PURPOSES : This study aims to analyze the impact of demand risk on two public-private partnership (PPP) projects, namely BTO and BTO-a. The main aspects covered in this study are: i) identification of key risk issues considering the structure of PPP projects, and ii) game theory-oriented scenario building and simulation of demand risk allocation from participants’ perspectives. METHODS : Using the institutional analysis and development (hereafter IAD) framework, a hypothetical structure is formulated to examine the interactions of demand risk. It develops a series of demand risk allocation models for PPP projects (i.e., BTO and BTO-a). The risk structures from the IAD step are the demand risk allocation issues. Using game theory-oriented simulation, this study evaluates demand risk based on scenario building. RESULTS : First, this study highlights the imbalanced rate problems of returns between the BTO and BTO-a projects proposed by the market. This may lead to improvement measures geared towards problematic methods for determining the rate of return among domestic PPP projects. Second, compared with the BTO type, this study expects that the BTO-a type may exhibit more effectiveness, which can increase the probability of project success in both the public and private sectors. Third, judging from game-theory-oriented approaches, this study confirms the function of the BTO-a as a method to adjust moral hazard in the private sector. CONCLUSIONS : Government management standards for BTO-a projects were derived based on the simulation results. It is necessary to select an appropriate project method based on rationality by balancing the IRR for each project method. Legal regulations should be applied separately to each part of the government guarantee. In addition, this study emphasizes that the introduction of ex-post value-for-money (VFM) analysis is essential for the efficient management of government expenses.

‘세계기독교’는 선교학에 유례없는 도전이자 기회가 되고 있다. 세계 복음화와 이와 동반된 근대화가 초래한 기독교의 세계화와 세계의 기독교화는 복음의 전달과 수용이라는 선교학적 자명성의 근저를 뒤흔 들고 있다. 본고는 남반구기독교론을 극복하고, 세계기독교를 하나의 현상이며 동시에 연구방법으로서 21세기 기독교와 선교의 패러다임으 로 정립하려는 시도이다. 세계기독교는 선교학적으로 지니는 의미가 큼에도 불구하고, 국내 선교학계에서는 아직 본격적인 논의가 활발히 진행되지 않고 있다. 세계기독교에 대한 연구는 물론 이와 관련하여 이뤄진 신학적, 성서학적, 종교학적, 인류학적, 사회학적, 문화학적 연구 성과들을 비교·통합하는 연구가 필요하다. 세계기독교 내에서 한국기독교의 위치와 위상에 대한 재평가도 미룰 수 없다고 본다. 이를 위해 본고는 ‘남반구기독교론’을 비판하고, 세계기독교를 선교실 천은 물론 선교학의 방법론과 신학적 재구성을 포함하는 하나의 패러다 임으로 설정할 것을 제안하고자 한다. 이 패러다임은 기독교의 전 지구적 확장뿐만 아니라, 이른바 세속화를 아울러 설명할 수 있어야 한다. 이점에서 한국기독교를 세계기독교의 하나의 사례일 뿐만 아니라가장 주목할 만한 현장으로 이해하고자 한다. 한국기독교는 선교대국이 면서도 교회의 쇠퇴를 목격하는 와중에 있다. 세계복음화의 전진기지이 면서도, 동시에 서구형의 ‘선교적 교회’(missional church)를 심각하 게 고려해야 하는 모순적인 상황이다. 패러다임으로서의 세계기독교는 한국기독교의 이런 역설을 설명할 수 있는 시각을 제시해 줄 수 있다고 본다.

T his paper presents the lateral and longitudinal control algorithm for the driving of a 4WS AGV(Automated Guided Vehicle). The control law to the lateral and longitudinal control of the AGV includes adaptive agin tuning ability, that is the controller gain of the gravity compensated PD controller can be changed on a real-time. The gain tuning law is derived from the Lyapunov direct method using the output error of the reference model and the actual model, And to show the performance of the presented lateral and longitudinal control algorithm, we simulate toe nonlinear AGV equations of the motion by deriving the Newton-Euler Method, The read path is from quay yard area to docking position in loading yard area. The quay yard area is where the quay crane loads the container to the AGV and the docking position is where the container is transferred to the gantry crane. The road types are constructed in a straight line and J-turn. When driving the straight line, the driving velocity is 6㎧ and the J-turn is 3㎧.

To improve the productivity in the harbor, successful development of an UCT(Unmanned Container Transporter) is needed. Well-designed steering and velocity control systems are the key factor for the development of the UCT. In this paper, a research concerning the achievement of the steering control is introduced. To get an information on the guide line that the UCT should track, the vision system is applied. By using neural network, proper steering angle is gotten fast with less influence of the image disturbance. A simulation based on the UCT kinematics is performed with the measured steering angle, and it shows satisfactory results.