• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.5
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• pp.1111-1118
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• 2011

Several data from equipments on shipboard have been used for the safe navigation of ships. Due to the varieties of data, however, there may be difficulties to manage those data separately. Therefore, it can be effective to develop database for the integrated management of ship data. However, the database may become full soon because huge amount of data are saved continuously. To cope with this problem, this paper proposes multistage database which can always keep the database under full by means of sampling mechanism. To verify the functionality of the methodology, a prototype system has been implemented and tested.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.45 no.5
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• pp.401-408
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• 2017

This paper describes development and validation processes of a low-cost hardware based flight control computer designed for multi-rotor UAVs. The developed flight control computer controls multi-rotors stable and can handle complex flight missions using an integrated high-performance Linux computer. A complementary filter generates a navigation solution with 500 Hz, and a proposed observer significantly reduces measurement noise. A control algorithm utilizes a feed-forward term computed by a three-dimensional curve fitting method, and it increases tracking performance. The developed flight control system has been fully tested through several test flights, and it can apply to real flight environments.

• Journal of Navigation and Port Research
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• v.26 no.4
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• pp.419-426
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• 2002

The conventional RTK-GPS technique has many problems which are permission using RF wireless modem, influence of geographic obstacle using radio wave, frequency interference, finiteness of frequency resources. To solve these problems, in this paper, we designed the DGPS correction message transmission system as a method to substitute the RF wireless modem of RTK-DGPS receiver. Then the interface module was designed and implemented for linkage of GPS receiver and mobile phone. As a result worked differential surveying using receiving correction message using RS-232C and communication control, users of mobile station were worked differential surveying correction between mobile phones. Interface module system was received the same result of precision which was compared RF wireless modem system.

• Journal of Navigation and Port Research
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• v.43 no.1
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• pp.49-56
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• 2019

The purpose of this study was to extract the evaluation factors and assess the relative importance between the factors. For this purpose, the evaluation factors were extracted through literature review and the process of brainstorming with experts, who are related to port security. The evaluation factors were then classified into four higher factors and twelve sub- factors through the use of the AHP method. A survey on the classified factors was conducted by experts composed of public officials, port authority employees and education institutions officials. We also carried out statistical tests to determine the perception gap of weights between the groups. As a result of a relative importance analysis of strength, the security operating system factor was highest, followed by improvement of hardware facilities and increase of security personnel. There was a difference in perception among the groups in policy support, facility support and personnel resources budget support. The results of the analysis show that the strength operating system through the establishment of an integrated monitoring system is a priority. It is necessary to understand the difference of perception between groups and build a systematic cooperation system. The evaluation factors extracted from this study can be used for the measurement of port security efficiency in further work.

• International Journal of Advanced Culture Technology
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• v.5 no.1
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• pp.58-63
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• 2017

Emergencies and disasters can happen any time without any warning, and things can change and escalate very quickly, and often it is swift and decisive actions that make all the difference. It is a responsibility of the building facility management to ensure that a proven evacuation plan in place to cover various worst scenario to handled automatically inside the facility. To mapping out optimal safe escape routes is a straightforward undertaking, but does not necessarily guarantee residents the highest level of protection. The emergency evacuation navigation approach is a state-of-the-art that designed to evacuate human livings during an emergencies based on real-time decisions using live sensory data with pre-defined optimum path finding algorithm. The poor decision on causalities and guidance may apparently end the evacuation process and cannot then be remedied. This paper propose a cloud connected emergency evacuation system model to react dynamically to changes in the environment in emergency for safest emergency evacuation using IoT based emergency exit sign system. In the previous researches shows that the performance of optimal routing algorithms for evacuation purposes are more sensitive to the initial distribution of evacuees, the occupancy levels, and the type and level of emergency situations. The heuristic-based evacuees routing algorithms have a problem with the choice of certain parameters which causes evacuation process in real-time. Therefore, this paper proposes an evacuee routing algorithm that optimizes evacuation by making using high computational power of cloud servers. The proposed algorithm is evaluated via a cloud-based simulator with different "simulated casualties" are then re-routed using a Dijkstra's algorithm to obtain new safe emergency evacuation paths against guiding evacuees with a predetermined routing algorithm for them to emergency exits. The performance of proposed approach can be iterated as long as corrective action is still possible and give safe evacuation paths and dynamically configure the emergency exit signs to react for real-time instantaneous safe evacuation guidance.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.29 no.1D
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• pp.135-143
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• 2009

Integrating the Global Positioning System (GPS) and Inertial Navigation System (INS) sensor technologies using the precise GPS Carrier phase measurements is a methodology that has been widely applied in those application fields requiring accurate and reliable positioning and attitude determination; ranging from 'kinematic geodesy', to mobile mapping and imaging, to precise navigation. However, such integrated system may not fulfil the demanding performance requirements when the baseline length between reference and mobil user GPS receiver is grater than a few tens of kilometers. This is because their positioning/attitude determination is still very dependent on the errors of the GPS observations, so-called "baseline dependent errors". This limitation can be remedied by the integration of GPS and INS sensors, using multiple reference stations. Hence, in order to derive the GPS distance dependent errors, this research proposes measurement processing algorithms for multiple reference stations, such as a reference station ambiguity resolution procedure using linear combination techniques, a error estimation based on Kalman filter and a error interpolation. In addition, all the algorithms are evaluated by processing real observations and results are summarized in this paper.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.6 no.1 s.12
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• pp.58-71
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• 2007

The disabled and elderly people have a wide variety of functional impairments. By disability and elderly user group definition, identification of users needs and specification of content requirements were studied. Existing technologies including location, navigation and information exchange devise and communication systems were analyzed to design proper integrated system for indoor and outdoor uses. There are two types of services considered in the project: assisted living services(ALS) including health and emergency needs and assisted mobility services(AMS) with transportation needs. To develop each content, content identification and requirements was studied through interviews and expert consultations. System requirements and specification using usecase technique for disabled and elderly people are discussed.

• Journal of Multimedia Information System
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• v.4 no.4
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• pp.195-204
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• 2017

Mobile robots are used for years as a valuable research and educational tool in form of available open-platform designs and Do-It-Yourself kits. Rapid development and costs reduction of Unmanned Air Vehicles (UAV) and ground based mobile robots in recent years allowed researchers to utilize them as an affordable research platform. Despite of recent developments in the area of ground and airborne robotics, only few examples of Unmanned Surface Vehicle (USV) platforms targeted for research purposes can be found. Aim of this paper is to present the development of open-design USV drone with integrated multi-level control hardware architecture. Proposed catamaran - type water surface drone enables direct control over wireless radio link, separate development of algorithms for optimal propulsion control, navigation and communication with the ground-based control station. Whole design is highly modular, where each component can be replaced or modified according to desired task, payload or environmental conditions. Developed USV is planned to be utilized as a part of the system for detection and identification of marine and lake waste. Cameras mounted to the USV would record sea or lake surfaces, and recorded video sequences and images would be processed by state-of-the-art computer vision and machine learning algorithms in order to identify and classify marine and lake waste.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.3
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• pp.408-414
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• 2009

A GPS/INS system is widely used in the UGV to estimate position during the mission. However, there are few restrictions when a GPS/INS system used alone. For example, GPS provides precise location information but easily interrupted by external factors like weather, environment, etc. INS provides continuous location data but positioning errors grew very rapidly with time. Therefore, it is necessary to integrating multi-sensors for more continuous and correct position estimation. In this paper, we propose location estimation algorithm of the UGV for GPS/INS integrated system that combines Fuzzy Inference and Unscented Particle Filter(UPF) to improve navigation. Fuzzy inference provides the simplest method integrating GPS/INS and UPF is non-linear estimation filter well suited to the correction of errors. The performance of the proposed algorithm was tested to compare with other algorithms. the results show that the proposed algorithm is more accuracy in position estimation and ensures continuous position tracking.

• Journal of Korean Society for Geospatial Information Science
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• v.14 no.3 s.37
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• pp.47-53
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• 2006

In this contribution, an integration of seamless navigation system for the pedestrian is introduced. To overcome the GPS outages in various situations, multi-sensor of GPS, INS, electronic barometer and compass are considered in one Extented Kalman filter. Especially, the integrated system is designed for low-cost for the practical applications. Therefore, a MEMS IMU is considered, and the low quality of the heading is compensated by the electronic compass. In addition, only the pseudoranges from GPS measurements are considered for possible real-time application so that the degraded height is also controlled by a barometer. The mathematical models for each sensor with systematic errors such as biases, scale factors are described in detail and the results are presented in terms of a covariance analysis as well as the position and attitude errors compared to the high-grade GPS/INS combined solutions. The real application scenario of GPS outage is also investigated to assess the feasible accuracy with respect to the outage period. The description on the current status of the development and future research directions are also stated.