• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2017.04a
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• pp.152-152
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• 2017

본 연구에서는 비례제어밸브를 이용한 자율주행 트랙터 조향 시스템 제어를 위하여 저가의 임베디드 시스템을 사용한 제어기를 개발하였다. 차륜의 조향각 측정을 위하여 전륜 킹핀에 포텐시오미터를 설치하였으며, 비례제어밸브는 -10 ~ +10V의 전압으로 밸브 스풀의 위치제어를 수행하도록 하였다. 조향각 측정과 비례제어밸브의 위치제어를 위하여 각각에 AT90CAN128 AVR보드를 사용하였으며, CAN통신으로 조향각 데이터가 비례제어밸브 제어용 데이터로 전송될 수 있도록 하였다. 비례제어밸브 제어 보드에는 DAC기능을 추가하였으며 0 ~ 5V의 출력을 -10 ~ +10V의 전압으로 변환해 주는 인터페이스회로를 추가하였다. 일반적으로 GPS 등의 데이터 수신율이 20 Hz인 점을 감안하여 비례제어 밸브는 50 ms의 주기로 P-제어를 수행할 수 있도록 하였다. 향후 트랙터의 방향각을 설정하는 또 하나의 시스템으로부터 목표 조향각을 부여받는 것을 가상하여 별도의 MCU를 통해 목표 조향각을 송신한 후, 조향 유압실린더에 의한 전륜의 조향각 시간 응답 특성을 조사하였다. 실험은 트랙터의 전륜을 지면으로부터 들어올린 무 부하 상태에서 진행하였으며, 목표 조향각은 $7.5^{\circ}$, $15.0^{\circ}$, $22.5^{\circ}$ 등 3단계로 변경하며 시간응답 특성을 측정하였다. 최대 오버슈트 11%, 최소 오버슈트 8.6%, 정상상태 오차 약 $0.825^{\circ}$, 시정수(Time Constant)는 3단계의 목표 조향각 설정에서 각각 0.706초, 0.488초, 0.38초로 나타났다.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2010.04a
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• pp.145-147
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• 2010

This study is the visually emotional identification lighting for easy to distinguish using 3colors LED on AtoN facility in shore and harbor, which have realized a controller for certainly express the mouth of a harbor by red light and green light of both sides a harbor and for synchronization at a time of right and left or serial sequential the harbor guidance light through synchronizer or timer by GPS. There is expectation effect that is prevent a confusion about distinguish of facility by ship's operator and to beautify a night scene of harbor, which is expressed to emotional identification lighting differ from great many lighting of harbor with variable color lighting the lighthouse body and vertical layer color lighting using LED. The function of AtoN is adapted that guidance light through synchronization or serial sequential lighting and display of harbor safety message by CW lighting, and this system is the power consumption greatly reduce by candle alternated high light LED.

• Spatial Information Research
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• v.18 no.3
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• pp.53-62
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• 2010

Recent development in wireless communication technology, like GPS, and mobile equipments, like PDA and cellular phone, make location-based services (LBSs) popular. However, because, users continuously request a query to a server in the LBSs by using their exact locations, privacy information could be in danger. Therefore, a mechanism for users' privacy protection is required for the safe and comfortable use of LBSs by mobile users. For this, we, in this paper, propose a grid-based cloaking area creation scheme supporting continuous LBSs in peer-to-peer environment. The proposed scheme creates a cloaking area by using Chord protocol, so as to support the continuous LBSs in peer-to-peer environment. Finally, we show from a performance analysis that our cloaking scheme outperforms the existing cloaking schemes, in terms of service time.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.23 no.3
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• pp.313-322
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• 2005

Rapid advances in technology and changes in human and cultural activities bring about changes to the earth surface in terms of spatial extension as well as time frame of the changes. Such advances introduce shorter updating frequency of maps and geospatial database. To satisfy these requirements, recent research efforts in the geoinformatics field have been focused on the automation and speeding up of the mapping processes which resulted in products such as the digital photogrammetric workstation, GPSIINS, applications of satellite imagery, automatic feature extraction and the LiDAR system. The possibility of automatically extracting buildings and generating contours from airborne LiDAR data has received much attention because LiDAR data produce promising results. However, compared with the manually derived building footprints using traditional photogrammetric process, more investigation and analysis need to be carried out in terms of accuracy and efficiency. On the other hand, generation of the contours with LiDAR data is more efficient and economical in terms of the quality and accuracy. In this study, the effects of various conditions of the pre-processing phase and the subsequent building extraction and contour generation phases for digital mapping have on the accuracy were investigated.

• Journal of Advanced Navigation Technology
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• v.6 no.2
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• pp.104-112
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• 2002

Nowadays, many countries are interested in using CPS far navigation system of aircrafts, because it has technical and economic benefits. For the CPS based navigation system, the most important thing is reliability of the system. GPS navigation solution is very accurate. But when some faults are raised in the CPS navigation system of an aircraft, if they cannot be detected and alerts are not generated for pilots, the aircraft cannot be safe. So, I implemented an DGPS integrity monitoring system that detects faults of measurements and exclude the fault measurement from the satellite constellation used for calculating a navigation solution. This paper introduces 'the Least Square Residual Method' used to detect faults of measurements and the implemented real time integrity monitoring system using DGPS. To test the system, I operated the system under many different conditions. And from analysis of the data recorded, I could conclude that when the number of visible satellites was enough to detect faults, the system could detect the faults of measurements perfectly, isolate and exclude the fault measurement well. But for more reliable system, the measurement errors must be estimated more accurately and integrations of CPS and other instruments must be developed.

• Journal of Advanced Navigation Technology
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• v.13 no.4
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• pp.551-558
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• 2009

Most of clustering schemes focusing on the energy efficiency have only a cluster head in each cluster, thus the energy consumption of cluster head in a cluster can rapidly increase. To reduce the energy consumption, recently, the dual-layered clustering which is separated a cluster ranges into two parts, i.e., data aggregation layer and data transmission layer, based on a sensor equipped with geographical positioning system (GPS), was proposed. However, the logical regions existing within the dual-layered clustering range can not distinguish efficiently. This scheme leads to many messages collision and transmission delay among member nodes. In this paper, to solve these problems, we propose a separated dual-layered routing scheme using the position information and the cluster radius. Proposed scheme clearly distinguish the dual-layered clustering range and gets the balanced number of member nodes in each cluster. Therefore, the proposed routing scheme could prolong the overall network life time about 10% compared to the previous two layered clustering scheme and LEACH.

• Proceedings of KOSOMES biannual meeting
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• 2006.11a
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• pp.119-123
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• 2006

Finding out the exact location of survivors in short period of time is critical to conduct rescue activity successfully in oceans. Current technology with natural circumstances limits the activity that our efforts come along. R&D Center housed at Korea Coast Guard (KCG) has developed the system named "RFID for Life jacket" which enables us to access the location of persons under distressed situation. The RFID has been widely known as state-of-art technology to monitor the location even in inland or in ocean. Composed of tag, antenna. reader and middleware, RFID is attached to attached to a life jacket that people usually wears in recreational activity. By conducting experiments in pilot-scale several times, successful results showing 96.7% of transmission within 3.5km in diameter were produced. This study explains the routes of experiments to reach the goal and expected results coming from this accomplishments.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.16 no.11
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• pp.2532-2537
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• 2012

In recent, the researches on driver assistance systems have been actively performed with development of vehicle industry. AVM(Around View Monitoring) Systems, a part of these systems, have been researching and developing. Existing AVM systems have been developed in the forms of embedded systems or a SoC (System on Chip) to provide view around vehicle in real time. However, if Car PC is equipped with in vehicle, AVM can be developed using only software without additional cost. In this study, we implemented AVM system which provides location information by adding the informations such as latitude, longitude and speed to functions of "Car PC" based AVM system. If storing function is added to the AVM system implemented in this study which provides location information, the system with storing function can be used as AVM black box system.

• Proceedings of the KSRS Conference
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• 2004.10a
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• pp.220-223
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• 2004

Automatic image registration is an essential element of remote sensing because remote sensing system generates enormous amount of data, which are multiple observations of the same features at different times and by different sensor. The general process of automatic image registration includes three steps: 1) The extraction of features to be used in the matching process, 2) the feature matching strategy and accurate matching process, 3) the resampling of the data based on the correspondence computed from matched feature. For step 2) and 3), we have developed an algorithms for automated registration of satellite images with RANSAC(Random Sample Consensus) in success. However, for step 1), There still remains human operation to generate GCP Chips, which is time consuming, laborious and expensive process. The main idea of this research is that we are able to automatically generate GCP chips with comer detection algorithms without GPS survey and human interventions if we have systematic corrected satellite image within adaptable positional accuracy. In this research, we use SUSAN(Smallest Univalue Segment Assimilating Nucleus) algorithm in order to detect the comer. SUSAN algorithm is known as the best robust algorithms for comer detection in the field of compute vision. However, there are so many comers in high-resolution images so that we need to reduce the comer points from SUSAN algorithms to overcome redundancy. In experiment, we automatically generate GCP chips from IKONOS images with geo level using SUSAN algorithms. Then we extract reference coordinate from IKONOS images and DEM data and filter the comer points using texture analysis. At last, we apply automatically collected GCP chips by proposed method and the GCP by operator to in-house automatic precision correction algorithms. The compared result will be presented to show the GCP quality.

• Korean Journal of Remote Sensing
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• v.33 no.1
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• pp.69-77
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• 2017

S The need for an automated geo-positioning approach for near real-time results and to boost cost-effectiveness has become increasingly urgent. Following this trend, a new approach to automatically compensate for the bias of the rational function model (RFM) was proposed. The core idea of this approach is to remove the bias of RFM only using tie points, which are corrected by matching with the digital elevation model (DEM) without any additional ground control points (GCPs). However, there has to be a additional evaluation according to the quality of DEM because DEM is used as a core element in this approach. To address this issue, this paper compared the quality effects of DEM in the conduct of the this approach using the Shuttle Radar Topographic Mission (SRTM) DEM with the spatial resolution of 90m. and the National Geographic Information Institute (NGII) DEM with the spatial resolution of 5m. One KOMPSAT-2 stereo-pair image acquired at Busan, Korea was used as experimental data. The accuracy was compared to 29 check points acquired by GPS surveying. After bias-compensation using the two DEMs, the Root Mean Square (RMS) errors were less than 6 m in all coordinate components. When SRTM DEM was used, the RMSE vector was about 11.2m. On the other hand, when NGII DEM was used, the RMSE vector was about 7.8 m. The experimental results showed that automated geo-positioning approach can be accomplished more effectively by using NGII DEM with higher resolution than SRTM DEM.