In this paper, we propose remote navigation control for intelligent robot using particle swarm optimization(PSO). The proposed system consists of interfaces for intelligent robot navigation and user interface in order to control the intelligent robot remotely. And communication interfaces using TCP/IP socket is used. To do this, we first design the fuzzy navigation controller based on expert's knowledge for intelligent robot navigation. At this time, we use the PSO algorithm in order to identify the membership functions of fuzzy control rules. And then, we propose the remote system in order to navigate the robot remotely. Finally, we show the effectiveness and feasibility of the developed controller and remote system through some experiments.

This paper presents a remote monitoring and simulation system for a building cleaning mobile robot. It provides a tool of convenient 3D graphical map construction including network camera image viewer and status information of the robot. The 3D map is reconstructed from existing 2D building CAD data with DXF format using OpenGL graphic API. Through this system, it is possible to monitor and control the cleaning mobile robot from remote place. A practical experiment is performed to show the reliability and convenience of the monitoring system. The proposed system is expected to give efficient the way of control and monitoring to building cleaning mobile robot.

본 논문에서는 전력선 제어 통신 (PLC) 방법을 사용하여 원격지에서 조이스틱으로 게임을 제어하는 시스템을 구현하였다. 시스템의 구성은 원격지의 조이스틱과 컴퓨터 접속부 사이를 일반 가정용 전원 선로로 연결하고, 2400 bps 전송속도의 폴링 제어 기법을 사용하여 조이스틱의 명령을 읽어들이고, 음향 정보를 수신측 PLC 장치에 출력하였다. 게임 제어는 조이스틱의 좌, 우, 상, 하의 방향에 따라 비행기 캐릭터가 움직이고, 총알 발사 명령에 의해 총알을 발사하는 게임을 만들어 실행하였다. 이외에도, 16가지의 조이스틱 게임 조작 명령의 입력이 가능하며, 16가지의 출력 상태가 가능하였다. 게임 조작에 필요한 정보 전달은 약 100 msec 통신 지연에서도 문제가 없음을 확인하였다.

본 연구에서는 낙도보조항로 운영사업자에 대한 경영평가제를 도입하여 사업자 스스로 지속적인 경영개선 노력을 유도하고자 AHP 기법을 이용하여 경영평가지표를 개발하였다. 이들 지표는 크게 3가지 형태로 구성되어 있다. 대기준에는 책임경영부문, 경영관리부문, 사업운영부문, 고객만족부문 등 4부문으로 구성되어 있으며, 중기준에는 책임경영을 위한 노력 등 15개 항목, 소 기준에는 관리자의 경영철학 및 전 직원의 책임경영에 참여도 등 44개 항목으로 이루어져 있다. 이들 지표 배점은 AHP 기법을 이용하여 각 항목별 가중치를 산정하여 배점한 결과이므로, 실제 업무를 집행하면서 운영선사 및 선박특성을 감안한 항목 간 가중치 조정에 의해 평가지표 기준별 배점 조정이 필요하리라 본다.

High concentration of chlorophyll a occurred around the Ulleung Warm Eddy off Ulleung Island in the East Sea of Korea in spring season. The abnormal distributions of chlorophyll a were captured by satellite remote sensing and measured field data. The temporal and spatial scale of the abnormal distributions were around 20 days and 50km diameter off Ullung Island. The anomalies were quantified by estimated chlorophyll a derived from OCM and SeaWiFS ocean color data from 2000 to 2004. The origin of abnormal high concentrations was estimated by this study. It was that suspended material discharged from the Nakdong River and the coastal water located in the southeastern part of Korean Peninsula moved to northeastern coast, and then moved to off Ullung Island. The high chlorophyll a concentrations including inorganic materials were accumulated by anticyclonic eddy such as the Ullung Warm Eddy around Ullung Island in the East Sea of Korea in spring season.

본 논문은 광범위한 전력제어가 가능하고, PC 직렬통신 방식에 의해 원거리에서 시스템을 ON-OFF할 수 있으며, 시스템의 상태를 모니터링 할 수 있는 선박비상조명시스템의 전력제어특성 개선에 관해 연구한다. 제안된 시스템은 강압형 컨버터, 비상급전회로, 반 브리지 인버터, 형광램프기동회로, 마이크로프로세서 제어 및 멀티통신회로 등으로 구성된다. 실험을 통하여 과전류에 의한 해당 시스템의 정지와 주전원 차단시의 비상전원에 의한 신속한 급전을 확인할 수 있고, 입력전력은 35[%] 범위까지 제어됨을 확인한다. 또한, 원거리에서 원하는 시스템을 ON-OFF 하고, 시스템의 전력, 전압, 전류, 배터리 전압 등의 모니터링도 한다.

최근 낙도 보조항로의 운영에 있어서 선박 취항명령후 운영사업자의 계속적인 사업수행으로 일반항로에 비해 경영개선노력이 부진하거나 서비스의 질이 저하되는 등 여러 가지 문제점이 나타나고 있다. 따라서 본 연구에서는 낙도 보조항로 운영주체를 검토하여 개선방향을 제시하고자 AHP 기법을 이용한 실증연구를 수행하였다. 연구결과 보조항의 사업자에 대한 경영평가제를 도입하여 사업자 스스로 지속적인 경영개선 노력을 유도함이 바람직할 것으로 보인다.

A virtual vessel traffic control system is introduced to contribute to prevent a marine accident such as collision and stranding from happening. Existing VTS has its limit. The virtual vessel traffic control system consists of both data acquisition by satellite remote sensing and a simulation of traffic environment stress based on the satellite data, remotely sensed data And it could be used to provide timely and detailed information about the marine safety, including the location, speed and direction of ships, and help us operate vessels safely and efficiently. If environmental stress values are simulated for the ship information derived from satellite data, proper actions can be taken to prevent accidents. Since optical sensor has a high spatial resolution, JERS satellite data are used to track ships and extract their information. We present an algorithm of automatic identification of ship size and velocity. It lastly is shown that based on ship information extracted from JERS data, a qualitative evaluation method of environmental stress is introduced.

와이어 로프는 엘리베이트, 건설현장의 리프트, 현수교 등 다양한 산업 현장에 응용되어 지고 있다. 특히, 크레인의 와이어 로프는 컨테이너 이송에 중용한 요소로서 컨테이너 이송 시 로프에 결함이 발생한다면 안전사고, 생산성 저하에 따른 경제력 손실 그리고 컨테이너 터미널의 경쟁력 손실 등 여러 가지 문제점이 초래된다. 이러한 문제점을 해결하기위해 원격 크레인 와이어 로프 결함 탐지 시스템을 개발하였으며, 본 시스템은 크게 결함 탐지부, 신호 처리부, 원격 모니터링부로 구성되어져 있다. 측정된 신호는 외부적 환경으로부터 노이즈를 가지게 되는데 원신호로부터 이러한 노이즈를 제거하기 위하여 이산 웨이브렛 변환을 적용하였다. 그 결과 와이어 로프 결함을 탐지하는데 있어서 좀더 쉽게 결함을 판별할 수 있었다. 결론적으로 이러한 시스템의 개발은 와이어로프의 교체 시기 연장으로 항만의 비용을 절감할 수 있으며, 경쟁력 향상 그리고 엘리베이터, 리프트 등 다양한 산업현장에 이러한 시스템을 적용할 수 있다.

The Yellow River delta is an important region where coastal and newly formed wetlands distribute in north China. Based on satellite remote sensing images and GIS techniques, this paper tends to delineate the dynamic changes of newly formed wetland in the Yellow River mouth from 1986.5 to 1996.10. Our results show that the newly formed wetland increased by 24.9 km2 per year. Before 1990.1 and it decreased by 2.40 km2 per year after that. The northern and southwestern parts of the Yellow River mouth are main positions of decrease and the southern and the estuary parts are main positions of increase. The advancing rate of river mouth extending into the Bo Sea is decreasing obviously. The reason for that is the decreasing of water and sediments in the Yellow River, which caused by the increasing use of water and soil conservation on upper reach.

본 연구에서는, 모든 유·무인등대와 등·부표를 원격으로 감시하고 제어하기 위한 항로표지 집약관리센터를 구축하기 위한 기반여건 조성작업의 일환으로써, 장비 및 그 지리적인 특수성 때문에 유지·관리에 있어서 기술적 경제적 어려움이 많은 무인 항해 안전관련 시설에 대하여, 상태 확인 및 관리·제어는 물론, 정비시기의 예측 둥 장비의 운영상태를 최고의 상태로 유지할 수 있도록 하는 모듈의 개발에 관하여 논하였으며, 본 연구에서 개발한 모듈을 활용한다면 보다 과학적이고 효율적인 항로표지의 설치, 관리, 운영 및 유지·보수가 가능할 것이다.

In general, neural networks are widely used for the category classification of multispectral images. Since the input multispectral images into neural networks we, however, low contrast images, neural networks converge very slowly and are of bad performance. To overcome this problem, we propose a new image enhancement method which consists of smoothing process, finding the main valley and enhancement process. In addition the enhanced images by the proposed method are used as the input of neural networks for the category classification. When the new category classification method is applied to multispectral LANDSAT TM images, we verified that the neural networks converge very lastly and that the overall category classification performance is improved.

Nowadays, many satellites regularly produce digital multispectral images of the earth's surface. Multispectral images may be displayed as color pictures by selecting three components for assignment to the primary colors. It is desired to enhance these images to generate a display picture that are representativde of their features. in this paper, a false color image processing algorithm is proposed for the purpose of enchancement of the multispectral images based on the human perception. The mean of each primary component is transformed to equalo. Intensity and saturation are enhanced by modified piecewise linear contrast strectching and saturation enhancement method. The proposed method has been successfully applied the LANDSAT TM image and shows good enhancement.

Less Favored Area(LFA) is a newly shaped regional concept and just appearing as a new community design target, where the topogeographical, industry-locational condition and the daily living environment have been outstandingly inferior to any other regions. Community Design(CD) principles that cover a spatial order of settlements are introduced in this study when the CD concept is applied to the LFA. The study puts a great stress on the horizontal and vertical order of communal spatial units and living activities oriented to residents'socio-economic activities, on which a CD district and an inner spatial organization of community is based. Therefore the various relationships between residents' activities and particular places, such as that between agricultural production and land, access to living services and community-outer settlements, is analysed through the field study. The emphatic point is that the spatial unit and organization of community, namely settlement order is casted not only by the horizontal coverage but also by the vertical hierarchy forming a cubic-like spatial order. Applying the CD idea to LFA has limit because the CD has been oriented on urban architectural style and community participation process. Nevertheless, that has a new possibility to understand the fundamental and archetypical change of a spatial pattern of community uncovering the accumulated layer of settlement order especially in the drastically changed mountain community from past to now.

The sensing part of the remote-indicating magnetic compass has to be placed where the ship's magnetic effects are minimum, in order that the compass may remain usable under the varying magnetic conditions likely to be experienced on board the ship. In this paper the model of the overall ship's magnetism is built using Vacquier's method frequently used in determining the geomagnetic anomaly, on the assumption that the steel ship generate the magnetic disturbance in the geomagnetic field. It was found that the values of the magnetism observed on board approximate to those of the magnetism calculated from the captioned model, under the condition that the ship's material isominated by the permanent magnetism. And on the basis of the above model, it was feasible to locate the place of the minimum magnetic field by computer calculation.