• International Journal of Computer Science & Network Security
• /
• v.22 no.7
• /
• pp.359-365
• /
• 2022

Scholars are paying increasingly close attention to brain research and the creation of biological neural networks, artificial neural networks, artificial intelligence, neurochips, brain-computer interfaces, prostheses, new research instruments and methods, methods of treatment, as well as the prevention of neurodegenerative diseases based on these data. The authors of the study propose their hypothesis on the understanding of the phenomenon of consciousness that answers questions concerning the criteria of consciousness, its localization, and principles of operation. In the study of the hard problem of consciousness, the philosophical and scientific categories of consciousness, and prominent hypotheses and theories of consciousness, the authors distinguish "the area of the conscious mind", which encompasses several states of consciousness united by the phenomenon of integrated consciousness. According to the authors, consciousness is a kind of executor of the phenomenological idea of the "chalice", so the search for it should be conducted deeper than the processes in the power of thought consciousness and transconsciousness, to which integrated consciousness can act as a lever. However, integrated consciousness may have the capacity to transcend into lower states of consciousness, which requires further study.

• IEMEK Journal of Embedded Systems and Applications
• /
• v.17 no.4
• /
• pp.239-247
• /
• 2022

The existing studies on the localization in the GNSS (Global Navigation Satellite System) denied environment usually exploit low-cost MEMS IMU (Micro Electro Mechanical Systems Inertial Measurement Unit) sensors to replace the GNSS signals. However, the navigation system still requires GNSS signals for the normal environment. This paper presents an integrated GNSS/INS (Inertial Navigation System) navigation system which combines GNSS and multiple IMU sensors using extended Kalman filter in partially GNSS-denied environments. The position and velocity of the INS and GNSS are used as the inputs to the integrated navigation system. The Mahalanobis distance is used for novelty detection to detect the outlier of GNSS measurements. When the abnormality is detected in GNSS signals, GNSS data is excluded from the fusion process. The performance of the proposed method is evaluated using MATLAB/Simulink. The simulation results show that the proposed algorithm can achieve a higher degree of positioning accuracy in the partially GNSS-denied environment.

• The Journal of Korea Robotics Society
• /
• v.18 no.1
• /
• pp.72-81
• /
• 2023

We introduce tightly-coupled GNSS-LiDAR-Inertial state estimator, which is capable of SLAM (Simultaneously Localization and Mapping) and autonomous driving. Long term drift is one of the main sources of estimation error, and some LiDAR SLAM framework utilize loop closure to overcome this error. However, when loop closing event happens, one's current state could change abruptly and pose some safety issues on drivers. Directly utilizing GNSS (Global Navigation Satellite System) positioning information could help alleviating this problem, but accurate information is not always available and inaccurate vertical positioning issues still exist. We thus propose our method which tightly couples raw GNSS measurements into LiDAR-Inertial SLAM framework which can handle satellite positioning information regardless of its uncertainty. Also, with NLOS (Non-light-of-sight) satellite signal handling, we can estimate our states more smoothly and accurately. With several autonomous driving tests on AGV (Autonomous Ground Vehicle), we verified that our method can be applied to real-world problem.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2021.10a
• /
• pp.94-96
• /
• 2021

In this paper, we develop a new navigation algorithm for industrial mobile robots to arrive at the destination in unknown environment. To achieve this, we suggest a navigation algorithm that combines Dynamic Window Approach (DWA) and Dijkstra path planning algorithm. We compare Local Dynamic Window Approach (LDWA), Global Dynamic Window Approach(GDWA), Rapidly-exploring Random Tree (RRT) Algorithm. The navigation algorithm using Dijkstra algorithm combined with LDWA and GDWA makes mobile robots to reach the destination. and obstacles faced during the path planning process of LDWA and GDWA. Then, we compare on time taken to arrive at the destination, obstacle avoidance and computation complexity of each algorithm. To overcome the limitation, we seek ways to use the optimized navigation algorithm for industrial use.

• Korean Journal of Labor Studies
• /
• v.24 no.2
• /
• pp.367-408
• /
• 2018

This study examines the features of globalization process in GM and Hyundai Motors, especially in the expansion into China auto market, through a joint venture(hereafter JV) research center. Due to the large scale market in China and the 50:50 JV, the two companies had to respond in some way to the Chinese government's request for localization of research and development functions, and their response affected the role of the JV research center. Even though the improvement in technological capability expected from the JV by the Chinese side did not appear well in the early stage in both JV, but relatively the Shanghai GM JV research center had a technological progress compared to the Beijing Hyundai JV research center. This paper explains the differences in the technical capabilities of the two JV research center, despite the same type of JV, as the difference between the status of the Chinese partner and the global strategy of the parent company. SAIC, a Chinese partner in Shanghai GM as a top-tier company, not only has been strongly demanding technology transfer from GM since the beginning of the JV, but has also made efforts to improve its own technical capabilities. Meanwhile, BAIC, a Chines partner in Beijing Hyundai as a mid-tier company, has not been strongly demanding technology transfer and lacked its own research base. Regarding the parent company's global strategy, although both companies controlled the core areas of research and development by their parent companies, GM actively considered using the Chinese RV to develop Chinese and emerging country vehicles. On the other hand, Hyundai Motors responded to the localization demand of the Chinese government while paying more attention to preventing technology leakage through its independent research center in China. The above discussion shows that the process of globalization of a company is a political process in which the global strategy of the parent company and the demands of the stakeholders surrounding the subsidiary are collided and compromised, rather than a process in which the harmony and cooperation between the parent company and its subsidiaries are smoothly achieved as the parent company's policies are unilaterally implemented.

• Journal of Wetlands Research
• /
• v.21 no.spc
• /
• pp.28-38
• /
• 2019

Climate change on the Korean peninsula is progressing faster than the global average. For example, typhoons, extreme rainfall, heavy snow, cold, and heatwave that are occurring frequently. North Korea is particularly vulnerable to climate change-related natural disasters such as flooding and flooding due to long-term food shortages, energy shortages, and reckless deforestation and development. In addition, North Korea is classified as an unmeasured area due to political and social influences, making it difficult to obtain sufficient hydrologic data for hydrological analysis. Also, as interest in climate change has increased, studies on climate change have been actively conducted on the Korean Peninsula in various repair facilities and disaster countermeasures, but there are no cases of research on North Korea. Therefore, this study selects watershed characteristic variables that are easy to acquire in order to apply localization model to North Korea where it is difficult to obtain observed hydrologic data and estimates parameters based on meteorological and topographical characteristics of 16 dam basins in South Korea. Was calculated. In addition, as a result of reviewing the applicability of the parameter estimation equations calculated for the fifty thousand, Gangneungnamdaecheon, Namgang dam, and Yeonggang basins, the applicability of the parameter estimation equations to North Korea was very high.

• Journal of Advanced Navigation Technology
• /
• v.21 no.2
• /
• pp.171-178
• /
• 2017

In this paper, in order to verify the performance of a localization algorithm using GPS as an auxiliary sensor, the algorithm was applied to a hovering-type autonomous underwater vehicle (AUV) to perform a field test. The applied algorithm is an algorithm to improve the accumulated positional error of dead reckoning using doppler velocity logger(DVL) and tilt-compensated compass module (TCM) mounted on the AUV. GPS when surfaced helps the algorithm to estimate the position and the heading bias error of TCM for geodetic north, which makes it possible to perform dead reckoning on north-east-down (NED) coordinates. As a result of field test performing heading control, it was judged that the algorithm could improve the positional error, enhance the operational capability of AUV and contribute to the research of underwater navigation depending on a magnetic compass.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.21 no.5
• /
• pp.667-672
• /
• 2011

This paper presents to study the sensor fusion of positioning sensors using UKF(unscented Kalman filter) for positioning accuracy improvement of AGV(automatic guided vehicle). The major guidance systems for AGV are wired guidance and magnetic guidance system. Because they have high accuracy and fast response time, they are used in most of the FMS(flexible manufacturing system). However, they had weaknesses that are high maintenance cost and difficult of existing path modification. they are being changed to the laser navigation in recent years because of those problems. The laser navigation is global positioning sensor using reflecters on the wall, and it have high accuracy and easy to modify the path. However, its response time is slow and it is influenced easily by disturbance. In this paper, we propose the sensor fusion method of the laser navigation and local sensors using UKF. The proposed method is improvement method of accuracy through error analysis of sensors. For experiments, we used the axle-driven forklift AGV and compared the positioning results of the proposed method with positioning results of the laser navigation. In experimental result, we verified that the proposed method can improve positioning accuracy about 16%.

• Journal of International Society for Simulation Surgery
• /
• v.2 no.1
• /
• pp.26-32
• /
• 2015

Purpose When a surgeon examines the morphology of skull of patient, locations of craniometric landmarks of 3D computed tomography(CT) volume are one of the most important information for surgical purpose. The locations of craniometric landmarks can be found manually by surgeon from the 3D rendered volume or 2D sagittal, axial, and coronal slices which are taken by CT. Since there are many landmarks on the skull, finding these manually is time-consuming, exhaustive, and occasionally inexact. These inefficiencies raise a demand for a automatic localization technique for craniometric landmark points. So in this paper, we propose a novel method through which we can automatically find these landmark points, which are useful for surgical purpose. Materials and Methods At first, we align the experimental data (CT volumes) using Frankfurt Horizontal Plane (FHP) and Mid Sagittal Plane(MSP) which are defined by 3 and 2 cranial landmark points each. The target landmark of our experiment is the anterior nasal spine. Prior to constructing a statistical cubic model which would be used for detecting the location of the landmark from a given CT volume, reference points for the anterior nasal spine were manually chosen by a surgeon from several CT volume sets. The statistical cubic model is constructed by calculating weighted intensity means of these CT sets around the reference points. By finding the location where similarity function (squared difference function) has the minimal value with this model, the location of the landmark can be found from any given CT volume. Results In this paper, we used 5 CT volumes to construct the statistical cubic model. The 20 CT volumes including the volumes, which were used to construct the model, were used for testing. The range of age of subjects is up to 2 years (24 months) old. The found points of each data are almost close to the reference point which were manually chosen by surgeon. Also it has been seen that the similarity function always has the global minimum at the detection point. Conclusion Through the experiment, we have seen the proposed method shows the outstanding performance in searching the landmark point. This algorithm would make surgeons efficiently work with morphological informations of skull. We also expect the potential of our algorithm for searching the anatomic landmarks not only cranial landmarks.

• Journal of the Institute of Electronics Engineers of Korea TC
• /
• v.40 no.10
• /
• pp.67-78
• /
• 2003

As optical network technology advances and high bandwidth Internet is demanded for the exponential growth of internet traffic volumes, the Dense-Wavelength Division Multiplexing (DWDM) networks have been widely accepted as a promising approach to the Next Generation Optical Internet (NGOI) backbone networks for nation wide or global coverage. Important issues in the NGOI based on DWDM networks are the Routing and Wavelength Assignment(RWA) problem and survivability. Especially, fault/attack detection, localization and recovery schemes in All Optical Transport Network(AOTN) is one of the most important issues because a short service disruption in DWDM networks carrying extremely high data rates causes loss of vast traffic volumes. In this paper, we suggest a fault/attack management model for NGOI through analyzing fault/attack vulnerability of various optical backbone network devices and propose fault/attack recovery procedure considering Extended-LMP(Link Management Protocol) and RSVP-TE+(Resource Reservation Protocol-Traffic Engineering) as control protocols in IP/GMPLS over DWDM.