• Journal of Korea Society of Industrial Information Systems
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• v.12 no.1
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• pp.46-53
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• 2007

NC (Numerical Control) code for the tool path needs to be generated efficiently for machining of free form pockets with arbitrary wall geometry on a three axis CNC machine. The unified rough and finish cut algorithm and the tool motion is graphically simulated in Part 1. In this paper, a grid based 3D navigation algorithm simulated in Part 1 for generating NC tool path data for both linear interpolation and a combination of linear and circular interpolation for three-axis CNC milling of general pockets with sculptured bottom surfaces is experimentally performed and verified.

• Journal of Navigation and Port Research
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• v.26 no.2
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• pp.199-207
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• 2002

Radar Cross Sections(RCS) for the radar targets are measured and their performance characteristics are analyzed through computer simulation. In addition, constructional features for the commercial radar reflectors are investigated. Then, the optimum design condition of a passive-type radar reflector was chosen. The results show that the octahedral-type radar reflector with 10$\lambda$ sized circular plates has best performance in X-band($\lambda$=3.2cm). However, to comply with newly adopted 2000 SOLAS regulations, larger sized circular plate is required to provide at both X-band and S-band.

• Journal of Advanced Navigation Technology
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• v.15 no.5
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• pp.696-704
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• 2011

In this paper, we propose a mobile robot navigation algorithm using data fusion of a monocular camera and ultrasonic sensors. Threshold values for binary image processing are generated by a fuzzy inference method using image data and data of ultrasonic sensors. Threshold value variations improve obstacle detection for mobile robot to move to the goal under poor illumination environments. Obstacles detected by data fusion of camera and ultrasonic sensors are expressed on the grid map and avoided using the circular planning algorithm. The performance of the proposed method is evaluated by experiments on the Pioneer 2-DX mobile robot in the indoor room with poor lights and a narrow corridor.

• Journal of Navigation and Port Research
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• v.47 no.6
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• pp.401-409
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• 2023

This study compared and analyzed the performance of a distributed area search algorithm and a distributed probability search algorithm based on information exchange between ships. The distributed algorithm is a method that can search for an optimal avoidance route based on information exchange between ships. In the distributed area search algorithm, only a ship with the maximum cost reduction among neighboring ships has priority, so the next expected location can be changed. The distributed stochastic search algorithm allows a non-optimal value to be searched with a certain probability so that a new value can be searched. A circular-based ship collision avoidance model was used for the ship-to-ship collision avoidance experiment. The experimental method simulated the distributed area search algorithm and the distributed stochastic search algorithm while increasing the number of ships from 2 to 50 that were the same distance from the center of the circle. The calculation time required for each algorithm, sailing distance, and number of message exchanges were compared and analyzed. As a result of the experiment, the DSSA(Distributed Stochastic Search Algorithm) recorded a 25%calculation time, 88% navigation distance, and 84% of number of message exchange rate compared to DLSA.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.05a
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• pp.63-64
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• 2018

In this study, a design method for a circular polarization patch antenna operating at a frequency 1.5 GHz~1.7 GHz was studied. To obtain the wide bandwidth and high gain, air substrate between patch and ground plane was applied. The impedance bandwidth is improved by adjusting the sizes of patch, the distance between main patch and ground plate, the length of internal slots, the position of feeding point, the length of external stub, etc. The antenna is designed and simulated for an operation in the frequency range of 1.5GHz~1.7GHz band. The results show that antenna characteristics such as return loss, gain, axial ratio, radiation patterns are appropriate for the satellite navigation system.

• Journal of Advanced Navigation Technology
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• v.24 no.4
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• pp.299-304
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• 2020

This paper proposes the design of circular sector shaped power divider-combiner with a planar structure. This structure can be constructed in series, and due to the circular sector shape, it is possible to simplify circuit configuration and improve the amplitude and phase balanced characteristics of the output. It has a simple input matching circuit and an RC parallel circuit was inserted between the output ports to improve the reflection coefficient and isolation of the output. Since the designed divider-combiner are structurally designed in a symmetrical shape of a sector, even if the output ports are composed of two or four output ports, they have excellent characteristics with an amplitude balance of ± 0.1 dB and a phase balance of ± 1o between outputs. To prove these characteristics, it was confirmed that the characteristics of the planar power divider-combiner fabricated at an operating frequency of 2 GHz are in good agreement with the simulation.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2015.10a
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• pp.7-8
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• 2015

In MSC $95^{th}$ commitee, the Guideline on software quality assurance and human-centred design for e-navigation was approved as a circular. After that, the practical guidance to apply the guidance for marine-industry is developing. This guidance presents detailed actions which is done with the software development life-cycle and it provides templates of basic outcomes of the detailed actions. In April 2015, the "e-navigation SQA and HCD Guideline Workshop 2015" was held. There was discussions about the improvement and application plans of the guideline. Also, various opinions of marine-industry about IMO SQA were gathered and how to apply to the marine-industry with harmonization of SQA and HCD was discussed. This paper subscribes the future work to improve the guideline discussed on the workshop.

• Journal of Positioning, Navigation, and Timing
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• v.7 no.4
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• pp.189-203
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• 2018

In this paper, a Software Defined Radio (SDR) architecture was designed and implemented for rapid prototyping of GNSS receiver. The proposed SDR can receive various GNSS and direct sequence spread spectrum (DSSS) signals without software modification by expanded input parameters containing information of the desired signal. Input parameters include code information, center frequency, message format, etc. To receive various signal by parameter controlling, a correlator, a data bit extractor and a receiver channel were designed considering the expanded input parameters. In navigation signal processing, pseudorange was measured based on Coordinated Universal Time (UTC) and appropriate navigation message decoder was selected by message format of input parameter so that receiver position can be calculated even if SDR is set up various GNSS combination. To validate the proposed SDR, the software was implemented using C++, CUDA C based on GPU and USRP. Experimentation has confirmed that changing the input parameters allows GPS, GLONASS, and BDS satellite signals to be received. The precision of the position from implemented SDR were measured below 5 m (Circular Error Probability; CEP) for all scenarios. This means that the implemented SDR operated normally. The implemented SDR will be used in a variety of fields by allowing prototyping of various GNSS signal only by changing input parameters.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2015.10a
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• pp.45-46
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• 2015

The guideline on software quality assurance and human-centered design for e-Navigation was approved as IMO circular June 2015. e-Navigation software systems are characterized by a high proportion of data quality and quality in use. The purpose of this paper is to improve the quality in use of the maritime software quality assurance for the safety route guiding service. In this study, we added the stage which the stockholders such as a project manager, software developers, and end-users use the prototype that was developed based on the scenarios before the stage of design and development. Through this, we could review the requirement about the quality in use for a limited time at the beginning of the project. also we could raise understanding the concept of this project and goal system.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.12
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• pp.1152-1159
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• 2013

This paper proposes an effective walking system for a hexapod robot on uneven terrain. To overcome the deficiencies of two-pair walking systems, which are effective on even terrain, the use of only three legs changes the steps required for movement. The proposed system receives feedback data from switches attached to the bottom of the legs and gyro sensor to carry out stable walking using the Bezier curve algorithm. From the coordinates of the Bezier curve, which guarantees the circular motion of legs, the motor's angle value can be obtained using inverse kinematics. The angle values are sent to each motor though RS-485 communication. If a switch is pushed by the surface during navigation in the Bezier curve pattern, the robot is designed to change its circular course. Through the changed course, each leg can be located on an optimal surface and the wobble phenomenon is reduced by using a normal vector algorithm. The simulation and experiment results show the efficiency of the proposed algorithm.