetyl-D-glucosaminidaseinhibited the β-N-acetyl-D-glucosaminidase B, A₁ and A₂ activities. N-acetyl-n-glucosmine inhibited β-N-acetyl-D-glucosaminidase competitively and the KI values were 1. 64 mM for β-N-acetyl-D-glucosaminidase B and 1. 96 mM for β-N-acetyl-D-glucosaminidase A by Dixon plot. The molecular weight of human semen β-N-acetyl-D-glucosaminidase was 170,000 by gel filtration. The DEAE-cellulose fractions which showed β-N-acetyl-D-glucosaminidase B activity retained 70% of its activity at 60 ℃ for 4 hrs, whereas A₁ and A₂ were heatlabile. However incubation at 60 ℃ for 30 ruin completely inactivated the three purified enzymes.

플라즈마 화학 증착법에 의한 PbTiO3 박막의 증착과 급속열처리 효과

김종화,한윤봉 ( Jong Wha Kim,Yoon Bong Hahn ) 한국화학공학회 1996 화학공학의이론과응용 Vol.2 No.2

Three ${\beta}$-N-Acetyl-D-glucosaminidase from Human Semen : Their Purifications and Properties

김종화,양철학,Kim, Jong-Hwa,Yang, Chul-Hak 생화학분자생물학회 1982 한국생화학회지 Vol.15 No.4

하나의 A형태와 두개의 B형태의 ${\beta}$-N-acetyl-D-glucosaminidase가 사람의 정액으로부터 분리되었다. 사람의 seminal plasma를 희석시킨 다음 $(NH_4)_2SO_4$로 분획 분리시켰다. DEAE-cellulose column으로부터 ${\beta}$-N-acetyl-D-glucosaminidase B는 완충 용액만으로 용출되어졌으며 $A_1$과 $A_2$는 각각 0.1M NaCl과 0.25M NaCl에서 용출되어졌다. 각 효소는 P11 cellulose phosphate와 Sephadex G-200 크로마토그래피법에 의하여 더욱 정제되어졌다. 고순도로 정제된 ${\beta}$-N-acetyl-D-glucosaminidase B는 pH 8.3의 disc gel electrophoresis에서 하나의 단백질 띠로 나타나는 반면, $A_1$과 $B_2$는 하나의 주된 띠와 다른 하나의 가는 띠로 나타났다. 이 세효소는 모두 pH 4.5에 서 가장 높은 활성도를 나타내고 있으며 온도에 대한 가장 높은 활성도는 B 형태가 $50-54^{\circ}C$에서 나타났고 $A_1$과 $A_2$ $43^{\circ}-47^{\circ}C$에서 나타났다. 세 효소는 기질로서 p-nitrophenyl-${\beta}$-N-acetyl-D-glucosaminide를 사용하였을 때 모두 Km값이 1.33 mM로 동일하였다. Sulfite와 acetate 및 N-acetyl-D-glucosamine은 세 효소의 활동도를 모두 방해하였으며 특히 N-acetyl-D-glucosarnine은 ${\beta}$-N-acetyl-D-glucosaminidase들을 경쟁적으로 방해하였으며 Dixon의 그래프법에 의하여 KI값을 구한 결과 B형태는 1.64 mM이었고 A형태는 1.96 mM이었다. 베타-엔-아세틸-디-글루코 사미니다아제의 분자량은 젤 여과법에 의하여 구한 결과 170,000이었다. DEAEcellulose column용출액 중에서의 ${\beta}$-N-acetyl-D-glucosaminidase B는 $60^{\circ}C$에서 4시간 반응한 후에도 70%의 활성도를 유지하였으나 $A_1$과 $A_2$형태의 효소는 대단히 불안정하였다. 그러나 고순도로 정제된 세 효소는 모두 $60^{\circ}C$에서 30분이내에 완전히 활성도를 잃었다. Three ${\beta}$-N-acetyl-D-glucosaminidase (E.C. 3.2.1.30) of one B form and two A forms were isolated from human semen. The enzyme from human seminal plasma was fractionated by $(NH_4)_2SO_4$. By DEAE-cellulose chromatography, ${\beta}$-N-acetyl-D-glucosaminidase B was eluted with buffer alone and $A_1$ form and $A_2$ form of ${\beta}$-N-acetyl-D-glucosaminidase were eluted with 0.1 M NaCl and 0.25 M NaCl respectively. Each enzyme was further purified by P11 cellulose phosphate and Sephadex G-200 chromatography. The highly purified ${\beta}$-N-acetyl-D-glucosaminidase B showed one major protein band and $A_1$ form and $A_2$ form showed one major and one minor bands on disc gel electrophoresis at pH 8.3. Three of the enzyme had maximum activities at pH 4.5, but the temperature optimum was $50-54^{\circ}C$ for B, $43-47^{\circ}C$ for $A_1$ and $A_2$. The three enzymes had identical Km values of 1.33mM with p-nitrophenyl-${\beta}$-N-acetyl-D-glucosaminide as substrate. Sulfite, acetate and ${\beta}$-N-acetyl-D-glucosaminidase the ${\beta}$-N-acetyl-D-glucosaminidase B, $A_1$ and $A_2$ activities. N-acetyl-n-glucosmine inhibited ${\beta}$-N-acetyl-D-glucosaminidase competitively and the $K_I$ values were 1.64 mM for ${\beta}$-N-acetyl-D-glucosaminidase B and 1.96 mM for ${\beta}$-N-acetyl-D-glucosaminidase A by Dixon plot. The molecular weight of human semen ${\beta}$-N-acetyl-D-glucosaminidase was 170,000 by gel filtration. The DEAE-cellulose fractions which showed ${\beta}$-N-acetyl-D-glucosaminidase B activity retained 70% of its activity at $60^{\circ}C$ for 4 hrs, whereas $A_1$ and $A_2$ were heatlabile. However incubation at $60^{\circ}C$ for 30 min completely inactivated the three purified enzymes.

야전 환경에서 기계구조물 표면처리 개선에 관한 실험적 연구

김종화,현종훈,강석중,Kim, Jongwha,Hyun, Jonghun,Kang, Seokjoong 한국군사과학기술학회 2021 한국군사과학기술학회지 Vol.24 No.2

Mechanical structures of military equipment have been mainly applied with black oxide coating due to the limitation of surface treatment thickness. However, the mechanical structures applied by the black oxide coating treatment is constantly being corroded by calcium chloride and humidity. Since this can cause serious problems in the operation of equipment, a review to improve surface treatment and corrosion resistance is required. Therefore, in this study, surface treatment methods that can enhance corrosion resistance were selected and corrosion resistance performance was verified through experiments describing harsh field conditions. Thus, applying a proven surface treatment method to future military equipment will prevent corrosion.

소음성 청력손실이 혈압에 미치는 영향에 관한 조사연구

김종화,이충렬,Kim, Jong-Hwa,Lee, Choong-Ryeol 대한예방의학회 1987 예방의학회지 Vol.20 No.2

For the purpose of evaluating the effect of noise induced hearing loss on the blood pressure, a cross-sectional study was conducted in 481 manufacturing industrial workers in Pusan area consisted of 275 workers from noisier plant (over 90 dB(A), high exposed group) and 206 workers from less noisy plant (below 85 dB(A), low exposed group) from April to Decepmber in 1985. The summarized results were as follows; 1) The degree of hearing loss according to the audible frequency was most notable in 4,000 Hz. 2) The prevalence of hypertension was 14.8% in total examined subjects. And also in 40 dB(A) hearing lost workers, there was no significant difference between high exposed group as 15.5% and low exposed group as 15.8%. 3) In 3 models analyzed by multiple regression technique to obtain the complexed extents of risk factors related to the diastolic blood pressure, especially model III which contain age, body mass index, smoking, alcohol and family history of hypertension, duration of work, noise exposure level and degree of hearing loss in high exposed group was most remarkable compared to the others. 4) The most potential predictor related to the diastolic pressure in high exposed group was the degree of hearing loss. And the next were body mass index, familial history of hypertension and age in order. But in the case of low exposed group, the potential predictors were body mass index, age and familial history of hypertension.

Anti - Tac 항체의 L chain 유전자 재배열

김종화,이병룡,김학주,변시명 ( Jong Hwa Kim,Byeong Ryong Lee,Hack Joo Kim,Si Myung Byun ) 생화학분자생물학회 1987 BMB Reports Vol.20 No.3

A high molecular weight DNA from a hybridoma cell, Hd-2-4-5, producing anti-tac antibody was digested to completion with BamHI restriction endonuclease. The resulting DNA fragments were fractionated according to the size in 1% preparative agarose gel electrophoresis. After ligation of the fragment with modified Charon 28 and packaging in vitro, DNA fragments carrying the gene sequences coding for the varibable region of light chains were detected by hybridization with mouse J_k fragment labeled with ^(32)P. We have cloned the κ-sequence positive BamHI DNA fragments and characterized the cloned sequences by comparing with mouse embryonic light chain. On the basis of the results, it was concluded that the cloned light chain gene underwent somatic rearrangement. The J₁-J₂ cluster was deleted and the region was directly linked to remaining J cluster by V-J recombination.

SCS 유출곡선지수법(流出曲線指數法)을 이용한 만내(灣內) 담수(淡水) 교체시간(交替時間)의 추정(推定)

김종화,장선덕,송현구,Kim, Jong Hwa,Chang, Sun Duck,Song, Hyun Ku 대한토목학회 1994 대한토목학회논문집 Vol.14 No.6

항만의 단기 관측자료에 의한 해수의 수송은 조석잔차류와 바람응벽 등으로 해수의 평형상태를 유지하기 어렵다. 이로 인해 순 용적수송량이 만외로 유출되어야 함에도 불구하고 짧은 주기동안 만내로 유입됨으로써 담수 교체시간을 계산할 수 없었다. 본 연구는 1 조석 주기의 단기관측과 유역의 강우량 자료로부터 SCS의 유효강수량을 계산함으로써 담수 교체시간의 추정가능성을 검토하였다. 완전혼합을 가정하여, 여름철 마산만에 적용된 담수 교체시간은 외해수의 염분변화에 따라 10.9~15.3일로 분포하였다. 이는 여름철 마산만에서 순 용적 수송량(NVT)에 의한 평균 체류시간 13.9일에 상당히 근접된 값이다. 강한 성층을 이룬 홍수기의 경우 2층모델에 적용하면, 만구에서 교체시간은 1.2일로 추정되어 완전혼합모델에서 얻은 2.1일보다 작은 값이다. 이것은 홍수기에 유입된 담수가 대부분 상층을 통하여 만외로 유출되기 때문이다. 또 마산만에서 얻은 담수 유입량 $Q_r$과 교체시간 t와의 상관관계식을 완전혼합과 2층 모델의 2가지 조건으로 나타내었고, 이들이 비선형적 관계를 가지고 있음을 알 수 있었다. 이런 관계는 보스톤 내만에서 직접 하천 유입량을 조사한 결과와 근접된 형태를 보였다. 따라서 이 식들은 만의 흐름구조와 농도의 성층정도에 따라 달리 적용할 수 있고, 담수유입량의 변동에 의한 담수 교체시간의 예측을 가능케 한다. 그러므로 순 용적 수송량의 계산으로 구할 수 없는 단기관측자료는 SCS 유출곡선지수법에 의해 담수 교체시간의 추정이 가능할 것이다. The SCS Curve Number(CN) method has become widely accepted as a procedure of estimating stormflow volumes for design and natural events in small watersheds. The applicability of this method for calculating the flushing time was evaluated as compared with the net volume transport(NVT) method in Masan Bay, Korea. It is shown that the flushing time using the CN method ranged from 10.9 to 15.3 days under the well mixed condition, that the time using the NVT method was 13.9 days averaged over 6 days of field data. These results were revealed that two methods calculated the approximate times as shown above. The relationships between the run-off, Qr, and the flushing time, t, are expressed as the following forms. $t_1=228.79Q_r^{-0.9996}$ in case of well mixed condition, (1) $t_2=131.06Q_r^{-1.0}$ in case of two layered model. (2) Those empirical expressions are represented that the relationships between Q and t are nonlinear as those as Bumpus obtained in Boston Inner Harbour. Therefore, the CN method will permit calculation of the flushing time for any given bay to be unexpected as water balance under the condition of short-time (0.5 day) data, instead of NVT method based on the long-time (at least 3 days over) data.

선박의 항로추종을 위한 펴지 PID 제어기형 오토파이럿 시스템

김종화,하윤수,이병결,Kim, Jong-Hwa,Ha, Yun-Su,Lee, Byung-Kyul 한국마린엔지니어링학회 2006 한국마린엔지니어링학회지 Vol.30 No.6

This paper proposes an autopilot system using a fuzzy PID controller to satisfy performances required for the automatic navigation of ships under various marine circumstances. The existing autopilot system using a PD type controller has difficulties in eliminating a steady-state error and compensating nonlinear characteristics of ships. The autopilot system using the proposed fuzzy PID controller has a self-tuning ability, an ability to compensate nonlinear characteristics, and an ability to turn at constant angular velocity. Therefore. it can naturally make a steady-state error zero, compensate nonlinear dynamic effect of ships, have an adaptability to parameter variation owing to shallow water effect, and have an ability to turn ship's course rapidly without overshoot through procedures of acceleration, constant, and deceleration of angular velocity for large course-changing.

해류중 직선 항행하는 선박의 LOS 가이던스 시스템의 제안과 유전 알고리즘을 이용한 최적화

김종화,이병걸,Kim Jong-Hwa,Lee Byung-Kyul 한국마린엔지니어링학회 2005 한국마린엔지니어링학회지 Vol.29 No.1

This paper suggests LOS(Line-Of-Sight) guidance system of a surface vessel in straight-line navigation under ocean currents An LOS vector from the vessel to a point on the path between two way-points is decided and a heading angle is calculated to converge to follow the desired path based on the LOS vector This guidance system is called LOS guidance system. The suggested LOS guidance law has parameters to be properly chosen according to navigational environment. Parameters of LOS guidance system are optimized to reduce propulsive energy and/or position error between desired Position and present position of a ship using genetic algorithm which is a strong optimization algorithm with adaptational random search The effectiveness of the suggested LOS guidance system is assured through computer simulations.