• Journal of the Korea Society of Computer and Information
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• v.15 no.11
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• pp.47-56
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• 2010

In navigation, officers receive data about inside and outside of ship from several devices(ex, GPS / AIS / ECDIS / ARPA Radar / etc) in bridge, and use it to recognize and predict safety situations. However, observation work of a officer is still hard for a torrent of data from several devices, and the problem of inconsistent data among the devices. In previous research, we presented the conceptual model of Intelligent Navigation Safety Information System based on information fusion, and showed the example of the conceptual model using CF (Certainty Factor) expert system to solve this problem. The information fusion technology needs various reasoning skills, and CF expert system is not enough to express ambiguous or indefinite factors. In this paper, we propose the concept of an intelligent navigation information fusion using fuzzy expert system to describe the ambiguous factors, and show the validity of applying fuzzy expert system to the Navigation Safety Information System through the design and implementation of the proposed concept.

• ETRI Journal
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• v.34 no.1
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• pp.24-34
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• 2012

In this paper, the directional carrier sense multiple access/collision avoidance (CSMA/CA) protocol in the immediate acknowledgement mode for IEEE 802.15.3c is analyzed under saturation environments. For the analysis, a sensing region and an exclusive region with a directional antenna are computed probabilistically and a Markov chain model in which the features of IEEE 802.15.3c and the effects of using directional antennas are incorporated is analyzed. An algorithm to find the maximal number of concurrently transmittable frames is proposed. The system throughput and the average transmission delay are obtained in closed forms. The numerical results show the impact of directional antennas on the CSMA/CA media access control (MAC) protocol. For instance, the throughput with a small beamwidth of antenna is more than ten times larger than that for an omnidirectional antenna. The overall analysis is verified by a simulation. The obtained results will be helpful in developing an MAC protocol for enhancing the performance of mmWave wireless personal area networks.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.3
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• pp.304-309
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• 2004

This work proposes the wearable and intelligent system to control mobile vehicle instead of user. The system having the ability of assistance as well as portable can be applied to various controller. It is possible to observe the state of mobile vehicle and have a good command of robot instead of human. In this paper, the wearable system operating the mobile vehicle by deciding the velocity and rotation angle that are demanded for collision avoidance with the obtained driving information from mobile vehicle is implemented. To make the proposed wearable system have an intelligence, the hierarchical fuzzy logic and neural network are used.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.9
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• pp.818-826
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• 2015

This paper presents a novel methodology for estimating vehicle ego-motion, i.e. tri-axis linear velocities and angular velocities by using stereo vision sensor and 2G1Y sensor (longitudinal acceleration, lateral acceleration, and yaw rate). The estimated ego-motion information can be utilized to predict future ego-path and improve the accuracy of 3D coordinate of obstacle by compensating for disturbance from vehicle movement representatively for collision avoidance system. For the purpose of incorporating vehicle dynamic characteristics into ego-motion estimation, the state evolution model of Kalman filter has been augmented with lateral vehicle dynamics and the vanishing point estimation has been also taken into account because the optical flow radiates from a vanishing point which might be varied due to vehicle pitch motion. Experimental results based on real-world data have shown the effectiveness of the proposed methodology in view of accuracy.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.39 no.2
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• pp.21-34
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• 2002

Different from ordinary mobile robots used in a well-structured industrial workspace, a guide mobile robot for the visually impaired should be designed in consideration of a moving obstacle, which mostly refers to pedestrians in intentional motions. Thus, the navigation of the guide robot can be facilitated if the intention of each detected obstacle can be known in advance. In this paper, we propose an inference method to understand an intention of a detected obstacle. In order to represent the environment with ultrasonic sensors, the fuzzy grid-type map is first constructed. Then, we detect the obstacle and infer the intention for collision avoidance with the CLA(Centroid of Largest Area) point of the fuzzy grid-type map. To verify the proposed method, some experiments are performed.

• Journal of Communications and Networks
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• v.17 no.4
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• pp.440-448
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• 2015

In this paper, we study the problem of selfish behavior of secondary users (SUs) based on cognitive radio (CR) with the presence of primary users (PUs). SUs are assumed to contend on a channel using the carrier sense multiple access with collision avoidance (CSMA/CA) and PUs do not consider transmission of SUs, where CSMA/CA protocols rely on the random deference of packets. SUs are vulnerable to selfish attacks by which selfish users could pick short random deference to obtain a larger share of the available bandwidth at the expense of other SUs. In this paper, game theory is used to study the systematic cheating of SUs in the presence of PUs in multichannel CR networks. We study two cases: A single cheater and multiple cheaters acting without any restraint. We identify the Pareto-optimal point of operation of a network with multiple cheaters and also derive the Nash equilibrium of the network. We use cooperative game theory to drive the Pareto optimality of selfish SUs without interfering with the activity of PUs. We show the influence of the activity of PUs in the equilibrium of the whole network.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.44 no.5
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• pp.423-430
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• 2016

Recently, manned and unmanned aerial vehicles are faced with problems such as collision detection and avoidance, link-loss for integrated operations in NAS. Hence, on the basis of the performance data of EUROCONTROL's BADA and NASA, an environment was developed to simultaneously handle simulations of integrated operations of MAVs and UAVs along with ATC/ATM simulations, and dynamic modeling was then carried out. To validate the developed model, simulations were performed on a 6-DOF model by its segments and the results were compared to the RMSE results.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.51 no.2
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• pp.257-264
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• 2015

This study is intended to provide navigator with specific information necessary to assist the avoidance of collision and the operation of ships to evaluate the maneuverability of dead weight tonnage 8,000 tons Oil/Chemical tanker. The actual maneuvering characteristics of ship can be adequately judged from the results of typical ship trials. Author carried out sea trials based full scale for turning test, Z" maneuvering test, man overboard rescue maneuver test, inertia stopping test. Consequently, $2^{st}$ Overshoot yaw angle of the semi balanced rudder and flap rudder in ${\pm}20^{\circ}$ zig-zag test showed $22.2^{\circ}$ and $18.0^{\circ}$, respectively. The maneuverability of the vessel was good in the flap rudder. The man overboard rescue maneuver maneuverability test was most favorable in the flap rudder and the full load condition. The results from tests could be compared directly with the standards of maneuverability of IMO and consequently the maneuvering qualities of the ship is full satisfied with its.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.51 no.2
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• pp.245-256
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• 2015

This study is intended to provide navigator with specific information necessary to assist the avoidance of collision and the operation of ships to evaluate the maneuverability of dead weight tonnage 8,000 tons Oil/Chemical tanker. The actual maneuvering characteristics of ship can be adequately judged from the results of typical ship trials. Author carried out sea trials based full scale for turning test in ballast condition and full load condition, semi balanced rudder and flap rudder. The turning circle maneuvering were performed on the starboard and port sides with $35^{\circ}$ rudder angle at the normal continuous rating. The results from tests could be compared directly with the standards of maneuverability of IMO and consequently the maneuvering qualities of the ship is full satisfied with its.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.14 no.4
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• pp.288-294
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• 2014

Understanding a ship's present position has been one of the most important tasks during a ship's voyage, in both ancient and modern times. Particularly, a ship's dead reckoning (DR) has been used for predicting traffic situations and collision avoidance actions. However, the current system that uses the traditional method of calculating DR employs the received position and speed data only. Therefore, it is not applicable for predicting navigation within the harbor limits, owing to the frequent changes in the ship's course and speed in this region. In this study, planned routes were applied for improving the reliability of the proposed system and predicting the traffic patterns in advance. The proposed method of determining the dead reckoning position (DRP) uses not only the ships' received data but also the navigational patterns and tracking data in harbor limits. The Mercator sailing formulas were used for calculating the ships' DRPs and planned routes. The data on the traffic patterns were collected from the automatic identification system and analyzed using MATLAB. Two randomly chosen ships were analyzed for simulating their tracks and comparing the DR method during the timeframes of the ships' movement. The proposed method of calculating DR, combined with the information on planned routes and DRPs, is expected to contribute towards improving the decision-making abilities of operators.