• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.415-415
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• 2000

The functions of a mobile robot such as obstacle knowledge and collision avoidance for in-door cleaning are necessary features, as has been much studied in the field of industrial automatic guided vehicle or general mobile robot. A mobile robot, in order to avoid collision with obstacles, has to gather data with environment knowledge sensors and recognize environment and the shape of obstacles from the data. In the study, a wall-following algorithm was suggested as a autonomous moving algorithm in which a mobile robot can recognize obstacles in indoor like environment and do cleaning work in effect. The system suggested in the study is for cleaning of nuclear material dusts generated in the process of nuclear fuel manufacturing and decontamination of devices in disorder which is performed in M6 radioactive ray shield hot-cell in IMEF(Irradiated Material Examination Facility) in the Korea Atomic Energy Research Institute.

• Journal of Navigation and Port Research
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• v.33 no.10
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• pp.685-690
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• 2009

International Maritime Organization (IMO) recommends the installation of an Automatic Identification System (AIS) according to requirements by SOLAS to avoid maritime collision. AIS provides traffic information of other ships that may be used for maritime traffic control, SAR (Search and Rescue) and collision avoidance to apply safety management. In this paper, preliminary results to implement an aeronautical surveillance transceiver using AIS transceiver based on ADS-B concepts are described. Although altitude information is not required for AIS since the AIS is operated at MSL (Mean Sea Level), altitude information can be extracted by a GPS (Global Positioning System) chip-set in the AIS transceiver. ADS-B transceiver is implemented by defining a surveillance message format including the altitude information and modifying SOTDMA (Self-Organizing Time Division Multiple Access) protocol. Ground tests and flight tests are performed to validate the implementation results.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2009.06a
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• pp.19-20
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• 2009

International Maritime Organization(IMO) recommends the installation of an Automatic Identification System(AIS) according to requirements by SOLAS Chapter 5 to avoid maritime collision. AIS provides traffic information of other ships that may be used for maritime traffic control, SAR(Search and Rescue) and collision avoidance to apply safety management. In this paper, preliminary results to implement an aeronautical surveillance transceiver using AIS transceiver based on ADS-B concepts are described. Although altitude information is not required for AIS since the AIS is operated at MSL(Mean Sea Level), altitude information can be extracted by a GPS chip-set in the ALS transceiver. ADS-B transceiver is implemented by defining a surveillance message format including the altitude information and modifying SOTDMA protocol. Ground tests and flight tests are performed to validate the implementation results.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.37 no.11
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• pp.1104-1111
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• 2009

In the low altitude, mission of the aircraft is restricted by a variety of threats such as anti-air missiles and terrain obstacles. Especially, aircraft have always a risk of ground collision near terrain. In this study, to effectively solve this problem, we developed the flight path generation algorithm that is considered the terrain avoidance. In this flight path generation algorithm, waypoints that should be passed by the UAV are selected first. The waypoints are located in the middle of the terrain obstacles. Then, physically meaningful waypoints sets are classified by Dijkstra algorithm. The optimal waypoint guidance law based on the optimal control theory is applied to produce trajectory candidates. And finally the minimum control energy trajectory is determined.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.832-837
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• 1991

After many years of proliferation, the nuclear industry is indebted for a formidable consequence, the safe management of spent fuel. Naturally, the high radioactivity involved with such process motivates the development of effective telerobotic systems. Nevertheless, the existing master-slave type of tele manipulators are limited in effectiveness by the human operator's limited sensory and manipulation capabilities. This paper presents the result of a research effort to resolve such problems by assigning the slave manipulator a certain degree of intelligence; sensing and actuation. In the presented system, a perception-action loop is achieved using ultrasonic range sensor and laser distance sensor interfaced with the PUMA 760 industrial robot system, and applied to automating impact wrenching task for unbolting the lid of nuclear spent fuel cask. The perception-action loop performs determination of the cask location, collision avoidance and centering of the impact wrench onto the bolt head. To aid the insertion task and to provide versatility a mounting module consisting of an RCC device and an automatic tool changer is designed and implemented. The performance of the developed system is tested on the model cask and the result is given.

• Journal of information and communication convergence engineering
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• v.7 no.3
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• pp.297-303
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• 2009

Automatic Identification System (AIS) is a VHF radio broadcasting system where transmits packets of data via VHF data link. It enables vessels and coastal-based station that equipped with AIS equipment to send and receive useful information. This information can be help in situational awareness and provide a means to assist in collision avoidance. In addition, AIS can be use as Aid-To-Navigation, by providing the location and additional information on buoys and lights. Besides, it can also contain details information in meteorological status of a particular ship location. This paper presents the standalone AIS system that able to receive and report own ship location, meteorological data collection and broadcast safety related information if necessary. With the unique ship's MMSI number, all the information of that particular ship can be monitor by using AIS program written in C++ programming language.

• Journal of Navigation and Port Research
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• v.33 no.9
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• pp.603-608
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• 2009

In this paper, a 3m-class free running model ship will be introduced with its manoeuvring performance experiments. The results of turning circle test and zig-zag test will be explained. The developed system are equipped with GPS, main control computer, wireless LAN, IMU (Inertial Measurement Unit), self-propulsion propeller and driving rudder. Its motion can be controlled by RC (Radio Control) and wireless LAN from land based center. Automatic navigation is also available by pre-programmed algorithm. The trajectory of navigation can be acquired by GPS and it provides us with important data for ship's motion control experiments. The results of manoeuvring performance experiment have shown that the developed free running model ship can be used to verify the test of turning circle and zig-zag. For next step, other experimental researches such as ship collision avoidance system and automatic berthing can be considered in the future.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.50 no.1
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• pp.21-29
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• 2014

The dynamic information of radar and automatic identification system (AIS) for targets obtained from the traffic vessels operating in the north outer harbor and surrounding waters of Busan port, Korea. The target information was analyzed to investigate the potential collision risk resulting from the invalid true heading (HDT) information of AIS and the integration ambiguity in the graphic presentation of both tracked data sets for two systems. An integrated display system (IDS) for supporting the navigator of offshore fishing vessels was also developed to find possible maneuvering solutions for collision avoidance by comparing radar data with AIS data in real-time at sea. Consequently, the multiple functions of IDS can provide additional information that is potentially valuable for taking action to avoid the collision in offshore fishing vessels. However, the integration criteria of radar and AIS targets in the IDS must be carefully established to eliminate the fusion ambiguity in the graphic presentation of both AIS and radar symbols such as the one or two physical targets which are very close to each other.

• Journal of the Korean Society of Marine Environment & Safety
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• v.29 no.5
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• pp.462-469
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• 2023

In this study, we propose a method for evaluating the risk of collision between ships to support determination on the risk of collision in a situation in which ships encounter each other and to prevent collision accidents. Because several uncertainties are involved in the navigation of a ship, must be considered when evaluating the risk of collision. We apply the Dempster-Shafer theory to manage this uncertainty and evaluate the collision risk of each target vessel in real time. The distance at the closest point approach (DCPA), time to the closest point approach (TCPA), distance from another vessel, relative bearing, and velocity ratio are used as evaluation factors for ship collision risk. The basic probability assignments (BPAs) calculated by membership functions for each evaluation factor are fused through the combination rule of the Dempster-Shafer theory. As a result of the experiment using automatic identification system (AIS) data collected in situations where ships actually encounter each other, the suitability of evaluation was verified. By evaluating the risk of collision in real time in encounter situations between ships, collision accidents caused by human errora can be prevented. This is expected to be used for vessel traffic service systems and collision avoidance systems for autonomous ships.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.8
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• pp.62-71
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• 2009

In mobile robotics, ultrasonic sensors became one of the most popular devices for collision avoidance and navigation primarily due to data robustness, the easy availability of low-cost systems, their compact size, simple circuits, and their ease in interfacing with computers. However, ultrasonic sonic sensors are subject to noise which results in inaccuracy of mapping and localization of the robot. This paper introduces a new approach to enhance environmental maps based on ultrasonic range data using linear interpolation and Newton interpolation. The simulation and experimental results show that the proposed method improves of the accuracy of the map through better distance estimation between the mobile robot and obstacles.