• Journal of Navigation and Port Research
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• 제36권5호
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• pp.395-400
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• 2012

The stress-strain relationship of soil is dependent on a number of factors such as soil type, density, stress level and stress path. Th accurate stress-stain relationship can be predict using a constitutive model incorporated all influencing factors. In this study, an isotropic compression-expansion test and a series of drained conventional triaxial tests with several stress paths were performed on Baekma river sand to investigate parameters characteristics of Lade's single work hardening model depending on the stress path.. Based on test results, the parameters of yield function (h, ${\alpha}$) are not much influenced by stress level and stress path, the these parameters do affect a little bit of stress-strain behavior. The parameters h and ${\alpha}$ are closely related to failure criterion ${\eta}_1$, they can be replaced by failure criterion parament. We also observed that predicted values from the Lade's single hardening constitutive model are well matched with the observed data.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 한국항해항만학회 2018년도 춘계학술대회
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• pp.318-320
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• 2018

When a ship sails on sea, it may be influenced by the environmental disturbance such as wind, wave, sea surface temperature, etc. These affect on the ship's speed, fuel consumption, safety and operating performance. It is necessary to find the optimal weather route of a ship to avoid adverse weather conditions which can put the crews in serious danger or cause structural damage to the vessel, machinery, and equipment. This study introduced how to apply A* algorithm based on sea trial test data for determining the optimal ship routes. The path cost function was modelled as a function of minimum arrival time or minimum energy depending on the time of various environment conditions. The specially modelled path-cost function and the safety constraints were applied to the A* algorithm in order to find the optimal path of the ship. The comparison of ship performances estimated by real sea trial's path and estimated optimal route during the voyage of the ship was investigated. The result of this study can be used to create a schedule to ensure safe operation of the ship with short passage time or minimum energy. In addition, the result of this study can be integrated into an on-board decision supporting expert system and displayed in Electronic Chart Display and Information System (ECDIS) to provide all the useful information to ship master.

• Journal of Positioning, Navigation, and Timing
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• 제12권2호
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• pp.91-100
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• 2023

The existing indoor localization method using Wi-Fi fingerprinting has a high collection cost and relatively low accuracy, thus requiring integrated correction of convergence with other technologies. This paper proposes a new method that significantly reduces collection costs compared to existing methods using Wi-Fi fingerprinting. Furthermore, it does not require labeling of data at collection and can estimate pedestrian travel paths even in large indoor spaces. The proposed pedestrian movement path estimation process is as follows. Data collection is accomplished by setting up a feature area near an indoor space intersection, moving through the set feature areas, and then collecting data without labels. The collected data are processed using Kernel Linear Discriminant Analysis (KLDA) and the valley point of the Euclidean distance value between two data is obtained within the feature space of the data. We build learning data by labeling data corresponding to valley points and some nearby data by feature area numbers, and labeling data between valley points and other valley points as path data between each corresponding feature area. Finally, for testing, data are collected randomly through indoor space, KLDA is applied as previous data to build test data, the K-Nearest Neighbor (K-NN) algorithm is applied, and the path of movement of test data is estimated by applying a correction algorithm to estimate only routes that can be reached from the most recently estimated location. The estimation results verified the accuracy by comparing the true paths in indoor space with those estimated by the proposed method and achieved approximately 90.8% and 81.4% accuracy in two experimental spaces, respectively.

• Journal of the Korea Academia-Industrial cooperation Society
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• 제17권3호
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• pp.292-297
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• 2016

This paper presents a navigation problem for an autonomous mobile robot in an unknown environment. The environment contains various types of obstacles and is completely unknown to the robot. Therefore, all of the surrounding information must be detected by the robot's proximity sensors. A navigation method was developed based on a fuzzy inference system to guide the robot to move along a collision-free path and reach the goal position quickly. The obstacles are assumed to be static, and both regular and irregular types of obstacles were investigated. A wall following method is also proposed for a special environment that contains a labyrinth or sharp U-valley obstacles. Simulation results demonstrate that the proposed method has great potential for this navigation problem.

• Spatial Information Research
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• 제18권4호
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• pp.89-98
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• 2010

Recently, the target of navigation system is moving from the cars to pedestrians. Many researches are in progress regarding pedestrian navigation, However, in most cases, the path-finding is based on the existing node/link network model. which is widely used for the car navigation, and thus showing its limitation. The reasons arc that a) unlike with a car, the paths that pedestrians take arc not limited to the roads, b) pedestrians an~ not restricted in rotation or direction, and c) they can freely move within the walkable space. No alternatives have been offered yet, especially for openspaces such as a park or square. Therefore, in this research, we suggested appropriate methods to create paths that can be used in pedestrian navigation service, by using motion-planning technology, which is used in the field of robotics for planning the motion of an object, and conducted tests for their applicability.

• Aerospace Engineering and Technology
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• 제5권2호
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• pp.1-7
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• 2006

This paper presents a new point navigation guidance law which is useful for unmanned helicopters. Predicting the future position, the guidance law generates velocity and heading commands, which are used as input to autopilot. This method differs from conventional guidance law in that it reorients the direction of flight velocity vector directly, not by bank angle indirectly. For flight tests, we have developed a flight control system for a R/C helicopters. The system consists of a flight control computer, navigation sensors, and a ground station The results of the test show that the proposed law guides a unmanned helicopter along a line path within a given area. In the future, we are planning to extend the guidance law to the mission of path following. i.e., waypoint navigation.

• Journal of the Korea Institute of Information and Communication Engineering
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• 제24권11호
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• pp.1417-1423
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• 2020

This paper proposes a waypoint guidance algorithm for the Autonomous Underwater Vehicle(AUV). The proposed simplified guidance algorithm is presented, which is combined LOS guidance and cross-track guidance for path following. Cross-track error is calculated using the position of the AUV and reference path. LOS guidance and cross-track guidance are appropriately changed according to cross-track error. And the stability of the system has been improved using variable cross-track control gain by cross-track error. Also, in this paper, navigation hardware in-the loop simulation(HILS) is implemented to verify navigation algorithm of AUV that performs combined navigation using inertial navigation device and doppler velocity log(DVL). Finally, we design integrated system HILS (including navigation HILS) for performance verification of guidance algorithm of the autonomous underwater vehicle. By comparing the sea test result with HILS result, the proposed guidance algorithm and HILS configuration were confirmed be correct.

• Journal of the Korea Institute of Information and Communication Engineering
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• 제10권7호
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• pp.1312-1318
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• 2006

One of the common services of telematics is the car navigation that finds the shortest path from source to target. Until now, some routing algorithms of the car navigation do not consider the real-time traffic information and use the static shortest path algorithm. In this paper, we prosed the method to predict the traffic flow in the future. This prediction combines two methods. The former is an accumulated speed pattern, which means the analysis results for all past speeds of each road by classfying the same day and the same time inteval. The latter is the Kalman filter. We predicted the traffic flows of each segment by combining the two methods. By experiment, we showed our algorithm gave better precise predicition than only using accumulated speed pattern that is used commonly. The result can be applied to the car navigation to support a dynamic shortest path. In addition, it can give users the travel information to avoid the traffic congestion areas.

• Journal of KIISE:Software and Applications
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• 제30권9호
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• pp.821-828
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• 2003

The virtual angioscopy was implemented using MR angiography image of carotid artery Inside of the carotid artery is one of the body region not accessible by real optical endoscopy but can be visualized with virtual endoscopy. In order to determine the navigation path, we segmented the common carotid artery and internal carotid artery from the MR angiography image. We used the coordinates as a navigation path for virtual camera that were calculated from medial axis transformation. We used the perspective projection and marching cube algorithm to render the surface from volumetric MRA image data. A stroke occurs when brain cells die because of decreased blood flow to the brain. The carotid artery is the primary blood vessel that supplies the blood flow to the brain. Therefore, the carotid artery stenosis is the primary reason of stroke. The virtual angioscopy is highly recommended as a diagnosis tool with which the specific Place of stenosis can be identified and the degree of stenosis can be measured qualitatively. Also, the virtual angioscopy can be used as an education and training tool for endoscopist and radiologist.

• The KIPS Transactions:PartB
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• 제10B권5호
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• pp.509-514
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• 2003

The virtual bronchoscopy was implemented using chest CT images to visualize inside of tracheo-bronchial wall. The optical endoscopy procedures are invasive, uncomfortable for patients and sedation or anesthesia may be required. Also, they have serious side effects such as perforation, infection and hemorrhage. In order to determine the navigation path, we segmented the tracheo-bronchial wall from the chest CT image. We used the coordinates as a navigation path for virtual camera that were calculated from medial axis transformation. We used the perspective projection and marching cube algorithm to render the surface from volumetric CT image data. The tracheobronchial disease was classified into tracheobronchial stenosis causing from inflammation or lung cancer, bronchiectasis and bronchial cancer. The virtual bronchoscopy is highly recommended as a diagnosis tool with which the specific place of tracheobronchial disease can be identified and the degree of tracheobronchial disease can be measured qualitatively, Also, the virtual bronchoscopy can be used as an education and training tool for endoscopist and radiologist.