• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.05a
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• pp.548-549
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• 2015

무인 잠수정은 자율 무인잠수정(이하 'AUV' 또는 '자율무인잠수정'을 혼용)과 원격조정잠수정(이하 'ROV'로 지칭)으로 분류를 할 수 있다. ROV는 테더 게이블로 인한 작업 범위의 한계와 운동성능 효율이 떨어지는 단점을 지니고 있어, 테더 케이블이 필요 없는 AUV에 대한 필요성이 증대되고 있다. 추측 항법 시스템인 관성 항법 시스템(inertial navigation system, 이하 'INS'로 지칭)은 외부 도움없이 관성측정 장치(inertial measurement unit, 이하 'IMU'로 지칭)를 활용하여 구성된 시스템을 말한다. IMU는 자이로 스코프(gyroscope), 가속도계(accelerometer), 지자기(magnetic)센서로 구성된 측정 장치로 3개의 센서를 사용하여 상호 보정을 통한 기동 체의 위치, 속도 및 자세 정보를 제공한다. 복합항법시스템은 추측항법시스템이 가지는 누적오차와 측위 항법시스템이 가지는 외부환경에 대한 단점을 상호 보완하는 방법으로 연구가 진행 중이다. 하지만 심해서 또는 해양의 특성에 따라 측위 시스템이 사용되지 못하기 때문에 추측 항법시스템의 다양한 관성 센서를 활용한 상로 보완과 신호처리 방법을 통한 연구 개발이 진행 중이다. 다양한 센서 정보를 통합하는 목적으로 칼만 필터와 같은 최적 필터기법이 보편적으로 사용되고 있다. 칼만 필터는 확률 선형 시스템에 대하여 공정잡음 및 측정 잡음이 가우시안 확률 분포를 따를 때 최적의 추정자가 된다. 또한 가우시안 조건을 만족하지 않는 경우에도 선형 추정자 중에 추정 오차의 분산이 가장 작은 추정자이다. 칼만 필터가 최상의 성능을 발휘 하려면 공정잡음과 측정 잡음의 실제 값을 정확히 알아내는 것이 중요하다. 잡음 수준에 대한 정보가 부정확 할 경우 칼만 필터는 발산 할 수 있기 때문에 시스템에서 잡음 수준의 공산은 칼만 필터의 최적 이득을 결정하는 중요한 요소로 추정치에 큰 영향을 준다. 따라서 칼만 필터를 추측항법시스템에 적용 시킬 경우 실제 모텔의 잡음 공분산을 정확히 추정할 수 있는 기법이 요구된다. 추측항법시스템은 다양한 센서를 활용하기 때문에 움직이는 기동 표적에 적용시 잡음공분상이 변하기 때문에 항법시스템이 저하 될 수 있다. 본 연구에서는 다양한 센서를 융합하여 해양 생체 로봇의 정밀 자세 제어가 가능한 시스템을 제안하고자 한다.

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.3
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• pp.271-278
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• 2014

In spite of that stop line and crosswalk should be aware of the most basic objects in transportation system, its features extracted are very limited. In addition to image-based recognition technology, laser and RF, GPS/INS recognition technology, it is difficult to recognize. For this reason, the limited research in this area has been done. In this paper, the algorithm to recognize the stop line and crosswalk is designed and implemented using image-based recognition technology with the images input through a vision sensor. This algorithm consists of three functions.; One is to select the area, in advance, needed for feature extraction in order to speed up the data processing, 'Region of Interest', another is to process the images only that white color is detected more than a certain proportion in order to remove the unnecessary operation, 'Color Pattern Inspection', the other is 'Feature Extraction and Recognition', which is to extract the edge features and compare this to the previously-modeled one to identify the stop line and crosswalk. For this, especially by using case based feature comparison algorithm, it can identify either both stop line and crosswalk exist or just one exists. Also the proposed algorithm is to develop existing researches by comparing and analysing effect of in-vehicle camera installation and changes in recognition rate of distance estimation and various constraints such as backlight and shadow.

• Spatial Information Research
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• v.2 no.1
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• pp.15-25
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• 1994

Geographical Informal ion Systems have become useful tools for improving the administrative management of local governments. Despite its innovative aspects, GIS implementation in local governments has yet to be actively carried out, utilized in only a few occasions in establishing comprehensive plans or conduct ins model system developments. This can be basically attributed to technological, institutional, and economic difficulties, that is, a lack of understanding of GIS technology, database development, and the required institutional support. Using Seoul as a case study, this study analyses the potential and effectiveness of GIS and examines strategies of implementation, thereby suggesting basic policy direct ions for GIS investment in local governments.

• Journal of the Korea Institute of Building Construction
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• v.2 no.2
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• pp.121-127
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• 2002

The functions and uses of existing buildings are not properly changing as modern life needs. As a result, the frequent reconstruction(construction after removal) of existing buildings have been done but it became more and more difficult because of strengthening of regulations and systems concerning construction. And also it has several disadvantages like lower plot ratio and site coverage than existed buildings, enormous construction cost, production of waste-construction materials and thoughtless consumption of natural resources, which gives rise to environmental pollution. Therefore renovation is brought to the fore. In Korea, many business buildings were constructed in 1960s-1970s, during the period of high growth. Such buildings needs to be repaired in whole. It is caused by the change of social, economic, and cultural conditions and deterioration of equipments. Therefore renovation meets some necessary conditions; recovery of building functions and extension of building life span. In case study, the present state of renovation in business buildings is 1) Basic safety, for example, fire prevention and crime prevention, is great important. 2) Advanced technology, INS(international news service), IBS(Intelligent Building System), and internationalization, is pursued for adapting to multimedia ages. 3) It tries to promote proficiency, and to save the energy using spatial environment and natural energy(light and sound). Also, improving comfortable level of users and installing equipments for physically handicapped person needs to be considered.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.34 no.11
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• pp.42-46
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• 2006

As an application of SDINS/GPS integration for its synergistic results, the SDINS alignments utilizing GPS carrier phase rate measurements. A measurement model of GPS carrier phase rate is derived in order to be used with SDINS alignment process. For in-flight alignment, the performance of the suggested SDINS/GPS integration method is analyzed using the covariance analysis and its results are confirmed by those of van test. Consequently, it is shown that all states of the SDINS integrated system by utilizing GPS carrier phase rate measurements can be estimated more efficiently than a general SDINS/GPS during in-flight alignment.

• Journal of the Korean Applied Science and Technology
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• v.15 no.4
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• pp.87-93
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• 1998

In spite of various applications of chitin derivatives from waste marine sources, commercial use of chitin has been limited due to resistance to chemicals and the absense of proper solvents. We prepared chitin through decalcification, bleaching and deproteination from protunus trituberculatus shells by the application of Hackman's method. Structural and chemical properties of chitin were investigated to have proper specific surface area and particle size by IR, BET and PSA. The amount of absorbed water of chitin reached equilibrium by stirring about 15 minutes. The amount of absored water of the prepared chitin were large than the commercial chitin. When prepared chitin tested on dyeing wastewater, they showed better treatment efficiency in COD, suspended solid, and color tests than the commercial chitin. The adsorption capacity increased with decreasing particle size for the prepared chitin. Treatment efficiency for color was increased as the sitirring rate increased. Results show the possibility of the prepared chitin from waste marine sources as a treatment system for dyeing wastewater.

• Journal of the Institute of Electronics and Information Engineers
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• v.50 no.1
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• pp.276-284
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• 2013

This paper considers the transfer alignment in the inertial navigation system and the observability analysis is performed for velocity matching. The state variable of the Kalman filter is modeled including the lever arm error and the measurement equation is obtained. The SOM(Stripped Observability Matrix) method is used for the observability analysis for various maneuvering conditions of the vehicle, which gives the full state observability condition as a specific maneuver sequence of the vehicle. While the observability analysis of a lever arm effect in the existing papers is mainly performed by simulations, we performed it analytically by the observability analysis method. The analysis result is verified using the computer simulations.

• Korea Journal of Hospital Management
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• v.18 no.2
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• pp.81-103
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• 2013

This study is to research cost accounting practice and to analyze propriety of patients' medical payment in artificiality kidney center. The researched cost datum of the year 2012 are as follows. - Hemodialysis medical treatment was reimbursed as much as 158,001 won in case of health insured patients, but payed-off as much as 135,810 won. - The average figure of the total hospitals and clinic center is 1,603,303 won, and one time cost of hemodialysis treatment is 154,487 won. Optimal treatment pay are suggested as follows. First, Regardless of the notified classification from MOHW(Ministry of Health and Welfare), 136,000 won of fixed price payment classification needs to be reclassified by patients, severity and tobe rearranged by fixed price payment system of hospitals. Second, Fixed payment code notified by the Ministry of Health and Welfare is recommended to be simplifies and to reflect according to contents of the medical treatment rendered to patients. Third, Establishment of artificial kidney center has to be risk managed because of its huge investment. Fourth, Cost analysis model has to be maintained as basis together with appropriate application of conversion index model mixed with SGR model.

• 한국전산유체공학회:학술대회논문집
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• 2004.10a
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• pp.47-51
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• 2004

Accurate Prediction of a supersonic missile base drag continues to defy even well-rounded CFD codes. In an effort to address the accuracy and predictability of the base drags, the influence of grid system and competitive turbulence models on the base drag is analyzed. Characteristics of some turbulence models is reviewed through incompressible turbulent flow over a flat plate, and performance for the base drag prediction of several turbulence models such as Baldwin-Lomax(B-L), Spalart-Allmaras(S-A), $\kappa-\epsilon$, $\kappa-\omega$ model is assessed. When compressibility correction is injected into the S-A model, prediction accuracy of the base drag is enhanced. The NSWC wind tunnel test data are utilized for comparison of CFD and semi-empirical codes on the accuracy of base drag predictability: they are about equal, but CFD tends to perform better. It is also found that, as angle of attack of a missile with control (ins increases, even the best CFD analysis tool we have lacks the accuracy needed for the base drag prediction.

• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.3
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• pp.307-314
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• 2017

Terrain referenced navigation(TRN) system is an attractive method for obtaining position based on terrain measurements and a terrain map. We focus on TRN systems based on the point mass filter(PMF) which is one of the recursive Bayesian method. In this paper, we propose two kinds of performance index for Bayesian filter. The proposed indices are based on entropy and mutual information from information theory. The first index measures roughness of terrain based on entropy of likelihood. The second index named by information gain, which is the mutual information between priori and posteriori distribution, is a quantity of information gained by updating measurement at each step. The proposed two indices are used to determine whether the solution from TRN is adequate for TRN/INS integration or not, and this scheme gives the performance improvement. Simulation result shows that the proposed indices are meaningful and the proposed algorithm performs better than normal TRN algorithm.