Earticle

The purpose of this study is to establish the working planning system for the concentrated management of multi-construction sites in the aspect of Multi Project Control. 1. Development of new control system for the concentrated management in multi-project control. - Development of the MPC model for the concentrated management in multi-project control. - Development of the new scheduling method using Tact or LOB system. - Development of the working planning method for the operation of workers, building materials, and construction equipments with new scheduling method.

보다 사실적인 대규모 게임 환경을 구축하기 위해서는 NPC(Non-Player Character)의 지능적인 경로 계획 기법이 필수적이다. 본 논문에서는 필드 기반 경로 계획 기법의 하나로 지금까지 기하 모델링에 사용되어 왔던 적분형 MLS(Moving Least Squares) 기법의 적용을 제안한다. 이 기법은 다른 필드 방식(부호 거리장 기법, SDF)에 비해서 모든 지점에서 연속, 미분 가능(C1)한 부드러운 경로를 제공하며 간단한 매개변수 하나만으로 지형 장애물과의 상대적인 거리에 따른 자연스러운 동선을 형성할 수 있다. 적분형 MLS는 GPU 기반 병렬 기법과 2차원 및 3차원에서의 해석이 상당히 진행되었으며 비교적 어려운 3차원 공간 상의 경로 계획에도 적용할 수 있다.

To implement more realistic large game environments, game developers should design intelligent path planning for non-player characters (NPCs). For this purpose, this paper presents a path planning method based on the integral moving least squares (iMLS) which is originally introduced as a geometry modeling technique. The iMLS provides smooth (i.e. continuous and C1-derivable) moving paths at all the positions in the space and an efficient method to control the paths which seem natural for the terrain features, only with a single parameter. Since iMLS has been well analyzed for both two- and three-dimensional cases and a parallel method based on GPU has been proposed, this approach can be easily applied to path plaining in three-dimensional spaces, which is relatively difficult.

Farmmap is constructed as a single-layer, so it has limitations in that farmland, infrastructure, and production facilities are mixed in same spatial information. As a way to expand spatial information in agriculture and rural areas, we introduce multiple layers and suggest application and construction methods. In this study, multiple layers were proposed considering accurate calculation of farmland area and policy utilization using the MPC (Multi-layered Primitive Composite) model based on Farmmap. Jeju Special Self-Governing Province was selected as a proposed model (multi-layer) pilot construction area. As a result of the construction, based on the Farmmap, the number of paddy fields increased from 111 single-layer to 499 multi-layer to 388 rice fields, and the area increased by about 45.8 ha. The number of fields (upland) increased by 11,342, and the area increased by about 104 ha. Analysis of the difference based on the National Statistical Office's agricultural area survey shows that the combined area of paddy fields and fields differed by 7,252 ha in the case of a single-layer, but the difference in area accuracy was found to be greatly improved by about 588 ha in the multi-layer.

In the irrigation facilities, the irrigation system is connected systematically, and thus, it agrees to the object-oriented concept. Since it is necessary to go through comparative evaluations and to devise several alternatives plans in designing the irrigation system, it will be very efficient to use the objects that contain the design data. In this study, the object-oriented methodology has been proposed to define the objects, which will be used in the design system of irrigation facility. Furthermore, as for the essential elements of the objects, concept of element objects is formulated. By employing this concept, appropriate element objects have been derided for the irrigation facility. Necessary data model for realization of the objects is examined and selected. And then, required elements for applying the selected data model to the irrigation facility will be proposed

유성음원과 무성음원을 사용하는 멀티펄스 음성부호화 방식(MPC)에 있어서, 유성음의 파형에서 일그러짐이 발생한다. 이러한 문제를 해결하기 위해, 재생파형의 일그러짐이 감소하도록 피치구간 마다 멀티펄스의 진폭과 위치 를 보정하는 APC-MPC를 제안하였다. 또한 융복합 시스템의 8kbps 부호화 조건에서 APC-MPC의 SNRseg를 검토하 고 부호화 시스템으로 구현하였다. APC-MPC의 SNRseg를 평가한 결과, APC-MPC의 남자음성에서 14.3dB, 여자음성 에서 13.9dB 임을 확인할 수 있었다. 본 방법은 셀룰러폰이나 스마트폰과 같이 Low Bit Rate의 음원을 사용하여 음 성신호를 부호화하는 방식에 활용할 수 있을 것으로 기대된다.

In a MPC(Multi-Pulse Coding) using excitation source of voiced and unvoiced, it would be a distortion of voice waveform. This is caused by normalization of synthesis speech waveform of voiced in the process of restoration. To solve this problem, this paper present APC-MPC of amplitude-position compensation in a multi-pulses each pitch interval in order to reduce distortion of synthesis waveform. Also, I was implemented that the APC-MPC in coding system. And I evaluate the SNRseg of APC-MPC in 8kbps coding condition of convergence system. As a result, SNRseg of APC-MPC was 13.9dB for female voice and 14.3dB for male voice respectively. And so, I expect to be able to this method for cellular phone and smart phone using excitation source of low bit rate.

유성음원과 무성음원을 사용하는 음성부호화 방식에 있어서, 같은 프레임 안에 모음과 무성자음이 있는 경우에 음성 파형에 일그러짐이 나타난다. 이것을 해결하기 위하여 본 논문에서는 개별피치와 LMS(Least Mean Square)를 적용한 LMS-MPC를 제시하였으며, 기존의 MPC와 LMS-MPC의 SNRseg를 평가한 결과, LMS-MPC의 남자음성에서 1.5dB, 여자음성에서 1.3dB 개선된 것을 확인할 수 있었다. 결국, MPC에 비해 LMS-MPC의 SNRseg가 개선되어 음성파형의 일그러짐을 제어할 수 있었으며, 본 방법은 셀룰러폰이나 스마트폰과 같이 Low Bit Rate의 음원을 사용하여 음성신호를 부호화 하는 방식에 활용할 수 있을 것으로 기대된다.

In a speech coding system using excitation source of voiced and unvoiced, it would be a distortion of speech waveform in case of exist a voiced and an unvoiced consonants in a frame. To solve this problem, this paper present a method of LMS-MPC uses individual pitch and LMS(Least Mean Square). I evaluate the MPC and LMS-MPC using LMS. As a result, SNRseg of LMS-MPC was improved 1.5dB for female voice and 1.3dB for male voice respectively. Compared to the MPC, SNRseg of LMS-MPC has been improved that I was able to control the distortion of the speech waveform finally. And so, I expect to be able to this method for cellular phone and smart phone using excitation source of low bit rate.

유성음원과 무성음원을 사용하는 음성부호화 방식에 있어서, 같은 프레임 안에 모음과 무성자음이 있는 경우에 음질저하현상이 나타난다. 본 연구에서는 연속음성에서 무성자음을 포함한 천이구간을 탐색, 추출하고 주파수대역에서 근사합성하는 8kbps의 멀티펄스 음성부호화 방식(FBD-MPC)를 제안하였다. 기존의 8kbps MPC와 FBD-MPC의 SNRseg를 평가한 결과, FBD-MPC의 남자음성에서 0.5dB, 여자음성에서 0.2dB 개선된 것을 확인할 수 있었다. 결국, MPC에 비해 FBD-MPC의 SNRseg가 개선되어 음성파형의 일그러짐을 제어할 수 있었으며, 본 방법은 셀룰러폰이나 스마트폰과 같이 Low Bit Rate의 음원을 사용하여 음성신호를 부호화하는 방식에 활용할 수 있을 것으로 기대된다.

In a speech coding system using excitation source of voiced and unvoiced, it would be involved a distortion of speech quality in case coexist with a voiced and unvoiced consonants in a frame. In this paper, I propose a method of 8kbps Multi-Pulse Speech Coding(FBD-MPC: Frequency Band Division MPC) by using TSIUVC(Transition Segment Including Unvoiced Consonant) searching, extraction and approximation-synthesis method in a frequency domain. I evaluate the 8kbps MPC and FBD-MPC. As a result, SNRseg of FBD-MPC was improved 0.5dB for female voice and 0.2dB for male voice respectively. Compared to the MPC, SNRseg of FBD-MPC has been improved that I was able to control the distortion of the speech waveform finally. And so, I expect to be able to this method for cellular phone and smart phone using excitation source of low bit rate.

유성음원과 무성음원을 사용하는 멀티펄스 음성부호화 방식에 있어서, 대표구간의 멀티펄스를 사용하는 경우 에 유성음의 합성음성파형에서 일그러짐이 나타난다. 이것은 대표구간의 멀티펄스를 피치구간마다 복원하는 과정에서 재생 음성신호가 정규화되는 것이 원인으로 작용한다. 이것을 해결하기위하여 본 논문에서는 피치구간마다 멀티펄스 의 위치를 보정하는 방법(PC-MPC)을 제시하였으며, 기존의 MPC와 멀티펄스 위치를 보정한 PC-MPC의 SNR seg를 평가한 결과, PC-MPC의 남자음성에서 0.4dB, 여자음성에서 0.5dB 개선된 것을 확인할 수 있었다. 결국, MPC에 비해 PC-MPC의 SNR seg가 개선되어 음성파형의 일그러짐을 제어할 수 있었으며, 본 방법은 셀룰러폰이나 스마트폰과 같 이 Low Bit Rate의 음원을 사용하여 음성신호를 부호화하는 방식에 활용할 수 있을 것으로 기대된다.

In a MPC coding using excitation source of voiced and unvoiced, it would be a distortion of speech waveform. This is caused by normalization of synthesis speech waveform of voiced in the process of restoration the multi-pulses of representation section. To solve this problem, this paper present a method of position compensation(PC-MPC) in a multi-pulses each pitch interval in order to reduce distortion of speech waveform. I was confirmed that the method can be synthesized close to the original speech waveform. And I evaluate the MPC and PC-MPC using multi-pulses position compensation method. As a result, SNR seg of PC-MPC was improved 0.4dB for female voice and 0.5dB for male voice respectively. Compared to the MPC, SNR seg of PC-MPC has been improved that I was able to control the distortion of the speech waveform finally. And so, I expect to be able to this method for cellular phone and smart phone using excitation source of low bit rate.

This study tried to develop the artificial stone utilizing the waste porcelain and waste glass in the magnesia phosphate ceramic as the cement and natural aggregate substitute material. Engineering properties were analyzed in the total volume of waste porcelain and waste glass addition to the 40, 50, 60, 70(%). Low carbon environment-friendly artificial stone the applicability tried to be verified compressive strength and flexural strength, percentage of attendance, density, absorption rate, were analyze. As a result, Cement and natural aggregates that do not use artificial stone as the use of low-carbon eco-friendly artificial is likely to believe that waste porcelain and waste glass the addition rate 70% specimen.

Past researches on construction scheduling have focused on technology elements and improvement in single project site on the assumption of no restriction on resources. Under recent social-economic situation, the new methodology of overall perspective for multi-project controls is required while small numbers of managers oversees many project sites. Under recent social-economic situation, the new methodology of overall perspective for multi-project controls is required while small numbers of managers oversees many project sites.

This paper proposes a model predictive controller of robot manipulators using a genetic algorithm to secure the best performance by performing parameter optimization with the genetic algorithm. Genetic algorithm is a natural evolutionary process modeled as a computer algorithm and has excellent performance in global optimization, so it is useful for tuning control parameters. The sliding mode controller and inverse dynamics controller are included in the lower part of the model prediction controller to minimize the problems caused by non-linearity and uncertainty of the robot manipulator. The performance superiority of the proposed method as described above has been confirmed in detail through a simulation study.

In order to overcome the limitations on human accidents and reduce experimental costs during autonomous driving, studies using virtual simulator is conducted. In addition, by using open source-based frameworks and middleware, we develop a module that can be applied immediately to a real vehicle using a model developed for autonomous driving that has been studied in a virtual environment. In this paper, we use autonomous driving environment using a game engine-based CARLA simulator, and propose a model predictive control module by interlocking open-source ROS (Robot Operating System) and Autoware with the simulator. In addition, ROS manages vehicle information and sensor data and transmits them to the Autoware. In order to control autonomous driving, the control end part is implemented using MPC (Model Predictive Control) among Autoware APIs, which provides necessary functions such as 3D map generation and NDT matching algorithm for autonomous driving, location identification, object recognition, and vehicle control.

차량용 전방충돌방지 시스템으로 많이 사용 중인 FMCW 레이더는 현재 상용화되어 대중적이 되었다. 본 연구에서는 77 GHz급의 고성능 ADAS(Advanced Driver Assistance System)를 위한 전용 프로세서인 NXP사의 MPC5775K를 기반으로 레이더 신호처리부를 개발하였다. MPC5775K는 자동차용 MPU 계열에 FMCW 레이더에서 요구하는 기능을 추가한 것으로 10Msps급 12bit ADC, 2개의 50MHz Radix-4 FFT HW를 내장한 것이 특징이다. 또한 주기적인 레이더 송수신 신호를 만들고, 이를 동기화하여 획득하는 CTE(Cross Triggering Engine)를 제공하여 다양한 알고리즘 개발에 활용이 가능하다. 보드를 개발하여 직접 FMCW 레이더 기능을 시험하였으며 그 결과를 시리얼통신으로 PC에서 전송하여 Matlab에서 실시간 그래프로 성능을 검증하였다.

FMCW radar, which is widely used as a front collision warning system for vehicles, is now being commercialized. In this study we develope the radar signal processing system using MPC5775K that is specialized for high performance ADAS. That has special features for ADAS such as 10Msps 12bit ADC, 50MHz Radix-4 FFT, CTE(Cross Triggering Engine) for synchronized triggering between DAC and ADC. The baseband processing board is implemented and shows the result in Matlab.

N-Type $SbI_3$ doped $95%Bi_2Te_3+5%\;Bi_2Se_3$ compounds were newly fabricated by the combination of gas atomization process and Magnetic Pulsed Compaction process. The thermoelectric properties of the MPCed bulks according to consolidation temperatures were investigated by a combination of microscopy, XRD and thermoelectric property testing. The microstructure of MPCed bulk shows homogeneous and fine distribution through consolidated bulks due to the high solidification of compound powders. The research presented the challenges toward the successful consolidation of thermoelectric powder using magnetic pulsed compaction (MPC) and analysis of thermoelectric properties of the consolidated bulks.

N-Type $SbI_3$-doped $95%{Bi_2}{Te_3}-5%{Bi_2}{Se_3}$ compounds were prepared by a gas atomization and Magnetic Pulsed Compaction process. The dynamic recrystallization and thermoelectric properties of the MPCed bulks with consolidation temperatures and times were investigated by a combination of microscopy, XRD and thermoelectric property testing. The microstructure of MPCed bulk shows homogeneous and fine distribution through consolidated bulks due to dynamic recrystallization during hot MPC. This research presented the challenges toward the successful consolidation of thermoelectric powder using magnetic pulsed compaction (MPC).