경로추종 제어는 대양에서 선박의 자율운항을 위한 가장 기본적인 연구 중에 하나로 여겨진다. 본 연구는 선수미방향, 횡방향 및 회두방향으로 외력이 작용하는 경로추종 제어를 다룬다. 가상의 선박에서 발생하는 항로를 자선이 추종하는 문제를 해결하기 위해서 유도 원리와 백스테핑 기법을 활용하였다. 경로추종 제어에서 가장 중요한 기술 중에 하나는 오차 동역학에 관한 것으로서, 이 개념은 선박의 자동 충돌 회피 및 자동 접안 제어 등과 같은 연구 영역에서도 활용이 가능하다. 유도 원리와 오차 변수의 알고리즘은 수치 시뮬레이션을 통해 증명하였다. 그 결과, 회두각의 오차를 제외한 대부분의 오차 변수는 제어기를 통하여 제로 값으로 수렴하였다. 기존에 근거리 통항선박의 간섭력을 고려한 안전통항거리의 값보다 두 선박 간의 경로추종 제어의 트래킹 오차의 값이 더 작은 점이 가장 흥미로운 결과 중에 하나로 여겨진다. 또한 프로펠러, 핀이나 러더와 같은 엑츄에이터의 손상을 줄이기 위해서는 수렴의 성능과 선박의 안전을 절충하여 적합한 제어 파라미터를 결정할 필요가 있다.

Recently we are facing increased frequency of the vespa encounters not only in the natural forested area but also in the residential area. These could be partly from the increased population sizes of diverse vespa species as well as the expansion of their nest habitats from mountainous environments to the human residences, resulting occasional casualty or sting damages. In terms of the risk management, we studied hornet attack and defense behaviors relative to the visual or physical disturbance. Four species of vespa showed strongest aggressiveness to the black colored target with high rate of bumping and stinging followed by red color. In most case, vespa showed behavioral change to the high alerts and hover-flying surveillance out of the nest entrance when people approached ap. 10 m close to the nest. When the nest was disturbed by the stick beating, then swarm of defensive force moved out and begin to showed the defensive behavior including stinging or propelling poison. The defense boundary was related to the nest colony size with larger defense line for larger colony. But it was between 15 to 25m from the nest location.

Ground Level Enhancements (GLEs) in cosmic ray intensity observed during the period of 1997-2012 have been studied with energetic solar features and disturbances in solar wind plasma parameters and it is seen that all the GLEs have been found to be associated with coronal mass ejections, hard X-ray solar ares and solar radio bursts. All the GLEs have also been found to be associated with sudden jumps in solar proton ux of energy of ≥ 60 Mev. A positive correlation with correlation coefficient of 0.48 has been found between the maximum percentage intensity (Imax%) of Ground Level Enhancements and the peak value of solar proton ux of energy (≥ 60Mev). All the Ground Level Enhancements have been found to be associated with jumps in solar wind plasma velocity (JSWV) events. A positive correlation with correlation coefficient of 0.43 has been found between the maximum percentage intensity (Imax %) of Ground Level Enhancements and the peak value of solar wind plasma velocity of associated (JSWV) events. All the Ground Level Enhancements have been found to be associated with jumps in solar wind plasma pressure (JSWP) events. A positive correlation with correlation coefficient of 0.67 has been found between the maximum percentage intensity (Imax %) of Ground Level Enhancements and the peak value of solar wind plasma pressure of associated (JSWP) events and of 0.68 between the maximum percentage intensity (Imax %) of Ground Level Enhancements and the magnitude of the jump in solar wind plasma pressure of associated (JSWP) events.

본 연구는 산림 내에서 수종갱신 및 천연갱신 등의 산림시업을 실시한 이후 딱정벌레류 곤충분포상의 변화 양상을 군집수준으로 조사 · 분석하여 종다양성이 증대되는 시업방법의 구명을 통해 산림생물다양성 보전을 위한 효과적인 관리기법을 제시하는데 필요한 기초자료를 확보하고자 수행되었다. 이를 위해 2012년, 강원도 삼척군 하장면 일대의 소나무림 갱신임지 내에서 5개의 임업시업 방법별로 처리한 후 동일지점에서 2013년 7월부터 10월까지 딱정벌레류 곤충상 조사를 실시하였다. 조사 목적상 갱신임지 유형별로 딱정벌레류를 정량조사하기 위해 45일 간격으로 린드그렌퍼넬트랩을 이용하여 채집조사를 실시하였으며, 조사대상인 딱정벌레류의 분류군별 다양도 및 풍부도를 중심으로 분석을 실시하였다. 연구 결과, 딱정벌레류는 총 40과 156종 1,112개체가 조사되었다. 조사 초기 단계에서 각 처리방법별 뚜렷한 밀도차이는 나타나지 않았으나, 전 처리구들이 대조구에 비해 다양도 및 풍부도가 증가하는 경향을 보였고, 이 중 대상개벌을 실시한 구간에서 비교적 높은 밀도를 보이는 것으로 확인되었다.

Benthic macroinvertebrates are considered as a representative group in presenting ecological states and water quality in freshwater ecosystems. Although much study has been not conducted in stream, relatively few cases were comparatively reported in community responses to disturbances in lake and stream. Benthic macroinvertebrate were sampled in 12 lakes and 8 streams in different trophic and saprobic state. The sampled communities were accordingly grouped according to degree of disturbance. Species abundance distribution (SAD) was used for illustrating ecological states, and the fitness was accordingly checked with the proposed models. SADs were divided according to saprobic states in stream while SADs were clearly separated based on trophic levels

Benthic macroinvertebrates were collected with a Surber sampler in streams across different levels of pollution in Korea. Abundance data in different species were analyzed according to the models used in species abundance distribution (SAD), covering geometric series, log series and log normal model. Different patterns in SADs were observed according to the states pertaining to the sample sites. While the log normal patterns were broadly applied to the collected samples, the other models (e.g., geometric series) were selectively observed. The slopes of rank abundance also accordingly reflected the degree of pollution. Application of the theoretical models was additionally discussed in revealing the states of communities. Efficiency of SADs was proposed in community monitoring in response to stressful conditions in aquatic ecosystems.

  Large glass furnaces to produce glass for CRT are housed in huge chambers. It is costly to maintain such a chamber in constant temperature, humidity, and (air) pressure. In this study, first, we show that the process of such a huge furnace, which requir

In this study, first, we show that the furnace process which requires maintaining high temperature is effected grievously by the temperature of surrounding air. Second, an alternative which maintains the relatively constant temperature dispersion surrounding the furnace and at the same time has economical advantages will be proposed.

When an automatic course-keeping is concerned, as is quite popular in modem navigation, the closed-loop steering system consists of autopilot device, power unit (or telemotor unit), steering gear, magnetic or gyro compass and ship dynamics. In order to estimate automatic steering system of ships in open seas. we need to know the characteristics of each component of the system, and also to know the characteristics of disturbance to ship dynamics. In this paper, I provide calculation method of imposing irregular disturbance to autopilot navigation system of the ship in open seas, and also show calculation examples about fishing boat. The disturbance consists of the irregular wave and the fluctuating component of wind. Finally, The disturbances are calculated in terms of equivalent yaw angular velocity. Each spectrum and time history of disturbance are reasonably evaluated.

The final aim of our research project is a study on assessment of automatic steering system of ships in open seas. In order to achieve this aim, we need to know the characteristics of each component of the system, and also to know the characteristics of disturbance to ship dynamics. In this paper, we provide calculation method of irregular disturbance to ships in autopilot navigation in open seas, and also show calculation examples about two kinds of ship, ore carrier and fishing boat. The disturbance consists of irregular wave and random wind. The disturbance is calculated as equivalent yaw angular velocity. Each spectrum and time history of disturbance are reasonably evaluated. Further investigation concerning to performance index of autopilot system and energy loss related to automatic course keeping, will be dealt with in another paper.