This research and development analysis provides numerical analysis techniques that can be used conveniently to determining the safety of the current state and to predict the stability in the future. It also seeks to present algorithms of back analysis to develop unified management system for control, prediction, coordination, and information modeling that can reasonably handle appropriate responses to structural behavior at project sites and design changes.

축구 시뮬레이션 게임에서 축구 선수들의 능력치를 현실에 가깝게 만드는 것은 게임의 흥미 를 위해 매우 중요한 요소이다. 스포츠 시뮬레이션 게임에 경영 개념이 도입되면서 장시간 게 임을 플레이하게 되면 기존 선수 캐릭터의 은퇴문제가 발생하고 새로운 선수 캐릭터를 생성하 여 게임의 환경을 유지하게 된다. 본 연구에서는 새로운 선수 캐릭터를 생성할 때 유전 알고리 즘을 활용하여 기존의 선수와 유사하면서 최적의 능력을 갖추게 하는 방식을 제안한다. 기존의 랜덤 생성방식, 보정 랜덤방식과 제안한 알고리즘으로 선수 캐릭터를 생성하여 비교, 평가하여 제안한 방식의 유효성을 검증한다.

As drones gain more popularity these days, drone detection becomes more important part of the drone systems for safety, privacy, crime prevention and etc. However, existing drone detection systems are expensive and heavy so that they are only suitable for industrial or military purpose. This paper proposes a novel approach for training Convolutional Neural Networks to detect drones from images that can be used in embedded systems. Unlike previous works that consider the class probability of the image areas where the class object exists, the proposed approach takes account of all areas in the image for robust classification and object detection. Moreover, a novel loss function is proposed for the CNN to learn more effectively from limited amount of training data. The experimental results with various drone images show that the proposed approach performs efficiently in real drone detection scenarios.

경로 탐색 알고리즘은 이동 가능한 에이전트가 게임 내의 가상 월드에서 현재 위치로부터 목적지까지 가는 경로를 탐색하는 알고리즘을 뜻한다. 기존의 경로 탐색 알고리즘은 A*, Dijkstra와 같이 비용 기반으로 그래프 탐색을 수행한다. A*와 Dijkstra는 월드 맵에서 이동 가능한 노드와 에지 정보들을 필요로 해서 맵의 정보가 다양하고 많은 온라인 게임에 적용하기 힘들다. 본 논문에서는 가변환경이나 맵의 데이터가 방대한 게임에서 적용 가능한 경로 탐색 알고리즘을 개발하기 위해 맵의 정보 없이 교배, 교차, 돌연변이, 진화 연산을 통해 해를 찾는 유전 알고리즘(Genetic Algorithm, GA)을 활용한 Heuristic-based Genetic Algorithm Path–finding(HGAP)를 제안한다. 제안하는 알고리즘은 Binary-Coded Genetic Algorithm을 기반으로 하며 목적지에 더 빨리 도달하기 위해 목적지로 가는 경로를 추정하는 휴리스틱 연산을 수행하여 경로를 탐색한다.

많은 사용자가 함께 즐기는 온라인 게임(MMOGs)에서 IoT의 확장은 서버에 엄청난 부하를 지 속적으로 증가시켜, 모든 데이터들이 Big-Data화 되어가는 환경에 있다. 이에 본 논문에서는 딥러 닝 기법 중에서 가장 많이 사용되는 Sparse Autoencoder와 이미 잘 알려진 부하분산 알고리즘 (ProGReGA-KF)을 결합한다. 기존 알고리즘 ProGReGA-KF과 본 논문에서 제안한 알고리즘을 이동 안정성으로 비교하였고, 제안한 알고리즘이 빅-데이터 환경에서 좀 더 안정적이고 확장성이 있 음 시뮬레이션을 통해 보였다.

In this paper, we propose a new collision detection algorithm for human-robot collaboration. We use an IMU sensor located at the tip of the manipulator and the kinematic behavior of the manipulator to detect the unexpected collision between the robotic manipulator and environment. Unlike other method, the developed algorithm uses only the kinematic relationship between the manipulator joint and the end effector. Therefore, the collision estimation signal is not affected by the error of the dynamics model. The proposed collision detection algorithm detects the collision by comparing the estimated acceleration of the end effector derived from the position, velocity and acceleration trajectories of the robot joints with the actual acceleration measured by the sensor. In simulation, we compare the performance of our method with the conventional Residual Observer (ROB). Our method is less sensitive to the load variation because of the independency on the dynamic modeling of the manipulator.

본 연구에서는 상수관망의 최적 수압모니터링 지점선정 알고리즘과 역추적 계산법을 이용한 누수탐지 알고리즘을 개발하였고 파일럿 플랜트에서 실험을 통해 검증하였다. 먼저 누수탐지를 위한 최적의 모니터링 지점선정을 선정하고 압력계를 설치하여 누수로 인한 압력변위를 측정하였다. 누수탐지를 위한 역추적계산법의 검증을 위하여 누수탐지를 수행하였고 파일럿플랜트에서 실제 재현된 누수의 지점과 누수량을 정확하게 산정하였다. 누수량을 0.0005 m3/s로부터 0.0018 m3/s까지 변화시키며 누수를 재현하였고 누수지점에 근접한 장소를 찾는데 성공하였다. 본 연구에 서는 실험을 통해서 누수탐지기법으로 사용된 역추적계산법이 유효함을 검증할 수 있었다.

Recently, as the awareness of safety has become more important, studies on damage assessment techniques for building structures have been actively conducted. The damage of the building structure is caused by the decrease of the stiffness which is inherent dynamic characteristic of the structural system, and the decrease of stiffness acts as a direct variable connected to the collapse of the structure. there have been developed techniques for estimating the inherent dynamics of a structure to identify and evaluate damage to the structure. In this study, we estimate the layer mass due to the modeling error through the optimization algorithm, Genetic Algorithm, and use the optimization algorithm GA to optimize the error covariance matrix, system noise and measured noise covariance matrix We propose an optimal state estimation algorithm. The objective function of the GA algorithm is obtained by the residual which is the difference between the measured values obtained from the EKF calculation and the values obtained from the system model. We verified the feasibility of the algorithm through a 4-DOF system.

This work shows how to create an algorithm and implementation for motion and image matching between a vehicle simulator and Unity 3D based virtual object. The motion information of the virtual vehicle is transmitted to the real simulator via a RS232 communication protocol, and the motion is controlled based on the inverse kinematics solution of the platform adopting rotary-type six actuators driving system. Wash-out filters to implement the effective motion of the motion platform are adopted, and thereby reduce the dizziness and increase the realistic sense of motion. Furthermore, the simulator system is successfully designed aiming to reducing size and cost with adaptation of rotary-type six actuators, real driving environment via VR (Virtual Reality), and control schemes which employ a synchronization between 6 motors and 3rd order motion profiles. By providing relatively big sense of motion particularly in impact and straight motions mainly causing simulator sickness, dizziness is remarkably reduced, thereby enhancing the sense of realistic motion.

Recent studies on automatic parking have actively adopted the technology developed for mobile robots. Among them, the path planning scheme plans a route for a vehicle to reach a target parking position while satisfying the kinematic constraints of the vehicle. However, previous methods require a large amount of computation and/or cannot be easily applied to different environmental conditions. Therefore, there is a need for a path planning scheme that is fast, efficient, and versatile. In this study, we use a multi-dimensional path grid map to solve the above problem. This multi-dimensional path grid map contains a route which has taken a vehicle's kinematic constraints into account; it can be used with the A* algorithm to plan an efficient path. The proposed method was verified using Prescan which is a simulation program based on MATLAB. It is shown that the proposed scheme can successfully be applied to both parallel and vertical parking in an efficient manner.

This paper present a novel approach to control the lower body power assistive exoskeleton system of a HEXAR-CR35 aimed at improving a muscular strength. More specifically the control of based on the human intention is crucial of importance to ensure intuitive and dexterous motion with the human. In this contribution, we proposed the detection algorithm of the human intention using the MCRS which are developed to measure the contraction of the muscle with variation of the circumference. The proposed algorithm provides a joint motion of exoskeleton corresponding the relate muscles. The main advantages of the algorithm are its simplicity, computational efficiency to control one joint of the HEXAR-CR35 which are consisted knee-active type exoskeleton (the other joints are consisted with the passive or quasi-passive joints that can be arranged by analyzing of the human joint functions). As a consequence, the motion of exoskeleton is generated according to the gait phase: swing and stance phase which are determined by the foot insole sensors. The experimental evaluation of the proposed algorithm is achieved in walking with the exoskeleton while carrying the external mass in the back side.

최근 청소년들의 인터넷 및 스마트폰 과도한 사용이 사회적 이슈가 되어왔다. 작업에 대한 몰입 수 준은 좋은 결과물을 만들 수 있는 긍정적 효과와 과 몰입 같은 부정적 효과를 모두 가지고 있다. 본 연구는 심혈관 반응 기반의 몰입 상태를 판단하는 알고리즘을 개발하고자 하였다. 피험자들은 무 자극 상태, 그리고 몰입을 유발하기 위한 패턴 맞추기 게임을 수행하였고, 몰입 수준을 제공하기 위해 협력 과 경쟁 태스크로 나누어 실험 디자인 하였다. 각 태스크에 따라 심박과 진폭의 상관성을 분석하고 다 항식 회귀 분석을 통해 회귀식 및 정확도를 확인하였다. 결과는 게임 태스크일 때, 심박과 진폭은 양 의 상관성을 보였으며 무자극일 때 음의 상관성을 보였다. 개발된 다차항 회귀식으로 게임 태스크와 무 자극을 구분하는 정확도는 평균 89%의 정확도를 보였다. 태스크간의 차이는 76.5% 정확도를 확인 하였다. 본 연구는 실시간으로 몰입 수준을 정량적으로 평가하는데 사용될 수 있을 것으로 기대된다.

This paper aims to developed SMC-Fractional algorithm, that is, enhances the performance of Sliding Mode Control(SMC) algorithm for pounding control of Multi-span bridges using MR-damper. The pounding control performance of SMC-Fractional algorithm has been evaluated in shaking table test on multi-span bridge. As a result of the experiment, the SMC-Fractional algorithm showed the performance od reducing the relative displacement of adjacent spans over other algorithms.

As the importance of maintenance of reinforced concrete structures spreads, interest in the durability of structures is increasing. Among them, carbonation of concrete is one of the main deterioration factors of reinforced concrete structures. For quantitative evaluation of carbonation, many researchers are predicting carbonation considering water-cement ratio and environmental requirements. In this study, we studied the parameters based on the concrete made of ordinary Portland cement in the existing experimental data. The depth of carbonation deduced from the learning is applied to the carbonation by applying the deep learning.

Using an inverse of the geometric Jacobian matrix is one of the most popular ways to control robot manipulators, because the Jacobian matrix contains the relationship between joint space velocities and operational space velocities. However, the control algorithm based on Jacobian matrix has algorithmic singularities: The robot manipulator becomes unstable when the Jacobian matrix loses rank. To solve this problem, various methods such as damped and filtered inverse have been proposed, but comparative studies to evaluate the performance of these algorithms are insufficient. Thus, this paper deals with a comparative analysis of six representative singularity avoidance algorithms: Damped Pseudo Inverse, Error Damped Pseudo Inverse, Scaled Jacobian Transpose, Selectively Damped Inverse, Filtered Inverse, and Task Transition Method. Especially, these algorithms are verified through computer simulations with a virtual model of a humanoid robot, THORMANG, in order to evaluate tracking error, computational time, and multiple task performance. With the experimental results, this paper contains a deep discussion about the effectiveness and limitations of each algorithm.

3D 게임그래픽 표현기술은 게임콘텐츠발전과 함께 콘텐츠 분야에서 중요한 요소가 되었다. 특히 게임 캐릭터 표현 기술은 사실적인 그래픽 기술과 시각적인 즐거움을 주는 것 이외에 게임 을 진행하는 게임에 대한 몰입도의 중간 단계역할을 하며 플레이어가 마치 게임 속에서 영웅적 인 모험을 즐길 수 있도록 착각을 만들어 낸다. 3D 게임에 있어서 게임캐릭터의 높은 완성도는 개발과정 가운데 캐릭터 설정작업의 세심한 디테일작업과 신중함이 주요요인으로 작용한다[3]. 본 논문에서는 게임구현을 위하여 인지적 AI 알고리즘이 적용된 3D 유니티 게임 엔진을 사용하 여 radiosity의 수학적인 모델과 기본적인 radiosity 모델, 점진적 개선 radiosity 모델 기법을 방 법론을 소개하고, 모바일 게임에 적용한 캐릭터 표현기법을 제안하려고 한다. 게임엔진에 실제적 으로 적용하여보니 렌더링과정과 모의실험에서 표면의 투영도는 게임콘텐츠 환경의 조명도에 따 라 변화됨을 발견 할 수 있어서, 전체적으로 질 높은 게임캐릭터가 완성되었음이 확인 되었다.

This paper aims to developed SMC-Fractional algorithm, that is, enhances the performance of Sliding Mode Control(SMC) algorithm for pounding control of Multi-span bridges using MR-damper. The pounding control performance of SMC-Fractional algorithm has been evaluated in shaking table test on multi-span bridge. As a result of the experiment, the SMC-Fractional algorithm showed the performance od reducing the relative displacement of adjacent spans over other algorithms.

In this study, the retrofit effect of fiber reinforced plastics (FRP) jacketing by optimal algorithm for the existing reinforced concrete (RC) moment frame is investigated. FRP based retrofits are applied to both columns and beams in RC frame, simultaneously. The amounts of FRP reinforcements according to the retrofit positions are independently determined by the genetic algorithm based optimal method The amounts of FRP reinforcements and the collapse probability are considered by using the objective functions.

몬테카를로 트리탐색은 최대우선탐색 알고리즘이며, 많은 게임 특히 바둑 게임에 성공적으로 적용되어 왔다. 삼목 게임에서 MCTS 간의 대국을 통해 성능을 평가하고자 했다. 첫 번째 대국 자는 항상 두 번째 대국자에 비해 압도적인 우위를 보였으며, 최선의 게임 결과가 무승부가 됨 에도 불구하고 첫 번째 대국자가 두 번째 대국자에 비해 우월한 이유를 찾고자 했다. MCTS는 반복적인 무작위 샘플링을 기반으로 하는 통계적 알고리즘이기 때문에, 특히 두 번째 대국자를 위해 전략을 요하는 시급한 문제를 적절히 대처하지 못한다. 이를 위해 전략적 MCTS(S-MCTS)를 제안하며, S-MCTS는 결코 삼목 게임에서 지지 않는다는 것을 보였다.

Recently, buildings tend to be large size, complex shape and functional. As the size of buildings is becoming massive, the need for structural health monitoring(SHM) technique is ever-increasing. Various SHM techniques have been studied for buildings which have different dynamic characteristics and are influenced by various external loads. Generally, the visual inspection and non-destructive test for an accessible point of structures are performed by experts. But nowadays, the system is required which is online measurement and detect risk elements automatically without blind spots on structures. In this study, in order to consider the response of non-linear structures, proposed a signal feature extraction and the adaptive threshold setting algorithm utilized to determine the abnormal behavior by using statistical methods such as control chart, root mean square deviation, generalized extremely distribution. And the performance of that was validated by using the acceleration response of structures during earthquakes measuring system of forced vibration tests and actual operation.