• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2011.10a
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• pp.493-496
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• 2011

Currently in the development of community wireless technology is gaining interest in location-based services and as a result, the importance of the location information is a growing trend. To calculate the location information is being suggested several ways, among them Trilateration is representative. Trilateration is three beacon nodes, the distance between the location in which you want to calculate with information. Beacon from a node to know where to get information when the distance between the obstacle and the distance error caused by the surrounding environment, which leads to the exact location can not be obtained. Currently due to distance error, location information has a variety of algorithms to reduce the error. However, a systematic analysis of these algorithms is not progress. This paper analyzes the location-aware technologies, and the error the distance of the location information to reduce errors in the various aspects of the algorithm for the systematic and empirical comparison was evaluated through the analysis.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09b
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• pp.105-119
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• 2003

일반적인 로봇시스템은 자신이 이동해야 할 목표 지점을 자율적으로 생성할 수 없으므로 어떤 다른 시스템의 정보를 이용하여 주변을 탐색하거나 장애물을 인식하고 식별하여 자신의 제어전략을 수립한다. 그러므로 본 논문에서 제시한 시스템은 초소형 비행체를 이용하여 주위 환경과 자율 이동로봇의 위치 정보를 탐색할 수 있도록 시스템을 구성하였다 이러한 시스템의 성능은 로봇이 위치하고 있는 주위의 불완전한 정보로부터 적절한 결론을 유도해 낼 수 있어야 한다. 그러한 비선형적인 문제는 현재까지도 문제 해결을 위해 많은 연구가 진행되고 있다. 본 연구에서는 자율이동로봇의 행동 환경을 공간상의 제약을 받지 않는 비선형 시스템인 초소형 비행체에 극초단파(UHF16채널) 영상장치를 이용하여 호스트 PC로 전송하고 호스트 PC는 로봇의 현재 위치, 이동해야 할 목표위치, 장애물의 위치와 형태 등을 분석한다. 분석된 결과 파라메타는 RF-Module을 이용해서 로봇에 전송하고, 로봇은 그 데이터를 분석하여 동작하게 된다. 로봇이 오동작 또는 장애물로 인해 정확한 목적지까지 도달하지 못할 때 호스트 PC는 새로운 최단경로를 생성하거나 장애물을 회피 할 새로운 전략을 로봇에게 보내준다. 본 연구에 적용한 알고리즘은 초소형 비행체에서 탐지한 불완전한 영상정보에서도 비교적 신뢰도 놀은 결과를 보이는 A* 알고리즘을 사용하였다 적용한 알고리즘은 실험을 통하여 실시간으로 정보를 처리할 수 있었으며, 자율 이동로봇의 충돌회피나 최단 경로 생성과 같은 문제를 실험을 통하여 그 성능과 타당성을 검토하였다.delta}textitH]$를 도출하였다.rc}C$에서 30 ㎫의 압력으로 1시간동안 행하였다 소결한 시편들은 직사각형 형태로 가공하였으며 표면은 0.5$\mu\textrm{m}$의 다이아몬드 입자로 연마하였다. XRD, SEM 및 TEM을 이용하여 상분석 및 미세조직관찰을 행하였다. 파괴강도는 3중점 굽힘 법으로 (3-point bending test) 측정하였다. 이때 시편 하부의 지지 점간의 거리는 30mm, cross-head 속도는 0.5 mm/min으로 하였고 5개의 시편을 측정하여 평균값을 구하였다.ell/\textrm{cm}^3$, 혼합재료 3은 0.123$\ell/\textrm{cm}^3$, 0.017$\ell/\textrm{cm}^3$, 혼합재료 4는 0.055$\ell/\textrm{cm}^3$, 0.016$\ell/\textrm{cm}^3$, 혼합재료 5는 0.031$\ell/\textrm{cm}^3$, 0.015$\ell/\textrm{cm}^3$, 혼합재료 6은 0.111$\ell/\textrm{cm}^3$, 0.020$\ell/\textrm{cm}^3$로 나타났다. 3. 단일재료의 악취흡착성능 실험결과 암모니아는 코코넛, 소나무수피, 왕겨에서 흡착능력이 우수하게 나타났으며, 황화수소는 펄라이트, 왕겨, 소나무수피에서 다른 재료에 비하여 상대적으로

• Journal of the Korean Society of Marine Environment & Safety
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• v.19 no.5
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• pp.476-482
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• 2013

This study aims to enhance the effectivity of VTS(Vessel Traffic Service) control by investigating the minimum safe distance between vessel and vessel, vessel and land(obstacle) for the vessel's safe navigation within the VTS control area. In addition, to suggest basic data for the safe navigation, this study has done survey and analysis to each VTS center, and individual on the minimum safe distance to VTS operators of each ports of korea. Through ocean voyage by training ship, Singapore and Malacca strait's congested vessel traffic zone's control distance was compared and investigated the difference on safe distance by the different VTS operators. As a result, there was huge difference of minimum safe distance between the VTS operators belong to the same center. Over all, the port with gentle coastline, like donghae, the safe distance was wider than the other port. On the other hand, port with complex coastline and frequent entry and departure of the vessel, like mokpo, the safe distance was the shortest of all. Therefore, development of module suitable to port's natural conditions and traffic volume's necessity is required, for the operators affiliated to the same VTS center control according to formal method. Lastly, the full discussion by the expert group about establishment of standard control procedure in the future should be considered as well.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.11
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• pp.2488-2492
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• 2011

Currently, the importance of location-based services and location awareness has been grown due to the advancement of wireless communication technologies. Among several localization techniques, the trilateration localization is one of major localization techniques. However, distance estimation errors caused by obstacles and indoor environment changes lead to inaccurate localization. Although there are existing trilateration localization methods, they have focused on addressing a few problems of trilateration location approaches without detailed analysis. This paper analyzes existing trilateration location methods and evaluate their performance.

• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.3
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• pp.287-292
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• 2003

The ability of robot is being various and complex. The robot is utilizing distance, image data and voice data for sensing its circumstance. This paper suggests the 2-layer fuzzy control as the algorithm that control robot with various sensor information. In a obstacle avoidance, it utilizes many range finders and classifies them into 3parts(front, left, right). In 3 sub-controllers, the controller executes fuzzy conference. And then it executes combined control with a combination of outputs of 3 sub-controllers in the second step. The text compares the 2-layer fuzzy controller with the hierarchical fuzzy controller that has analogous structure. And the performance of the 2-layer fuzzy controller is confirmed by application this controller to robot following, simulation to each other and real experiment.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2016.05a
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• pp.352-354
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• 2016

Recent with the progress of smart devices, there is an increasing demand for indoor location-based services. For this reason, research on indoor positioning system using a iBeacon techniques added to BLE(Bluetooth Low Energy) specifications of Bluetooth4.0 has been actively. However, RSSI signal used for the measurement of the distance between the iBeacon and the receiving terminal has the problems of inaccurate distance measurement to environmental factors such as obstacles. In this paper, we propose an implemented indoor positioning technique to use filtering technology enhance the reliability of the RSSI signal and the broadcasting signal of the terminal access point function.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.50 no.9
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• pp.639-646
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• 2022

Landing site searching algorithms are developed for a quadrotor using a depth map in unknown environment. Guidance and control system of Unmanned Aerial Vehicle (UAV) consists of a trajectory planner, a position and an attitude controller. Landing site is selected based on the information of the depth map which is acquired by a stereo vision sensor attached on the gimbal system pointing downwards. Flatness information is obtained by the maximum depth difference of a predefined depth map region, and the distance from the UAV is also considered. This study proposes three landing methods and compares their performance using various indices such as UAV travel distance, map accuracy, obstacle response time etc.

• Journal of Broadcast Engineering
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• v.27 no.1
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• pp.91-103
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• 2022

Determination of sound source characteristics such as: sound volume, direction and distance to the source is one of the important techniques for unmanned systems like autonomous vehicles, robot systems and AI speakers. There are multiple methods of determining the direction and distance to the sound source, e.g., using a radar, a rider, an ultrasonic wave and a RF signal with a sound. These methods require the transmission of signals and cannot accurately identify sound sources generated in the obstructed region due to obstacles. In this paper, we have implemented and evaluated a method of detecting and identifying the sound in the audible frequency band by a method of recognizing the volume, direction, and distance to the sound source that is generated in the periphery including the invisible region. A cross-shaped based sound source recognition algorithm, which is mainly used for identifying a sound source, can measure the volume and locate the direction of the sound source, but the method has a problem with "blind spots". In addition, a serious limitation for this type of algorithm is lack of capability to determine the distance to the sound source. In order to overcome the limitations of this existing method, we propose a QRAS-based algorithm that uses rectangular-shaped technology. This method can determine the volume, direction, and distance to the sound source, which is an improvement over the cross-shaped based algorithm. The QRAS-based algorithm for the OSSD uses 6 AITDs derived from four microphones which are deployed in a rectangular-shaped configuration. The QRAS-based algorithm can solve existing problems of the cross-shaped based algorithms like blind spots, and it can determine the distance to the sound source. Experiments have demonstrated that the proposed QRAS-based algorithm for OSSD can reliably determine sound volume along with direction and distance to the sound source, which avoiding blind spots.

• 정보화사회
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• s.23
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• pp.18-21
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• 1989

정보화사회라는 단어가 이제는 그리 낯설게 느껴지지 않는다. 사회 각 분야에서 조용히 일고 있는 정보화의 물결이 어느 틈엔가 우리를 정보화사회의 문턱에 서게 한 것이다.최근 한국전기통신공사가 발표한 '정보통신사업 종합추진계획'중 오는 96년까지 PC1천만대를 보급할 것이라는 계획은 정보화의 가속화에 큰 역할을 할 것으로 기대된다.그러나 우리가 정보화사회로 가는 도중에는 넘어야할 장애물이 산재해 있음을 간과할 수 없다. 그중에서 최근 국내 정보통신산업계에 큰 관심거리가 되고 있는 한.미 통신협상이 가장 큰 장벽이라고 할 수 있다.한.미간의 통상마찰에서 비롯된 국내 통신시장 개방압력은 자칫하면 정보주권 문제까지 거론될 수 있는 중대한 사안인 것이다. 산업사회에서 정보화사회로의 전환기를 맞고 있는 현시점에서 고도 정보화사회에 대한 확고한 기반조성은 2천년대 기술선진국을 지향하는 우리에게 필수 선결과제라 할 수 있다.이러한 상황에서 국가사회의 정보화를 선도해 가고 있는 체신부의 역할은 막중하다. 지난달 초에는 미국의 통상정책 관계자들이 우리나라를 방문, 체신부 회의실에서 우리측 실무자들과 함께 통신시장 개방에 대한 협상을 진행한 바 있다. 본란에서는 한.미 통신협상 우리측 수석대표로서 예리한 판단력과 명확한 논리로 미국측 관계자들을 당혹케 했던 박성득 체신부 통신 정책국장을 만나 현안 문제와 앞으로의 과제, 전망 등을 들어본다.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2012.05a
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• pp.141-143
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• 2012

There are services, which can only verify simple objects ahead, to help visually impaired people using ultrasonic wave or RFID tag. Specially, RFID cannot manage emergency situations, since it is can only verify short distances. The purpose of the thesis is to design a device to provide locations in real time visually and audibly to the guardian of the user using Android Platform.