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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.
최적 층 경계점 계산을 적용한 임산물생산통계조사표본설계 연구
정연수,이계오 통계청 2015 통계연구 Vol.20 No.1
This paper suggests a stratified sample design to estimate output level of the five forest products(chestnut, astringent persimmon, jujube, walnut, and shiitake mushroom) on Si-Gun-Gu level with application of the Lavallee and Hidiroglou(LH) Stratification Method to determine the optimal Stratification boundaries. First, we analyzed characteristics of the population on each of the five forest products. Second, we propose the optimal boundary points of the strata with variation of harvesting area, a number of producing units and etc on the five products. Finally, we suggest sample mean method and ratio estimation to determine the Si-Gun-Gu forest output level, and two estimation method were numerically confirmed. 임산물 5개 품목(밤, 떫은감, 대추, 호두, 표고버섯)의 생산량에 대한 시군구단위 통계 추정의 신뢰성을 확보하기 위한 표본설계를 연구하였다. 첫째, 정확한 생산량 추정을 위해 임산물 품목별모집단의 특성 및 문제점을 분석하여 표본설계에 반영하였다. 둘째, 5개 품목의 모집단 특성인재배면적, 재배본수와 임가의 특성 및 재배특성 등을 반영한 최적 층화방안으로 LH(Lavallee & Hidiroglou)의 층 경계점 산출방법을 적용하였다. 셋째, 품목별 시군구단위 생산량 추정방안으로표본평균법과 비추정법을 제안하고 수치적으로 검증하였다.
정연수,정예수 한국체육철학회 2014 움직임의철학 : 한국체육철학회지 Vol.22 No.2
This review is designed to present the outline of‘body concept’by a choreographer’s perception which can be presented in dance related works based on phenomenology of Merleau-Ponty. As is generally known, the perception of creator’s view on phenomenological‘body concept’is one of important key elements for actualization of dance art, since dance art which includes creativeness can be embodied through‘body(chair)’. In this study, there are three dimensions as world in choreographer’s perception on‘body’; (a)‘body concept in dancing room’, (b)‘body concept in stage’, and (c)‘body concept in daily life’. These three dimensions were designated by Merleau-Ponty’s ‘body frame concept(schéma corporel)’according to variable attribute of human’s body. With this process, the outline of‘body concept’by a choreographer’s perception includes reflective attitude of phenomenology, identity of‘body’, directivity toward world, and interaction was presented in this study. 이 논문은 메를로-퐁티의 현상학적 철학적 견지를 근간으로 사물의 인식 구조를 연구자로서의 안무가가 실제 무용 관련 현장에서 인식하는‘몸’에 대한 현상을 제시하는데 목적이 있다. 무용 예술에서의 창조성은 움직임을 구현하는 ‘몸’이라는 실존재를 체화시킴으로서 탄생하는 것이므로, 창작자인 안무가의 ‘몸’에 대한 현상학적 인식은 무용 예술 구현의 핵심적인 요소이다. 이에 본 연구에서는 안무가의 몸에 관한 사유를‘무용실에서의 몸’,‘무대에서의 몸’, 그리고‘일상으로의 몸’의 세 가지 차원으로 구분하였는데, 이는 공간에 따라서 변형되어지는 몸을 메를로-퐁티의‘몸틀(schéma corporel)’의 개념에 적용하였다. 각각의 세 가지 세계에서의 몸을 현상학에서의 반성적 견지, 몸의 주체성과 세계에로의 지향성, 상호작용성을 중심으로 제시했다.