지난 1980년대 이래 규제완화, 개방화, 세계화 등의 신자유주의 사고가 확산하면서 국제자본이동 이 크게 늘어났고, 신흥국은 높은 거시경제 취약성과 경기순응성에 노출되었다. 이에 대응하여 신흥 국들은 자본유출입을 규제하는 자본이동관리정책을 실시하였고, 특히 2008년 글로벌 금융위기 이후 거시건전성 정책의 필요성이 높아지는 가운데 2010년대 들어 IMF 등 국제사회가 긍정적 견해를 표명 한 이후 동 정책이 효과가 있다는 분석이 많아지고 있다. 한국도 이와 같은 거액의 자본이동에 대응하여 1990년대 이래 여러 가지 미시건전성 조치를 실시 해 오고, 2010년대 들어서는 선물환포지션 한도제, 외환건전성부담금 도입 등 거시건전성 정책을 도 입하여 경제 불안정을 해소하는데 효과를 거둔 것으로 평가받고 있다. 그러나, 한국은 아직도 높은 대외 의존적 경제체제를 유지하고 있어 세계 경제의 충격에 취약하 고, 금융·외환시장이 외국투자자들의 영향을 많이 받고 있는 실정이다. 따라서 한국은 향후 기초경제여건 강화, 대외 모니터링시스템 구축, 적정 외환보유액 유지, 국제 사회와의 긴밀한 협조 및 중장기적인 원화 국제화를 도모하여야 할 것이다. 주 제

최근 실시간으로 모션블러(motion blur)를 위한 연구들은 픽셀당 여러개의 시간 색상을 계산 한 후 평균내는 방식으로 샘플의 수가 적을 경우 아티펙트(artifacts)나 노이즈(noise)가 발생하 는 문제를 가지고 있다. 본 논문은 이러한 문제를 개선하기 위해서 이동궤적 근사 다면체 (motion trail)를 이용한 실시간 모션블러 알고리즘을 제안한다. 본 논문의 알고리즘에서는 현재 프레임과 이전프레임의 삼각형으로 이동궤적 근사 다면체를 만들고 전후 관계(front-to-back) 정렬방법과 시공간차원의 비트연산(bitwise operation)을 적용하여 여러 물체가 겹치는 순간의 가시성 문제를 해결했다. 결과적으로 가려지지 않은 이동궤적 근사 다면체만을 그리기에 매끄 러운 블러 효과를 얻는다.

Flight of an autonomous unmanned aerial vehicle (UAV) generally consists of four steps; take-off, ascent, descent, and finally landing. Among them, autonomous landing is a challenging task due to high risks and reliability problem. In case the landing site where the UAV is supposed to land is moving or oscillating, the situation becomes more unpredictable and it is far more difficult than landing on a stationary site. For these reasons, the accurate and precise control is required for an autonomous landing system of a UAV on top of a moving vehicle which is rolling or oscillating while moving. In this paper, a vision-only based landing algorithm using dynamic gimbal control is proposed. The conventional camera systems which are applied to the previous studies are fixed as downward facing or forward facing. The main disadvantage of these system is a narrow field of view (FOV). By controlling the gimbal to track the target dynamically, this problem can be ameliorated. Furthermore, the system helps the UAV follow the target faster than using only a fixed camera. With the artificial tag on a landing pad, the relative position and orientation of the UAV are acquired, and those estimated poses are used for gimbal control and UAV control for safe and stable landing on a moving vehicle. The outdoor experimental results show that this vision-based algorithm performs fairly well and can be applied to real situations.

The localization of the robot is one of the most important factors of navigating mobile robots. The use of featured information of landmarks is one approach to estimate the location of the robot. This approach can be classified into two categories: the natural-landmark-based and artificial-landmark-based approach. Natural landmarks are suitable for any environment, but they may not be sufficient for localization in the less featured or dynamic environment. On the other hand, artificial landmarks may generate shaded areas due to space constraints. In order to improve these disadvantages, this paper presents a novel development of the localization system by using artificial and natural-landmarks-based approach on a topological map. The proposed localization system can recognize far or near landmarks without any distortion by using landmark tracking system based on top-view image transform. The camera is rotated by distance of landmark. The experiment shows a result of performing position recognition without shading section by applying the proposed system with a small number of artificial landmarks in the mobile robot.

물과 지방에서 발생하는 화학적 이동의 인공물을 확인하기 위해 다양한 MRI parameter를 적용하여 실험하였다. MRI의 1.5T와 3.0T에서 parameter와 bandwidth 및 부호화 변화에 따른 영상을 스캔하여 SNR, CNR을 비교하였다. MRI 영상에서 물과 기름의 화학적 이동의 인공물의 발생을 확인할 수 있었고, 3.0T보다 1.5T에서의 영상이 인공물이 비교적 줄어드는 것을 확인할 수 있었다. Bandwidth의 폭이 넓어짐에 따라 인공물이 줄어드는 것을 확인할 수 있었다. 따라서 MRI검사에서 화학적 이동의 인공물을 감소하기 위해서는 주 자장의 세기가 약하고, bandwidth의 폭을 넓히는 것이 적절할 것으로 생각된다.

Elemental mercury has a very high volatility allowing easy dissipation from water or soil into air. To better understand how the kinetics of diffusion of elemental mercury through a medium, which is soil in this study, a mercury diffusion column experiment was done. The correlation between temperature and equilibrium concentrations of mercury in standardized soil samples and a pure mercury standard were determined. Total mercury concentrations were analysed using CVAFS. The effect of time and soil depth to the kinetics of mercury diffusion were determined. Differences in mercury concentrations at different sampling probes were observed during the first few gas phase analyses. Equilibrium was reached through the column after 72 hours.

The subject of this experiment is to supply basic data to inhibit non-productive tillers which are uneconomical for mechanical harvesting and to evaluate optimum planting density and sowing date in central district. Total number of tillers and effective first and second of tillers according to different planting density was higher in 80 ㎝ ridge than 60 ㎝ ridge in proso millet. The wider between plant distance on the ridge, the more increased total number of tillers and effective first and second of tillers. The highest effective tillers (91.7 %) in the first tillers was obtained from the second sowing date (23 May) among different sowing date and next is in the order of 3 rd (13 June, 89.8%) > 1 st (2 May, 85.6%) > 4 th (4 July, 85.2%). The percentage of effective tillers in the second tillers was decreased in the order of 2 May (53.7%), 23 May (40.7%), 13 June (22.2%), 4 July (0%) as the sowing date was delayed. There was no significant difference in days to heading and days to ripening according to different planting density. Although culm length was increased as planting density was increased, whereas number of tillers, stem diameter, ear length, grains per ear and 1000 grain weight was decreased. In the growth and yield characteristics of proso millet according to different sowing date, days to heading and days to ripening, culm length, stem diameter, ear length, grains per ear and yield per 10a were decreased. After the sowing date of 13 June, the reduction of growth and yield characteristics were higher because of excess-moisture injury.

This study was investigated to find the effects of sowing time on growth and yields of cowpea grown in a southern region of South Korea. Experiments were carried out in Naju, Jeonnam Province (Latitude 35° 04' N, Longitude 126° 54' E) during 2013 and 2014. The intermediate-erect type strains used in this study were Jeonnam1 and Jeonnam2 (Okdang). Sowing time was performed between middle-April and middle-August at intervals of one month. The days from sowing to emergence was significantly higher in the middle-April sowing (12 days) time but there was no significant differences other sowing dates (5 to 3 days). The days from sowing to first flowering were shorter for sowing dates between middle-April and middle-July because sowing time was delayed and then were lengthened again at middle-August sowing; the days were longest at middle-April sowing (around 62 days) and were shortest at middle-July sowing (35 days). The days from first flowering to harvesting were short for the sowing dates between middle-April and middle-July (17 to 15 days) but were relatively long for middle-August sowing date (24 days). Stem length was relatively long for the middle-May and middle-June sowing dates. Peduncle length was relatively long for the middle-April sowing date. Main-stem node number was highest for the middle-July sowing. Branch number per plant was highest in the middle-April sowing. Seed yields were highest for the middle-April sown Jeonnam1 and the Jeonnam2 (Okdang) strains showing, 199 and 211 kg/10a, respectively, and then followed by sowing in middle-July, 191 and 195 kg/10a, respectively.

Generating motion of center of mass for biped robots is a challenging issue since biped robots can easily lose balance due to limited contact area between foot and ground. In this paper, we propose force control method to generate high-speed motion of the center of mass for horizontal direction without losing balancing condition. Contact consistent multi-body dynamics of the robot is used to calculate force for horizontal direction of the center of mass considering balance. The calculated force is applied for acceleration or deceleration of the center of mass to generate high speed motion. The linear inverted pendulum model is used to estimate motion of the center of mass and the estimated motion is used to select either maximum or minimum force to stop at goal position. The proposed method is verified by experiments using 12-DOF torque controlled human sized legged robot.

Most of outdoor mobile robots have a suspension on each wheel in order to relieve the shock by ground obstacles and to improve the driving stability. Typically, in the actual operations, the suspensions have been used under a given set of conditions as all the damping and spring coefficients of the suspensions are fixed. However, it is necessary to readjust the coefficients of the suspensions according to surface conditions that may cause the unstable shaking of a robot body at high speed driving. Therefore, this paper is focused on the mobility analysis of an outdoor robot when the coefficients of suspensions (in particular, damping coefficients) are changed while driving on an uneven road surface. In this paper, a semi-active suspension with twelve damping coefficient levels was used and a small sized vehicle with the suspensions was employed to analyze the mobility dependent on a change of the damping coefficient. And the mobility was evaluated through driving experiments on a bumped slope.

Improvement of displacement absorbing performance by utilizing the moving clips in order to prevent falling off of the exterior material according to earthquakes and wind, trying to examine the structural performance of the building exterior panel.

By the earthquake and the wind against the displacement that occurs in buildings by utilizing the movement of the clip architectural exterior panels can follow the displacement and deformation by preventing the loss of architectural exterior panels to protect life and property.

A rectangle-based relative localization method is proposed for a mobile robot based on a novel geometric formulation. In an artificial environment where a mobile robot navigates, rectangular shapes are ubiquitous. When a scene rectangle is captured using a camera attached to a mobile robot, localization can be performed and described in the relative coordinates of the scene rectangle. Especially, our method works with a single image for a scene rectangle whose aspect ratio is not known. Moreover, a camera calibration is unnecessary with an assumption of the pinhole camera model. The proposed method is largely based on the theory of coupled line cameras (CLC), which provides a basis for efficient computation with analytic solutions and intuitive geometric interpretation. We introduce the fundamentals of CLC and describe the proposed method with some experimental results in simulation environment.

In this study, the wind direction and the wind speed of the nearest temperature observations point of the National Weather Service was analyzed in order to investigate the rapid rise and drop of water temperature in the East Coast appeared after passing of the 2015 typhoon No. 9 and 11. Then the figures were simulated and analyzed using the WRF(weather research and forecast) model to investigate in more detailed path of the typhoon as well as the changes in the wind field. The results were as follows. A sudden drop of water temperature was confirmed due to upwelling on the East coast when ninth typhoon Chanhom is transformed from tropical cyclones into extra tropical cyclone, then kept moving eastwards from Pyongyang forming a strong southerly wind after 13th and this phenomenon lasted for two days. The high SST(sea surface temperature) is confirmed due to a strong northerly wind by 11th typhoon Nangka. This strong wind directly affected the east coast for three days causing the Ekman effect which transported high offshore surface waters to the coast. The downwelling occurred causing an accumulation of high temperature surface water. As a results, the SST of 15m and 25m rose to that of 5m.

Conventional path tracking methods designed for two-wheeled differential drive robots are not suitable for omni-directional robots. In this study, we present a controller which can accomplish more accurate path tracking and orientation correction by exploiting the unconstrained movement capability of omni-directional robots. The proposed controller is proven to be stable using a Lyapunov stability criterion. Various experiments in real environments show that performance of path tracking and orientation correction has improved in the proposed controller.

The purpose of this study is to investigate the early wh-movement acquisition of English native speakers from the perspective of Minimalist Program. Guasti and Rizzi(1996) propose the null auxiliary hypothesis that the structure of the questions where the verb is inflected with -ing includes a null auxiliary, the counterpart of the lexical be. They draw a parallel between the null auxiliary and the early null subject. Rizzi(1997) proposes that the CP system, like the IP system, is layered. ForceP is the highest project which determines the clausal type and FocusP's specifier is the landing site for wh-operators and whose head hosts inverted auxiliaries. Guasti and Rizzi(1996) argue that children's auxless questions are structures truncated below ForceP. Thus, the null auxiliary, like other early phenomena, finds its source in the mechanism of clausal truncation. The phenomena of early language acquisition reflects the process of acquiring functional categories as children grow.

본고는 위치기반게임 <패러랠 킹덤>을 분석 대상으로 삼아 게임 텍스트에서 플레이어의 움 직임, 즉 이동성을 반영하는 고유한 기표 배열 구조를 은유와 환유의 문채 특성으로 고찰한다. 이는 지금까지 공학적 기술을 중심으로 이해되어 온 모바일 게임의 이동성을 수사학적 기법으 로 접근할 수 있는 새로운 경로를 제공하기 위한 시도이다. 시각 기호를 기반으로 계열적 장면 배열을 통해 통합적 의미를 생성하는 게임 텍스트의 구조를 고려하여, 게임과 유사한 속성을 지닌 영화 텍스트의 문채를 유형 분석한 크리스티앙 메츠의 이론을 적용했다. 분석 결과, <패 러랠 킹덤>는 실제 현실과 가상, 심층적 가상 세계를 총 5개의 복층 공간 텍스트로 구조화하고 있으며, 이러한 공간 특성이 문채작용의 구조적 토대로 기능함을 확인하였다. 특히 플레이어의 게임 외적 이동을 게임 내부로 반영하는 문채작용은 위치 기표 간의 대조와 유사에 의한 은유 를 통해 이루어진다. 반면, 캐릭터의 게임 내부적 이동에 의한 증여적 이동성은 공간 기표의 인 접성을 기준으로 성립되는 환유적 문채작용을 통해 발생한다.

This paper presents a laboratory validation for a Finite Element model updating method using moving vehicle input-deflection output measurements. In conventional FE model updating, a few natural frequencies measured from field experiments have been used to update the FE model based on the assumption that the mass matrix is known accurately. The proposed approach can update the stiffness matrix without the assumption by using static input-output measurements and can even update the mass matrix by using a few natural frequencies obtained from dynamic measurements. Laboratory experiments were carried out for a scaled model of Samseung Bridge located in the test road of Korea Highway Corporation. For a simplicity of experiments, a mass (11kgf) was located in four different locations on the deck and two deflections were measured by laser displacement meters: one at the center girder, and the other in at the outer girder, both in mid-span. Results showed that the proposed methods was capable to estimate Young's Modulus and the mass density of the model bridge accurately while natural-frequency-based updating may result in significant error when higher modes (2nd, 3rd) were used.

In this study, the fish-migration ratios of rivers were analyzed, with the aim of proposing objective materials to help South Koreans to establish fish migration systems efficiently in the future. A total of 34,012 weirs have been built in the five major basins, with 5,081 fish-ways observed. Consequently, the fish migration ratio was considered low (14.9 %). According to the findings of the study analyzing the 5,081 fish-ways, standard-type fish-ways took up 68 % of the total while the non-standard types accounted for 32 %. The five major basins were observed to have a total fish-migration ratio of 21.4 %. Regarding tributaries, Tributary 1 accounted for 27.5 % of the fish-migration ratio, while Tributary 2 and 3 accounted for 19.8 % and 16.3 %, respectively. In conclusion, the study argues that any relevant field in the fishing industry of South Korea needs to improve their understanding of the fish-migration ratio. This would be expected, eventually, to help them maximize the efficiency of a minimum number of fish-ways. In addition, the study supports the need for those in relevant fields to study carefully the ecological needs of each fish species, before establishing priority standards for the building of fish-ways.

본 연구는 3,3'-diindolylmethane(DIM)이 인간전립선암 세포인 PC3 세포와 DU145 세포의 부착, 이동, 침윤에 미치 는 영향을 살펴보았다. DIM은 PC3와 DU145 세포의 부착을 농도 의존적으로 억제하였다. 24시간동안 DIM으로 PC3 세포를 전 처리한 후 부착실험을 한 결과 농도 의존적으로 억제하였다. 그러나 암세포가 부착 시 DIM의 암세포 부착 억제가 전처리에 의한 부착 억제보다 효과적이었다. DIM 은 인간 전립선암세포의 이동과 침윤도 억제하였으며 24시 간 동안 PC3 세포를 DIM으로 전처리를 했을 때도 침윤 억제효과를 나타내었다. 또한 DIM의 억제효과는 세포주에 따라 다소 다른 경향을 보여 PC3 세포에 대한 억제효과가 DU145 세포에 대한 억제효과보다 큰 것으로 관찰되었다. DIM은 150 μM 까지 세포 독성이 관찰되지 않은 것으로 보고되고 있으므로 본 연구결과 DIM은 세포 독성이 없는 수준에서 인간 전립선암 세포인 PC3와 DU145 세포의 부 착, 이동, 침윤을 효과적으로 억제하여 전립선암 전이 억제 제로 이용될 수 있을 것으로 사료된다.