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굴삭기를 위한 레이저 스캐너 기반 확률 및 예견 작업 위험도 평가 알고리즘 개발
오광석,박성렬,서자호,이근호,이경수,Oh, Kwang Seok,Park, Sung Youl,Seo, Ja Ho,Lee, Geun Ho,Yi, Kyong Su 유공압건설기계학회 2016 드라이브·컨트롤 Vol.7 No.4
This paper presents a stochastic and predictive working-risk-assessment algorithm for excavators based on a one-layer laser scanner. The one-layer laser scanner is employed to detect objects and to estimate an object's dynamic behaviors such as the position, velocity, heading angle, and heading rate. To estimate the state variables, extended and linear Kalman filters are applied in consideration of laser-scanner information as the measurements. The excavator's working area is derived based on a kinematic analysis of the excavator's working parts. With the estimated dynamic behaviors and the kinematic analysis of the excavator's working parts, an object's behavior and the excavator's working area such as the maximum, actual, and predicted areas are computed for a working risk assessment. The four working-risk levels are defined using the predicted behavior and the working area, and the intersection-area-based quantitative-risk level has been computed. An actual test-data-based performance evaluation of the designed stochastic and predictive risk-assessment algorithm is conducted using a typical working scenario. The results show that the algorithm can evaluate the working-risk levels of the excavator during its operation.
명의수탁자의 근저당권설정행위와 횡령죄의 불가벌적 사후행위
오광석,주석진 서울대학교 법학평론 편집위원회 2013 법학평론 Vol.4 No.-
부동산의 명의수탁자가 명의신탁자의 뜻에 반하여 임의로 근저당권을 설정한 후 다시 별개의 근저당권을 설정하거나 이를 매도하는 경우, 종래 판례는 일관되게 선행 근저당권설정행위로 인해 당해 부동산 전체에 대한 횡령죄가 기수에 이르렀고, 따라서 후행 근저당권설정행위나 매도행위는 불가벌적 사후행위로서 별도의 횡령죄를 구성하지 않는다고 보았다. 그러나 이러한 종래 판례에 따르면 선행 근저당권 설정등기를 말소한 후 다시 근저당권을 설정한 경우 횡령죄가 2개 성립하지만, 근저당권의 말소없이 근저당권을 2개 설정한 경우에는 1개의 횡령죄만 성립하며, 나아가 횡령죄와 달리 배임죄의 경우 근저당권 설정 횟수만큼 배임죄가 성립하는 등 여러 불합리한 결과가 발생하였다. 이러한 문제점에 따라 종래 판례에 대해 많은 비판이 있었고, 이에 대상판결에 의해 횡령죄의 경우에도 근저당권 설정 이후의 추가적인 근저당권설정행위 또는 매도행위는 별도로 횡령죄를 구성한다고 하여 판례가 변경되었다. 다만 대법원은 판례 변경에 있어서 그 이론적 근거를 충분히 설시하지 못하여 아쉬움을 남겼다. 이에 대상판결의 결론을 지지하면서, 그 이론적 근거로서 후행 근저당권설정행위에 의해 소유권 침해의 위험의 정도가 증가하며, 매도행위에 의해 소유권 침해가 당초 예정되지 않았던 방식으로 실현될 수 있다는 점을 설명한다. 한편 특정경제범죄 가중처벌 등에 관한 법률 제3조에 따라 횡령죄의 이득액이 5억 원 이상이면 동법의 규율대상인바, 대상판결에 따라 향후 이득액 산정은 실질가치설에 따르게 될 것이다.
오광석,서자호 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.3
This paper presents a rotational inertia estimation algorithm for excavators based on recursive leastsquares with forgetting and an adaptive updating rule that uses the performance analysis of the Kalman filter. Generally, excavators execute a swing motion with various materials, and the rotational inertia of the excavator is changed greatly due to the excavator’s working posture. The large variation in the rotational inertia of the excavator has an influence on the dynamic behaviors of the excavator, and an estimation of the excavator’s rotational inertia is essential to developing a safety system based on prediction of dynamic behavior. Therefore, a real-time rotational inertia estimation algorithm has been proposed in this study using a swing dynamic model. The proposed estimation algorithm has been designed using only swing velocity, utilizing the recursive least squares method with multiple forgetting for practical application to actual excavators. Two updating rules have been applied to the estimation algorithm in order to enhance the estimation performance. The first proposed rule is the damping coefficient updating rule. The second rule is the forgetting factor updating rule based on real-time analysis of linear Kalman filter estimation performance. The performance evaluation of the estimation algorithm proposed in this paper has been conducted based on the excavator’s typical dumping scenario. The performance evaluation results show that the developed inertia estimation algorithm can estimate actual rotational inertia with the two designed updating rules using only excavator swing velocity.
오광석 한국교회사학회 2008 韓國敎會史學會誌 Vol.23 No.-
Der deutsche lutherische Pietismus war eine einflussreiche Strömung, die John Wesley eine bestimmte theologische Orientierung gab. Diese Untersuchung erläutert den Einfluss bzw. möglichen Einfluss der frühen deutschen lutherischen Pietisten auf Wesley, indem verfolgt wird, was er von den relevanten Quellen der Pietisten wusst und wie er sie nutzte. Wesley gewann die Ideen für die Religion des Herzens oder der innerlichen Religion und dem heiligen Leben vom lutherischen Pietismus. Auch Wesleys methodistische Struktur wurde in gewisser Weise durch das, was er bei den Modellen der Spener-Halle Pietisten beobachtete, beeinflusst, während die methodistische Struktur im Vergleich zu der der Pietisten eher “connexional” war. Wesley war sehr von den Bemühungen Johann Arndts beeindruckt, der versuchte, die Rechtfertigung und die Heiligkeit in seinen Bücher vom wahren Christentum miteinander zu verbinden. Wesley stand unter bedeutendem, wenn auch indirektem Einfluss von Phillip Jakob Spener, der auf die innerliche Religion und auf das Praktische, auf die biblische Theologie, und auf die Vermeidung des unnötigen dogmatischen Streitgesprächs und auf die Entwicklung von kleinen Gruppen großen Wert legte. Wesley las viele Schriften von August Hermann Francke wie z.B. Pietas Hallensis, Nicodemus, Christus sacrae scripturae nucleus oder Manuductio ad lectionem scripturae sacrae, und er folgte dem eindrucksvollen Beispiel der Halle Pietisten, nämlich des Waisenhauses und der Ausbildung. Wesley lernte von den Pietisten, wie wichtig die Rolle der Laien und deren Ausbildung, in Bezug auf die Entwicklung des geistigen Lebens ist. Er wurde außerdem von der Disziplin der Halle Pietisten und ihrer Begeisterung für die Mission stark beeindruckt.