• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.4
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• pp.76-89
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• 2014

In this paper, we propose a MAC(Media Access Control) protocol based on flexible RWT(RTS Waiting Time) for underwater mobile ad-hoc networks with a three-way handshaking mechanism. This protocol can solve a problem of collision between RTS(Request-To-Send) and CTS(Clear-To-Send) packets in existing MACA(Multiple Access with Collision Avoidance) protocol. This proposed MAC protocol is also an effective protocol which can apply to underwater mobile ad-hoc networks in a real field by using implementable technologies. We set flexible RTS Waiting Time called RWT, considering various characteristics of underwater environment. It is possible to support variable network size according to node mobility. Finally, we conduct a performance evaluation between proposed MAC protocol and existing MACA based MAC protocol through practical implementation and experiment. As a result, we verify the superiority of our proposed MAC protocol in terms of throughput, packet drop rate, average transmission time, energy consumption and channel utilization.

• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.1
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• pp.51-56
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• 2003

The main goal of existing mobile robot system was a complete autonomous navigation and the vision information was just used as an assistant way such as monitoring For this reason, the researches have been going towards sophistication of autonomousness gradually and the production costs also has been risen. However, it is also important to control remotely an inexpensive mobile robot system which has no intelligence at all. Such systems may be much more effective than fully autonomous systems in practice. Visual information from a simple camera and distance information from ultrasonic sensors are used for this system. Collision avoidance becomes the most important problem for this system. In this paper, we developed a force feedback joystick to control the robot system remotely with collision avoiding capability. Fuzzy logic is used for the algorithm in order to implement the expert s knowledge intelligently. Some experimental results show the force feedback joystick werks very well.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.9
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• pp.888-897
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• 2015

A flight capability to take a terrain following flight near the ground is required to reduce the probability that a fighter aircraft can be detected by foe's radar fence in the battlefield. The success rate for mission flight has increased by adopting TFS (Terrain Following System) to enable the modern advanced fighter to fly safely near the ground at the low altitude. This system has applied to the state-of-the-art fighter and bomber, such as B-1, F-111, F-16 E/F and F-15, since the research begins from 1960's. In this paper, the terrain following system and GCAS (Ground Collision Avoidance System) was developed, based on a digital database with UTAS's TERPRROM (TERrain PROfile Matching) equipment. This system calculates the relative location of the aircraft in the terrain database by using the aircraft status information provided by the radar altimeter and the INS (Inertial Navigation System), based on the digital terrain database loaded previously in the DTC (Data Transfer Cartridge), and figures out terrain features around. And, the system is a manual terrain following system which makes a steering command cue refer to flight path marker, on the HUD (Head Up Display), for vertical acceleration essential for terrain following flight and enables a pilot to follow it. The cue is based on the recognized terrain features and TCH (Target Clearance Height) set by a pilot in advance. The developed terrain following system was verified in the real-time pilot evaluation in FA-50 HQS (Handling Quality Simulator) environment.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.8
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• pp.971-980
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• 2010

In this paper, we present a navigation control algorithm for mobile robots that move in environments having static and moving obstacles. The algorithm includes a global and a local path-planning algorithm that uses $D^*$ search algorithm, a fuzzy logic for determining the immediate level of danger due to collision, and a fuzzy logic for evaluating the required wheel velocities of the mobile robot. To apply the $D^*$ search algorithm, the two-dimensional space that the robot moves in is decomposed into small rectangular cells. The algorithm is verified by performing simulations using the Python programming language as well as by using the dynamic equations for a two-wheeled mobile robot. The simulation results show that the algorithm can be used to move the robot successfully to reach the goal position, while avoiding moving and unknown static obstacles.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.9 no.5
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• pp.995-1001
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• 2005

Implicit Integration has become a standard approach to efficient cloth animation, and it guarantees the stability of the system so that large steps can be used. Therefore, it is regarded as the best method for the real-time or interactive animation of cloth. Since the implicit method was introduced for stable cloth animation, various cloth animation techniques based on the method have been proposed. It is now possible to generate the real-time animation of cloth model with thousands of mass-point in general PC environments. Although the implicit method guarantees the stability, the implementation of the implicit method is generally more difficult than that of the explicit method. Even worse, it is very difficult to parallelize the computation process of the implicit method. The cloth animation with implicit method can be formalized as a linear system solving. In this paper we propose an stable and efficient cloth animation techniques based on the implicit method. The proposed method can be easily parallelized. Self-collision is another important issue in cloth animation, we also propose an efficient self-collision avoidance techniques.

• Journal of Navigation and Port Research
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• v.33 no.10
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• pp.685-690
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• 2009

International Maritime Organization (IMO) recommends the installation of an Automatic Identification System (AIS) according to requirements by SOLAS to avoid maritime collision. AIS provides traffic information of other ships that may be used for maritime traffic control, SAR (Search and Rescue) and collision avoidance to apply safety management. In this paper, preliminary results to implement an aeronautical surveillance transceiver using AIS transceiver based on ADS-B concepts are described. Although altitude information is not required for AIS since the AIS is operated at MSL (Mean Sea Level), altitude information can be extracted by a GPS (Global Positioning System) chip-set in the AIS transceiver. ADS-B transceiver is implemented by defining a surveillance message format including the altitude information and modifying SOTDMA (Self-Organizing Time Division Multiple Access) protocol. Ground tests and flight tests are performed to validate the implementation results.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37 no.3B
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• pp.165-173
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• 2012

In this paper, we propose a random backoff scheme for Emergency Warning Messages (EWMs) in the vehicle-to-vehicle environment. The EWMs are disseminated from a vehicle that detects an emergency situation to other vehicles in a multi-hop fashion. Since the vehicle-to-vehicle communication based on IEEE 802.11 adapts CSMA/CA, the density of vehicles increase the probability of collisions between transmissions. Moreover, in the presence of background traffic, the EWM should have a higher priority than that of other messages in neighboring vehicles. To that end, we propose the Distant-Dependent Adaptive Backoff (DDAB) scheme, which set a different contention window for random backoff depending on the distance from the sender to the receiver. In the case when a vehicle is expected to located in the outskirts of the communication boundary, the proposed scheme makes the contention window size small in order to compete the background traffic transmission. Otherwise the contention window is set to a large number to reduce the collision possibility among the EWM transmissions. Via simulations, we show that the proposed scheme performs better than the previous schemes for EWM.

• Journal of Korean Society of Transportation
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• v.27 no.6
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• pp.109-118
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• 2009

The conventional lane changing model has been developed without acceleration or deceleration of vehicles at target lane. Thus, existing lane changing models have limitation to apply in real world. In this paper, lane changing model considered acceleration or deceleration, and calculated the safety distance between subject vehicle and adjacent vehicles for lane changing as well. Simulation was conducted to verify the validity and the efficiency of the developed lane changing model in this paper. Several scenarios were carefully examined by safety distance between subject vehicle and adjacent vehicles. In the result, it was verified that if gap between subject vehicle and adjacent vehicles is larger than safety distance, lane changing behavior between subject vehicle and adjacent vehicles avoids collision. The suggested lane changing model may be applied at the future driver assistance system and advanced safety vehicle.

• Journal of Auto-vehicle Safety Association
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• v.7 no.1
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• pp.33-39
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• 2015

This study examined the drivers' acceptance level of various active safety features with Korean drivers on Seoul urban and city roads. The test vehicle, 2013 Cadillac ATS, was equipped with FCA(Forward Collision Alert), LDW(Lane Departure Warning), SBZA(Side Blind Zone Alert), FRPA(Front/Rear Park Assist), RCTA(Rear Cross Traffic Alert), ACC(Adaptive Cruise Control), and AEB(Autonomous Emergency Braking). Participants had chances to run the tests on those systems in the parking lot accompanied by the 106km long stretch of predetermined route including local road and interurban highway in Seoul and Gyeonggi-do under normal traffic flowing environment. After the test, participants completed a series of questionnaires about the features they experienced. The results revealed that RCTA and SBZA systems received more favourable ratings compared to the other features in avoiding crashes. The respondents preferred sound alerts to haptic ones even though haptic warning methods were better in providing directional information.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2001.10a
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• pp.745-748
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• 2001

Digital-ship is the next-generation ship with an one-man bridge system which consists of INS(Intelligent Navigation System), AIS(Automatic Identification System), and IMIT(Integrated Maritime Information Technology). INS implements the functions is related of the ship's navigation, and supports in the digital GIS environments optimal route planning, stranding and a collision avoidance among the ship, an economic navigation, and an integrated control of ship's engine. AIS prevents the ship's collision by means of transmitting periodically the own ship's information to the other ship or the shore control center. IMIT systems supports the integrated fiat-form in ships, the communication between a ship and a control center of the land using the INMARSAT, OrbComm, Ocean Observation Satellite, and etc. The satellite communication in ships can monitor the ship at an earth control renter. This paper deals with the method for system implementation of digital-ship and the detailed sub-system.