• Journal of Advanced Marine Engineering and Technology
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• v.38 no.5
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• pp.566-572
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• 2014

Recently, indoor navigation has been applied in large convention centers by using wireless sensor networks (WSNs), which provide not only a user's path to be traveled but also orientation and shopping information to increase user's convenience. This paper presents the localization system for estimating relative coordinates without pre-deployment of the reference node based on ultra wide band (UWB) ranging system, which is relatively suitable for indoor localization compared to other wireless communications, and azimuth sensor. The proposed localization system which consists of an azimuth sensor and a mobile node composed of three nodes estimates relative coordinates of the reference node without applying any recursive and time consumption algorithms. Also, in the process of estimating relative coordinates of the reference node, ranging errors are minimized through the proposed technique and the number of nodes can be reduced. Experimental results show the feasibility and validity of the proposed system.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2013.05a
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• pp.917-918
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• 2013

Navigation or Portal sites is providing real-time information of roads according to heavy rain in guide services for finding a path recently. Especially "e-traffic alerts" is providing traffic information according to the presence of road flooding and accidents. This research is goal to provide drivers to real-time status information of roads which have the connected its information to support the real-time rainfall information of meteorological office and portal sites. We suggest the evaluation method of risk roads combined the real-time rainfall information and portal information.

• 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 Institute of Control, Robotics and Systems
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• v.11 no.5
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• pp.398-405
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• 2005

The intelligent robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, robots need to recognize their position and posture in known environment as well as unknown environment. Moreover, it is necessary for their localization to occur naturally. It is desirable for a robot to estimate of his position by solving uncertainty for mobile robot navigation, as one of the best important problems. In this paper, we describe a method for the localization of a mobile robot using image information of a moving object. This method combines the observed position from dead-reckoning sensors and the estimated position from the images captured by a fixed camera to localize a mobile robot. Using a priori known path of a moving object in the world coordinates and a perspective camera model, we derive the geometric constraint equations which represent the relation between image frame coordinates for a moving object and the estimated robot's position. Also, the control method is proposed to estimate position and direction between the walking human and the mobile robot, and the Kalman filter scheme is used for the estimation of the mobile robot localization. And its performance is verified by the computer simulation and the experiment.

• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.923-924
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• 2006

In this paper, we propose the sensor fusing method for the obstacle avoidance of guiding robot for the visually impaired In our system, we acquire obstacles distances information using ultrasonic sensors, and its width is acquired by image sensor. We also compute avoidance angle using are distance and width information gained by sensor. After the robot avoid the obstacle by computed angle, the robot returns to its original path using odometry. The robot consists of the SA1110-based controller, sensory part using sonar array and image sensor, and motion part using differential drive for climbing stairs. This system use the embedded linux for OS, and also is developed by the QT/Embedded for GUI.

• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.5
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• pp.557-564
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• 2012

This paper presents UGV localization using multi-sensor fusion based on federated filter in outdoor environments. The conventional GPS/INS integrated system does not guarantee the robustness of localization because GPS is vulnerable to external disturbances. In many environments, however, vision system is very efficient because there are many features compared to the open space and these features can provide much information for UGV localization. Thus, this paper uses the scene matching and pose estimation based vision navigation, magnetic compass and odometer to cope with the GPS-denied environments. NR-mode federated filter is used for system safety. The experiment results with a predefined path demonstrate enhancement of the robustness and accuracy of localization in outdoor environments.

• Journal of Korean Port Research
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• v.13 no.2
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• pp.409-418
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• 1999

Gamcheon Bay has complicated and unique flow pattern which is affected by topography characteristics of a semi-closed bay and warm water discharge from the power plant located at the bay. It is very important to consider warm water discharge with tidal period and wind effects, which are mainly acting on the surface flow patterns in Gamcheon Bay. The results of observation show as follows; i) Because Gamcheon bay has much elongated shape to the north-south direction and narrow entrance with two separated breakwaters, the flow is very weak inside the bay. ii) The main flow path is at the west side of the bay. The direction of flood current is northward along the west side of the bay and the direction of ebb current is southward along the west side of the bay. The southward direction of warm water discharge has curved to the west side of the bay. iii)At the period of flood current for neap tide, the flow direction is southward in the bay, which is thought by the effects of warm water discharge. But at the bottom layer, the effects of tidal current reached to the middle of the bay, and showed features like eddy. iv) The wind effect is very strong, especially, prominent in the west and east side of the bay.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.10a
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• pp.44-46
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• 2018

In this paper, we design a system that can control unmanned mobile objects through communication between unmanned mobile object and control server system using LoRa network which is a dedicated IoT network. It is more efficient when the unmanned mobile object performs the special work by installing the LoRa network applied to the unmanned mobile object control system from the small space house or office hospital to the factory. In this paper, we will discuss the design of a system that can improve the social utilization of unmanned mobile objects by making it possible to communicate the events that occur around other mobile objects from the simplification of the navigation path.

• The KIPS Transactions:PartA
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• v.16A no.1
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• pp.35-42
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• 2009

This paper proposes a new coverage algorithm for intelligent robot. Many algorithms for improving the performance of coverage have been focused on minimizing the total coverage completion time. However, if one does not have enough time to finish the whole coverage, the optimal path could be different. To tackle this problem, we propose a new coverage algorithm, which we call MaxCoverage algorithm, for covering maximal area within the deadline. The MaxCoverage algorithm decides the navigation flow by greedy algorithm for Set Covering Problem. The experimental results show that the MaxCoverage algorithm performs better than other algorithms for random deadlines.

• Journal of Korean Port Research
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• v.12 no.2
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• pp.233-242
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• 1998

The Inchon port has been heavily congested due to the tidal restriction in passing the lock and the shortage of berths or warehouses. The current congestion is predicted to become worse by the induced traffics near the lock entrance after completion of North harbour expansion and of Kyung-In canal construction. It is also expected that the newly developed configuration of the Inchon port will result in increasing the rate of marine accidents around the lock entrance because of the over-utilization of the limited capacity of the junction from the North harbour and the Kyung-In canal. This study adopts a systematic approach in analysing the physical distribution system of the inner-lock area in order to figure out alternative routes which are designed to improve the port efficiency. Ship maneuvering simulation is also attempted to propose a new approaching route to the canal as an alternative path in order to avoid the traffic accidents caused by the extreme congestion. The result of the ship maneuvering simulation demonstrates that the alternative routes by way of Buk-Sudo, Janbong-Sudo, north of Si-Do and Sin-Do is recommended routes which can satisfy the safety requirements of approaching to the canal entrance.