• Journal of the Korea Institute of Information and Communication Engineering
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• v.9 no.7
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• pp.1561-1568
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• 2005

In client-solver environments, clients can execute applications without contact a server by storing data in its cache. To guarantee correction of applications, we need a cache consistency algorithm. Many cache consistency algorithms have been proposed, these were categorized by detection-based and avoidance-based algorithms. In this paper, we propose a new detection-based cache consistency algorithm that can reduce a burden of a client that has poor resource compare with a server Our method controls concurrency of transactions using timestamp ordering and updates a cache dynamically. In addition to we show that our method maintains a one-copy serializability.

• Journal of Navigation and Port Research
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• v.43 no.6
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• pp.377-383
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• 2019

Naval ships that are navigating always have the possibility of colliding, but there is no clear maneuvering procedure for collision avoidance, and there is a tendency to depend entirely on the intuitive judgment of the Officer Of Watch (OOW). In this study, we conducted a questionnaire survey when and how to avoid collision for the OOW in a Constant Bearing, Decreasing Range (CBDR) situation wherein the naval ships encountered obstacles. Using the results of the questionnaire survey, we analyzed the CBDR situation of encountering obstacles, and how to avoid collision in day/night. The most difficult to maneuver areas were Pyeongtaek, Mokpo, and occurred mainly in narrow channels. The frequency appeared on average about once every four hours, and there were more of a large number of ships encountering situations than the 1:1 situation. The method of check of collision course confirmation was more reliable with the eye confirmation results, and priority was given to distance at closest point of approach (DCPA) and time at closest point of approach (TCPA). There was not a difference in DCPA between the give-way ship and stand-on ship, but a difference between day and night. Also, most navigators prefer to use maneuvering & shifting when avoiding collisions, and steering is 10-15°, shifting ±5knots, and the drift course was direction added stern of the obstacles to the direction of it. These results will facilitate in providing officers with standards for collision avoidance, and also apply to the development of AI and big data based unmanned ship collision avoidance algorithms.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.16 no.8
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• pp.1619-1624
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• 2012

If multiple Tags in the RFID System transmit their IDs to the Reader at the same time, tag identification time is delayed due to collisions. Therefore, to reduce the reader's identification time, an efficient anti-collision technology is needed. In this paper, we propose a hybrid anti-collision method based on the QT and DFSA. Then, the performances of proposed method are compared with the existing method through extensive simulations.

• Proceedings of the KIEE Conference
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• 2004.05a
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• pp.44-46
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• 2004

본 논문에서는 이동로봇이 임의의 선행물체를 추종할 때 진행 경로상에 이동장애물이 진입하는 경우 이 장애물을 효과적으로 회피할 수 있는 방법을 제시한다 초음파 센서를 이용하여 이동로봇의 진행경로에 진입하는 이동장애물에 대한 거리 정보와 방향각(Heading Angle)을 구할 수 있다. 이동로봇의 본체 주위에 배치된 16개의 초음파 센서를 이용하여 이동로봇의 전면, 후면 및 측면의 데이터를 얻을 수 있으며 이 정보를 퍼지제어기의 입력으로 사용한다 퍼지제어기는 이러한 입력정보와 제안된 규칙 베이스를 이용하여 이동로봇의 진행방향과 속도를 결정한다. 본 논문에서 제안한 퍼지제어기를 이용한 시뮬레이션을 통해 이동장애물에 대한 효과적인 충돌회피가 수행됨을 보인다.

• Proceedings of the Korea Information Processing Society Conference
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• 2020.11a
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• pp.308-311
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• 2020

최근 드론 규제를 완화하겠다는 정부의 발표로 앞으로 여러 분야에서 드론이 상용화되어 이용될 것으로 예상되지만, 자율비행에 있어서 장애물을 회피하는 문제가 상용화의 걸림돌로 남아있다. 이에 본 논문에서는 GPS 기반으로 드론을 직접 제작하고, 초음파 센서를 활용하는 회피기동을 구현하여 비교적 저렴한 가격으로 자율비행 드론 시스템을 설계하여 앞으로 나오게 될 스마트 모빌리티 제품군들의 상용화에 기여할 수 있기를 기대한다.

• Journal of the Korean Society of Marine Environment & Safety
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• v.26 no.1
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• pp.8-14
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• 2020

According to the statistics provided by Korean Maritime Safety Tribunal for the year 2018, the majority of marine accidents in the past four years have occurred in fishing boats and small-sized boats. Negligent behavior resulting from not looking outside and non-compliance with navigation laws are the primary reasons behind ship collisions. Although safety education and training are reinforced to prevent such accidents, they still occur frequently. Hence, technical methods are continuously being developed to reduce ship collisions caused by human cause. The objective of this study is to reduce ship collisions by employing the WAVE communication system, which has short transmitting and receiving periods that can be incorporated for high-speed small-sized vessels. In this study, the suitability of the communication range was examined, and the appropriate range and timing for avoidance motion were accordingly selected, and a control algorithm based on the same was thereby designed. Consequently normal operation of the collision avoidance system was verified by connecting and simulating the proposed WAVE communication router-controller-steering equipment.

• Journal of Navigation and Port Research
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• v.29 no.1 s.97
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• pp.29-34
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• 2005

A mis-handling of the ship operators, treated as one qf the main causes of a ship accidents, normally has caused a ship to collide with obstacles like a reef, a rock and other ships etc. since their ability has been declining little by little even though the port conditions have been getting worse. The ship needs a highly sophisticated technology as her size and speed increase as the ship have been demanded. For example, Auto Avoidance Control System gradually has been receiving a growing interest to control the entire ship safely. From that purpose, this research has been done. The research was based on the MMG mathematical model, used Surge-Sway-Yaw-Roll motion equation and Fuzzy theory for calculating the collision-risk Also the research successively was done when the ship encountered continual multitude ships.

• Journal of the Korean Society of Marine Environment & Safety
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• v.27 no.7
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• pp.1023-1030
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• 2021

Korea Maritime Safety Tribunal (KMST) statistics released in of 2019 indicated that most collision accidents involving small-size vessels with less than 20 gross-tonnage occur mainly due to operational carelessness, such as forward-looking negligence and unskilled vessel control. As an effective remedy, training and education for vessel operators are being strengthened to prevent accidents. However, collision accidents are increasing, and technical measures are continuously developed to reduce accidents caused by human factors. In this study, an avoidance algorithm and prototype of terminal-controller against collision between two nearby vessels was developed for implementation on relative navigation control by adopting WAVE telecommunication technology. Moreover, several sea trial tests were performed to verify the collision avoidance algorithm and control system using two fishing vessels for dif erent scenarios.

• Proceedings of the Korean Information Science Society Conference
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• 2006.10d
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• pp.6-9
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• 2006

IEEE 802.15.4는 저전력 무선 개인 네트워크 기술의 표준으로서 USN(ubiquitous sensor network)의 핵심 무선 통신 기술로 각광을 받고 있다. 그러나 IEEE 802.15.4는 제한된 RF 전송범위와 스타 토폴로지를 기반으로 하는 통신 기법만을 제공하고 있으며, 인접한 PAN 간(inter-PAN)의 통신 기술은 정의되어 있지 않다. 이러한 기술상의 제약으로 IEEE 802.15.4는 통신 영역이 매우 제한적이며, 이에 따라 통신시 음영지역이 발생하는 문제점을 가지고 있다. 현재까지 통신영역 확장을 위한 주요 기술적 사항인 효율적인 토폴로지 형성방법, 주소할당 및 라우팅 방법, 인접 네트워크 간의 비콘 충돌 회피 기법 등에 대한 활발한 연구가 진행되어 왔다. 이중 인접한 네트워크간의 비콘 충돌 방지 기법은 IEEE 802.15.4의 네트워크가 비콘에 의해서 관리된다는 점을 고려하였을 때 데이터 전송 및 네트워크 유지를 위해 우선적으로 해결되어야 할 사항이다. 본 연구에서는 제안된 비콘 충돌 회피 기법을 분석하고, 이중 비활성 구간(inactive portion)을 활용한 기법에 대한 구체적인 구현 방안을 제시 하였다. 또한 상용 임베디드 장치인 Nano-24에 설계한 비콘 충돌 회피 기법을 구현하여 동작을 검증, 분석하였다.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.4
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• pp.470-477
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• 2009

Modular reconfigurable robots with physical docking capability easily adapt to a new environment and many studies are necessary for the modular robots. In this paper, we propose a vision-based fuzzy autonomous docking controller for the modular docking robots. A modular docking robot platform which performs real-time image processing is designed and color-based object recognition method is implemented on the embedded system. The docking robot can navigate to a subgoal near a target robot while avoiding obstacles. Both a fuzzy obstacle avoidance controller and a fuzzy navigation controller for subgoal tracking are designed. We propose an autonomous docking controller using the fuzzy obstacle avoidance and navigation controllers, absolute distance information and direction informations of robots from PSD sensors and a compass sensor. We verify the proposed docking control method by docking experiments of the developed modular robots in the various environments with different distances and directions between robots.