• The Journal of Korea Robotics Society
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• v.19 no.3
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• pp.293-310
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• 2024

In this paper, we propose an agent model for Language-Driven Zero-Shot Object Navigation (L-ZSON) tasks, which takes in a freeform language description of an unseen target object and navigates to find out the target object in an inexperienced environment. In general, an L-ZSON agent should able to visually ground the target object by understanding the freeform language description of it and recognizing the corresponding visual object in camera images. Moreover, the L-ZSON agent should be also able to build a rich spatial context map over the unknown environment and decide efficient exploration actions based on the map until the target object is present in the field of view. To address these challenging issues, we proposes AML (Agent Model for L-ZSON), a novel L-ZSON agent model to make effective use of AI foundation models such as Large Language Model (LLM) and Vision-Language model (VLM). In order to tackle the visual grounding issue of the target object description, our agent model employs GLEE, a VLM pretrained for locating and identifying arbitrary objects in images and videos in the open world scenario. To meet the exploration policy issue, the proposed agent model leverages the commonsense knowledge of LLM to make sequential navigational decisions. By conducting various quantitative and qualitative experiments with RoboTHOR, the 3D simulation platform and PASTURE, the L-ZSON benchmark dataset, we show the superior performance of the proposed agent model.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.4
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• pp.463-470
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• 2008

In this paper, we confirm that the two properties, 'existence of obstacles' and 'connectivity between obstacles', involved in information acquired by a robot can be used efficiently for location recognition of the robot by using rough sets. Moreover, we propose a method which can reduce ambiguity of the location recognition by applying the properties and recognize the robot's location with distrustful information of the environment where the robot moves. We confirmed it through computer simulation that a robot moves to a goal with only the map containing not enough information on the real environment.

• Journal of the Korean Society of Marine Environment & Safety
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• v.21 no.4
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• pp.381-388
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• 2015

Global Maritime Distress and Safety System (GMDSS) equipment and Electronic Chart Display & Information System (ECDIS) are typical equipment which help seafarers to obtain information for ship's safe navigation. In this study, a survey on using of GMDSS equipment and ECDIS was conducted on a total of 260 ship masters and crew who have been working on ocean-going vessels. The subjects were asked about the usage, and level and reason of satisfaction or dissatisfaction of GMDSS equipment and ECDIS, the leading navigational system from which they receive information. The survey showed that the third- and fourth-most frequently used equipment, MF/HF and INMARSAT (telex), were deemed to be the second- and third-most useless equipment. It means that the frequency of device usage is not proportionate to the level of navigational safety. Especially, 'ease of device use (42.3%)' and 'necessity of the provided information (50%)' were highlighted as factors increasing the level of satisfaction with the system. The survey result shows that ship safety cannot be realized by only adopting advanced systems, technology and services. It emphasizes the need to consider the level of 'accessibility and appropriateness of the information' and 'ease of device use'. Discussions implemented by the IMO on various policies and regulations are aimed at securing ship safety. In order to achieve the goal, such institutions should be validated by end-users and relevant studies should be conducted.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2007.12a
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• pp.181-183
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• 2007

Copyright infringement and data piracy are pervasive problems of digital era and Electronic Navigational Charts(ENC) are not free from these issues. Aside from the economic impact, the unofficial distribution of nautical information has sign띠cant safeη concerns. Therefore, official distributors of nautical information have sought appropriate methods to protect their data and to provide the mariner with a certificate of authenticity through the adoption of security schema. However, a plethora of different security schema provided by independent distributors markedly complicates the software development of Electronic Chart Display and Information Systems (ECDIS) manufacturers and makes it more difficult to achieve the goal of seamless world-wide electronic navigational database easily accessible to the mariner. A fundamental concern of IHO is that adoption of a single, centrally administered security scheme for all ENCs could improve the ease of use of ENCs and enhance safety of navigation. IHO have driven protection scheme as S-63, S-63x. NORI(National Oceanographic Research Institute) necessarily need protection scheme and supporting system for nautical information. This paper presents protection scheme for NORI and proposes support system for ENC protection.

• Journal of Navigation and Port Research
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• v.28 no.1
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• pp.1-8
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• 2004

The final goal of this research is to establish the relative dangerousness D/B for factors on seakeeping performance. This D/B is, essential to develope the seakeeping performance evaluation system built-on-ship. The system is composed of the apparatus for measuring a vertical acceleration to be generated by the ship's motions, computer for calculating the synthetic seakeeping performance index and monitor for displaying the evaluating diagram of navigational safety of ship. In this paper, a methodology on the establishment of the relative dangerousness D/B for factors on seakeeping performance is presented by a numerical simulations, playing an important role on the algorithm of the program for calculating the synthetic seakeeping performance index. Finally, It is investigated whether the relative dangerousness D/B can be realized an accurate values according to the loading conditions, weather conditions, wave directions and present ship's speed of a model ship.

• Journal of the Korea Society for Simulation
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• v.18 no.4
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• pp.9-20
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• 2009

Navigation system providing route-guidance and traffic information is one of the most widely used driver-support system these days. Most of the navigation system is based on the 2D map paradigm so the information is ed and encoded from the real world. As a result it imposes a cognitive burden to the driver to interpret and translate the ed information to real world information. As a new concept of navigation system, augmented-reality navigation system (AR navigation) is suggested recently. It provides navigational guidance by imposing graphical information on real image captured by camera mounted on a vehicle in real-time. The ultimate goal of navigation system is to assist the driving task with least driving workload whether it is based on the abstracted graphic paradigm or realistic image paradigm. In this paper, we describe the comparative studies on how map navigation and AR navigation affect for driving tasks by experimental research. From the result of this research we obtained a basic knowledge about the two paradigms of navigation systems. On the basis of this knowledge, we are going to find the optimal design of navigation system supporting driving task most effectively, by analyzing characteristics of driving tasks and navigational information from the human-vehicle interface point of view.

• Journal of Ocean Engineering and Technology
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• v.21 no.2 s.75
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• pp.67-74
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• 2007

Maritime and Ocean Engineering Research Institute (MOERI), a branch of KORDI, has designed and manufactured a model of an autonomous underwater vehicle (AUV) named ISiMI (Integrated Submergible for Intelligent Mission Implementation). ISiMI is an AUV platform to satisfy the various needs of experimental test required for development of challenging technologies newly investigated in the field of underwater robot; control and navigational algorithms and software architectures. The main design goal of ISiMI AUV is downsizing which will reduce substantially the operating cost compared to other vehicles previously developed in KORDI such as VORAM or DUSAUV. As a result of design and manufacturing process, ISiMI is implemented to be 1.2 m in length, 0.17 m in diameter and weigh 20 kg in air. A series of tank test is conducted to verify the basic functions of ISiMI in the Ocean Engineering Basin of MOERI, which includes manual control with R/F link, auto depth, auto heading control and a final approach control for underwater docking. This paper describes the implementation of ISiMI system and the experimental results to verify the function of ISiMI as a test-bed AUV platform.

• Journal of Navigation and Port Research
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• v.28 no.3
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• pp.207-211
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• 2004

The final goal of this research is to establish the relative dangerousness D/B for factors on seakeeping performance. This D/B is essential to develope the seakeeping performance evaluation system built-on-ship. The system is composed of the apparatus for measuring a vertical acceleration to be generated by the ship's motions, computer for calculating the synthetic seakeeping performance index and monitor for displaying the evaluating diagram of navigational safety of ship. In this paper, a methodology on the establishment of the relative dangerousness D/B for factors on seakeeping performance is presented by a numerical simulations, playing an important role on the algorithm of the program for calculating the synthetic seakeeping performance index. Finally, It is investigated whether the relative dangerousness D/B can be realized an accurate values according to the loading conditions, weather conditions, wave directions end present ship's speed of a model ship.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.347-350
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• 2006

Maritime and Ocean Engineering Research Institute (MOERI), a branch of KORDI, has designed and manufactured a model of an autonomous underwater vehicle (AUV) named ISiMI(Integrated Submergible for Intelligent Mission Implementation). ISiMI is an AUV platform to satisfy the various needs of experimental test required for development of challenging technologies newly investigated in the field of underwater robot; control and navigational algorithms and software architectures. The main design goal of ISiMI AUV is downsizing which will reduce substantially the operating cost compared to other vehicles previously developed in KORDI such as VORAM or DUSAUV. As a result of design and manufacturing process, ISiMI is implemented to be 1.2m in length, 0.17m in diameter and weigh 20 kg in air. A series of tank test is conducted to verify the basic functions of ISiMI in the Ocean Engineering Basin of MOERI, which includes manual control with R/F link, auto depth, auto heading control and a final approach control for underwater docking. This paper describes the implementation of ISiMI system and the experimental results to verify the function of ISiMi as a test-bed AUV platform.

• Journal of Advanced Navigation Technology
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• v.23 no.5
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• pp.430-436
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• 2019

It is needed to develop an antenna with features of subminiature, light weight and multi-band operation for the variaty services in maritime and industrial fields. The PCB pattern antenna is one of the appropreiate antennas solving these requirements. In this research, the design and fabrication of the PCB pattern antenna operating on the single band of 920 MHz are investigated. The final goal is that the development of the dual band PCB pattern antenna operating on 260 MHz and 920 MHz, which is based on the proposed antenna. It is evident that the performance in the frequencies of 902 MHz, 915 MHz and 928 MHz among of 920 MHz ISM band is better than that in other frequencies. It is also confirmed that the differences of the voltage standing wave ratio, return loss, gain and efficiency between three frequencies are less than 5%. It is expected that the development of communication link of 5-10 km is possible when the induced results are applied into the low power wide area (LPWA) network desinged by the rule of -30 dB sensitivity.