• IEMEK Journal of Embedded Systems and Applications
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• v.9 no.3
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• pp.165-171
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• 2014

In this paper, we propose the hardware and software of a test-bed of a hovering AUV (autonomous underwater vehicle). Test-bed to develop as the underwater robot for the hovering -type is planning to apply for marine resource development and exploration for deep sea. The RTU that controls a azimuth thruster and a vertical thruster of test-bed is a intergrated-type thruster. The main control unit that collects sensor's data and performs high-speed processing and controls a movement of test-bed is a underwater hybrid navigation system. Also it transfers position, posture, state information of test-bed to the host PC of user using a wireless communication. The host PC checks a test-bed in real time by using a realtime monitoring system that is implemented by LabVIEW.

• ETRI Journal
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• v.34 no.5
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• pp.767-770
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• 2012

This letter presents a novel compact circularly polarized patch antenna for Global Positioning System/Global Navigation Satellite System (GPS/GLONASS) applications. The proposed antenna is composed of a simple square radiating patch fed by a capacitive dual-feeder to increase the impedance bandwidth and a lumped element hybrid coupler to achieve the broadband characteristic of the axial ratio (AR). The realized antenna dimensions are $28mm{\times}28mm{\times}4mm$, which is the most compact size among the dual-band GPS/GLONASS antennas reported to date. The measured results demonstrate that the proposed antenna has a gain of 2.5 dBi to 4.2 dBi and an AR of 0.41 dB to 1.51 dB over the GPS/GLONASS L1 band (1.575 GHz to 1.61 GHz).

• Journal of Ocean Engineering and Technology
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• v.5 no.1
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• pp.25-34
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• 1991

An accurate estimation of water level variation when thewaves propagate to the coastal regionis very important for the port and harbor development plan. This study describes the application of a hybrid element model to harbor oscillation problem due to the construction of shore structure and implementation of shore boundary. The site selected is Pusan Harbor area with the third development and the Artificial Island plan. The observed water level changes at the site are compared with the result of the numerical experiment. The model gives a very important prediction of water level changes for navigation and harbor design.

• Journal of Korean Port Research
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• v.11 no.2
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• pp.295-304
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• 1997

For evaluation of maritime power, the attributes of sea power are identified in this paper by system analysis method. A many fundmental factors of sea power are selected by survey of the extensive and thorough literatures on maritime power. And the factors are classified into 11 standard attributes by cluster method. The 11 standard attributes are as follows: geographical condition, character of territory, character of the people, maritime will of the government, shipping power, navel power, shipbuilding power, fishing power, ocean research and development, dependence on seaborne trade, number of ocean population. As the sub-attributes of the standard attributes, 37 composite factors and some basic factors are defined through careful survey and discussion with some experts. As the result of this study, the maritime power is systematically identified as maritime power system. And it is realized that the evalution of maritime power system is the hybrid MADM problem with both quantitative and qualitative factors.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.10
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• pp.109-117
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• 2014

In navigation route planning systems using A* algorithms, the cardinality of an Open list, which is a list of candidate nodes through which a terminal node can be accessed, increases as the path length increases. In this paper, a method of alternately utilizing the Dijkstra's algorithm and the A* algorithm to reduce the cardinality of the Open list is investigated. In particular, by employing a depth parameter, named Level, the two algorithms are alternately performed depending on the Level's value. Using the hybrid searching approach, the Open list constructed in the Dijkstra's algorithm is transferred into the Open list of the A* algorithm, and consequently, the unconstricted increase of the cardinality of the Open list of the former algorithm can be avoided and controlled appropriately. In addition, an optimal or nearly optimal path similar to the Dijkstra's route, but not available in the A* algorithm, can be found. The experimental results, obtained with synthetic and real-life benchmark data, demonstrate that the computational cost, measured with the number of nodes to be compared, was remarkably reduced compared to the traditional searching algorithms, while maintaining the similar distance to those of the latter algorithms. Here, the values of Level were empirically selected. Thus, a study on finding the optimal Level values, while taking into consideration the actual road conditions remains open.

• Journal of Electrical Engineering and Technology
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• v.8 no.1
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• pp.190-196
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• 2013

This paper proposes a new guidance law, which considers the Field of View (FOV) of the seeker when a missile has a strapdown seeker mounted instead of a gimbal seeker. When a strapdown seeker, which has a narrow FOV, is used for tracking a target, the FOV of the seeker is an important consideration for guidance performance metrics such as miss distance. We propose a new guidance law called hybrid guidance (HG) to address the shortcomings of conventional guidance laws such as proportional navigation guidance (PNG), which cannot maintain lock-on conditions against high speed targets due to the narrow FOV of the strapdown seeker. The aim of the HG law is to null miss distance and to maintain the look angle within the FOV of the strapdown seeker. In order to achieve this goal, we combine two guidance laws in the HG law. One is a PNG law to null the LOS rate, and the other is a sliding mode guidance (SMG) law derived to keep the look angle within the FOV by employing a Lyapunov-like function with a sliding mode control methodology. We also propose a method to switch these two guidance laws at certain look angles for better guidance performance.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1695-1696
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• 2008

KRRI (Korea Railroad Research Institute) is developing a bimodal tram since the 2003s. The vehicle will be used in the public transportation system. The bimodal tram has the advantages of both bus and train. Bus system has the advantages of flexibility of the routes delivering passengers to the destination and easy accessibility. Train is to meet the scheduled arrival and massive public transportations. The vehicle is the rubber tired tram and is all wheel steered single articulation. The propulsion system is configured by CNG hybrid system. The length of the vehicle is 18m. The vehicle lanes will be marked with permanent magnets that are buried in the road. The vehicle can be automatically operated by navigation control system (NCS). In this paper, we introduce the driving system of the bimodal tram which is developed by KRRI.

• Journal of Korean Port Research
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• v.4 no.1
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• pp.21-31
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• 1990

The application of computer model to the port and harbor development is categorized in the field of port development policy, economic analysis and evaluation, civil engineering analysis, hydrodynamic analysis, evaluation of social and natural environment effect, etc. The study in this paper, however, is limited to hydrodynamic analysis, especially the analysis of water wave propagation and response to the shore structure due to the construction and implementation of shore boundary, the mathematical formulation of the numerical model is established systematically based on the hybrid Element Method and applied to solving the wave refraction, diffraction and radiation problems for a circular basin, the artificial beach or lagoon in terms of coastal zone development.

• The Journal of Korea Robotics Society
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• v.6 no.3
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• pp.197-209
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• 2011

This paper presents a localization system using ceiling images in a large indoor environment. For a system with low cost and complexity, we propose a single camera based system that utilizes ceiling images acquired from a camera installed to point upwards. For reliable operation, we propose a method using hybrid features which include natural landmarks in a natural scene and artificial landmarks observable in an infrared ray domain. Compared with previous works utilizing only infrared based features, our method reduces the required number of artificial features as we exploit both natural and artificial features. In addition, compared with previous works using only natural scene, our method has an advantage in the convergence speed and robustness as an observation of an artificial feature provides a crucial clue for robot pose estimation. In an experiment with challenging situations in a real environment, our method was performed impressively in terms of the robustness and accuracy. To our knowledge, our method is the first ceiling vision based localization method using features from both visible and infrared rays domains. Our system can be easily utilized with a variety of service robot applications in a large indoor environment.

• Journal of Advanced Navigation Technology
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• v.12 no.2
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• pp.122-131
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• 2008

In this paper, an S-band oscillator of the low phase noise property using miniaturized microstrip hairpin shaped ring resonator has been designed and implemented. The TACONIC's RF-35 substrate has a dielectric constant ${\varepsilon}_r$=3.5 a thickness h=20mil a copper thickness t=17 um and loss tangent $tan{\delta}$=0.0025. The designed and implemented 2.45 GHz oscillator shows low phase performance of -100.5 dBc/Hz a 100kHz offset. Output power 20.9 dBm at center frequency 2.45 GHz and harmonic suppression -32 dBc. The circuit was implemented with hybrid technique. But can be fully compatible with the RFIC's, MIC and MMIC due to its entirely planar structure.