• Journal of Advanced Navigation Technology
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• v.22 no.4
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• pp.336-341
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• 2018

In this paper, we designed and implemented an ultra wideband (UWB) antenna with 5G mobile communication and WLAN bands rejection characteristics. The proposed antenna consists of a planar radiation patch with two slots, parasitic elements on both sides of the strip line and ground plane on back side. The upper n-type slot contributes for 5G mobile communication band (3.42~3.70 GHz) rejection and the lower n-type slot contributes for wireless local area network (WLAN) band (5.15~5.825 GHz) rejection. Parasitic elements were used in order to satisfy the voltage standing wave ratio (VSWR) less than or equal to 2.0 for UWB band (3.10~10.60 GHz) except two rejection bands. The Ansoft's high frequency structure simulator (HFSS) was used for antenna design and simulations. The simulated antenna showed dual rejection bands of 3.36~3.71 GHz and 5.13 ~ 5.92 GHz in UWB band, and measured result for the implemented antenna showed dual rejection bands of 3.40~3.72 GHz and 5.08~5.858 GHz. Simulated and measured VSWRs are less than or equal to 2.0 for all UWB band except dual rejection bands.

• Journal of the Korean Society of Marine Environment & Safety
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• v.27 no.2
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• pp.266-274
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• 2021

Ship officers are subject to excessive job stress, which has negative physical and psychological impacts and may adversely affect the smooth supply and demand of human resources. In this study, a mobile web application was developed as a tool for systematic job stress measurement and management of officers and verified through quality evaluation. Requirement analysis was performed by ship officers and staff in charge of human resources of shipping companies, and the results were reflected in the application configuration step. The application was designed according to the waterfall model, which is a traditional software development method, and functions were implemented using JSP and Spring Framework. Performance evaluation on the user interface, confirmed that proper input and output results were implemented, and the respondent results and the database were configured in the administrator interface. The results of evaluation questionnaires for quality evaluation of the interface based on ISO/IEC 9126-2 metric were significant 4.60 for the user interface and 4.65 for the administrator interface in a 5-point scale. In the future, it is necessary to conduct follow-up research on the development of data analysis system through utilization of the collected big-data sets.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.4
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• pp.389-394
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• 2006

Inaccurate localization exposes a robot to many dangerous conditions. It could make a robot be moved to wrong direction or damaged by collision with surrounding obstacles. There are numerous approaches to self-localization, and there are different modalities as well (vision, laser range finders, ultrasonic sonars). Since sensor information is generally uncertain and contains noise, there are many researches to reduce the noise. But, the correctness is limited because most researches are based on statistical approach. The goal of our research is to measure more exact robot location by matching between built VRML 3D model and real vision image. To determine the position of mobile robot, landmark-localization technique has been applied. Landmarks are any detectable structure in the physical environment. Some use vertical lines, others use specially designed markers, In this paper, specially designed markers are used as landmarks. Given known focal length and a single image of three landmarks it is possible to compute the angular separation between the lines of sight of the landmarks. The image-processing and neural network pattern matching techniques are employed to recognize landmarks placed in a robot working environment. After self-localization, the 2D scene of the vision is overlaid with the VRML scene.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1934-1935
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• 2011

In order for a service robot to perform several tasks, basically autonomous navigation technique such as localization, mapping, and path planning is required. The localization (estimation robot's pose) is fundamental ability for service robot to navigate autonomously. In this paper, we propose a new system for point pattern matching based visual global localization using spot lightings in ceiling. The proposed algorithm us suitable for system that demands high accuracy and fast update rate such a guide robot in the exhibition. A single camera looking upward direction (called ceiling vision system) is mounted on the head of the mobile robot and image features such as lightings are detected and tracked through the image sequence. For detecting more spot lightings, we choose wide FOV lens, and inevitably there is serious image distortion. But by applying correction calculation only for the position of spot lightings not whole image pixels, we can decrease the processing time. And then using point pattern matching and least square estimation, finally we can get the precise position and orientation of the mobile robot. Experimental results demonstrate the accuracy and update rate of the proposed algorithm in real environments.

• The Journal of Korea Robotics Society
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• v.7 no.4
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• pp.252-258
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• 2012

This paper describes hierarchical semantic map building using the classified area information in home environments. The hierarchical semantic map consists of a grid, CAIG (Classified Area Information in Grid), and topological map. The grid and CAIG maps are used for navigation and motion selection, respectively. The topological map provides the intuitive information on the environment, which can be used for the communication between robots and users. The proposed semantic map building algorithm can greatly improve the capabilities of a mobile robot in various domains, including localization, path-planning and HRI (Human-Robot Interaction). In the home environment, a door can be used to divide an area into various sections, such as a room, a kitchen, and so on. Therefore, we used not only the grid map of the home environment, but also the door information as a main clue to classify the area and to build the hierarchical semantic map. The proposed method was verified through various experiments and it was found that the algorithm guarantees autonomous map building in the home environment.

• Journal of IKEEE
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• v.2 no.1 s.2
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• pp.139-149
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• 1998

There are some problems in robot navigations with a single kind of sensor. We propose a system that takes advantages of both CCD camera and ultrasonic sensors for the concerning matter. A coordinate extraction algorithm to avoid obstacles during the navigation is also proposed. We implemented a CCD based vision system at the front part of the vehicle and did experiments to verify the suggested algorithm's availability. From experimental results, the error rate was reduced when a CCD camera was used rather than when only ultrasonic sensors were used. Also we can generate path to avoid those obstacles using the measured values.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.46 no.5
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• pp.513-519
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• 2013

The fishing industry in Europe has faced environmental, economic, and social challenges. Since the early 2000s, a key tool in addressing these challenges has been information and communication technology (ICT), which has helped to modernize fishery systems in European Union (EU) countries. The ICT used in EU fisheries can be categorized broadly as 1) macro-technologies such as satellite and other remote sensing technologies in combination with geographical information systems, 2) micro-technologies adapted for fishing vessels such as echo sounders, ship navigation devices, and mobile communication devices to connect fishermen and consumers, and 3) onshore micro-technologies related to internet technology and mobile devices. The European Monitoring Center on Change has used ICT to effectively manage fisheries bio-resources. This use of ICT has contributed to the development of sustainable and competent fisheries in the 2000s, even though the knowledge-sharing practices involved are contrary to the long tradition of autonomy within the fishery industry.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.9
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• pp.883-895
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• 2007

In this work, we present the development of a patrol robot which is intended to navigate outdoor rough terrain. Proposed mechanism consists of six legs for overcoming an obstacle, and six wheels for traveling. Also, in order to absorb vibration in rough terrain effectively, the slide-spring system and tubed type tire are adopted to each leg and each wheel. The control system of robot consists of several imbedded boards for management of lots of diverse devices such as sensors designed for rough terrain, motor controllers, camera, micro controller and so on. And the base system of the robot is designed to operate in real time and to surveille in the vicinity of the robot, and the robot system is controlled by wireless LAN connected to GUI-based remote control system, while CAN communication connects the control board and the device controllers for sensors and motor controllers. For operating this robot system efficiently, we propose the control algorithms for autonomous navigation using GPS, stabilization maintenance by posture control, obstacle-avoidance by impedance control, and obstacle-overcoming with interference-avoidance between wheels. The performance of the robot and the proposed algorithms are tested and proved by a set of experiments in outdoor rough terrain.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.10
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• pp.955-961
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• 2006

The global ultrasonic system for the self-localization of a mobile robot consists of several ultrasonic transmitters fixed at some reference positions in the global coordinates of robot environment. By activating the ultrasonic transmitters, the mobile robot is able to get the distance to the ultrasonic transmitters and compute its own position in the global coordinate. Due to the limitation on the ultrasonic signal strength and beam width as well as the environmental obstacles however, the ultrasonic signals from some generator may not be transmitted to the robot. Thus, instead of activating the all ultrasonic transmitters, it is necessary to select some ultrasonic generators to activate based on the current robot position. In this paper, we propose a selective activation algorithm for self-localization with the global ultrasonic system. The selective activation algorithm gets the meaningful ultrasonic data at every sampling instants, which results in the faster and more accurate response of the self-localization than the conventional sequential activation. Through the self-localization and path following control, we verify the effectiveness of the proposed selective activation algorithm.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.17 no.4
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• pp.373-381
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• 1999

Mobile Mapping System can be defined as vehicle mapping system which collects rapidly spatial data by integrated Gps/digital imaging system. Kinematic positioning by GPS is essential technology of Mobile Mapping System. This paper aims at analysing the accuracy and efficiency of kinematic positioning by GPS platformed on moving vehicle. For the purpose, roads were surveyed by vehicle/kinematic GPS. The results show that vehicle/kinematic GPS can measure spatial position faster, and still maintain a reasonable accuracy. But inertial navigation system and GPS should be integrated to compute continuous vehicle track and overcome gaps by blocked satellite signals for the more accurate positioning.