• International Journal of Automotive Technology
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• v.8 no.5
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• pp.583-591
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• 2007

This paper describes the development of the $H_{\infty}$ lateral control system for an autonomous ground vehicle operating a limited area using the RTK-DGPS(Real Time Kinematic-Differential Global Positioning System). Before engaging in autonomous driving, map data are acquired by the RTK-DGPS and used to construct a reference trajectory. The navigation system contains the map data and computes the reference yaw angle of the vehicle using two consecutive position values. The yaw angle of the vehicle is controlled by the $H_{\infty}$ controller. A prototype of the autonomous vehicle by the navigation method has been developed, and the performance of the vehicle has been evaluated by experiment. The experimental results show that the $H_{\infty}$ controller and the RTK-DGPS based navigation system can sufficiently track the map at low speed. We expect that this navigation system can be made more accurate by incorporating additional sensors.

• Journal of Satellite, Information and Communications
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• v.8 no.2
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• pp.22-28
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• 2013

In this paper, new LBS (location based service) are proposed using conventional DMB (digital multimedia/mobile broadcasting) system. LBS applications are proposed that can be suitable for the subway and ground transportation based on S-DMB (satellite-DMB) and T-DMB (terrestrial-DMB) respectively. In the shaded area such as subway, the broadcasting signal transmitted from the satellite of S-DMB system should be retransmitted by the earth repeater called the gap filler and each gap filler has its own identification value called the gap filler ID which introduces the area in which the gap filler was installed. Therefore, the LBS can be implemented by using the gap filler ID of S-DMB on the subway in which the GPS (global positioning system) can't be received. Unlike the LBS on the subway, the combination of T-DMB and DGPS (differential GPS) will be introduced as a way for ground transportation. Generally, DGPS has been designed to compensate the position value calculated from the GPS signal so that positioning error of about 1 meter can be obtained by using DGPS information. T-DMB system transmitting DGPS signal will be expected to be commercial in Korea and, if using DGPS information transmitted through T-DMB network, LBS with more precise positioning than GPS alone can be implemented in the ground vehicles.

• IEMEK Journal of Embedded Systems and Applications
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• v.17 no.4
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• pp.239-247
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• 2022

The existing studies on the localization in the GNSS (Global Navigation Satellite System) denied environment usually exploit low-cost MEMS IMU (Micro Electro Mechanical Systems Inertial Measurement Unit) sensors to replace the GNSS signals. However, the navigation system still requires GNSS signals for the normal environment. This paper presents an integrated GNSS/INS (Inertial Navigation System) navigation system which combines GNSS and multiple IMU sensors using extended Kalman filter in partially GNSS-denied environments. The position and velocity of the INS and GNSS are used as the inputs to the integrated navigation system. The Mahalanobis distance is used for novelty detection to detect the outlier of GNSS measurements. When the abnormality is detected in GNSS signals, GNSS data is excluded from the fusion process. The performance of the proposed method is evaluated using MATLAB/Simulink. The simulation results show that the proposed algorithm can achieve a higher degree of positioning accuracy in the partially GNSS-denied environment.

• International Journal of Automotive Technology
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• v.7 no.1
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• pp.83-90
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• 2006

The purpose of this paper is to describe the design and implementation of an unmanned ground vehicle, called the TailGator at CIMAR (Center for Intelligent Machines and Robotics) of the University of Florida. The TailGator is a gas powered, four-wheeled vehicle that was designed for the AUVSI Intelligent Ground Vehicle Competition and has been tested in the contest for 2 years. The vehicle control model and design of the sensory systems are described. The competition is comprised of two events called the Autonomous Challenge and the Navigation Challenge: For the autonomous challenge, line following, obstacle avoidance, and detection are required. Line following is accomplished with a camera system. Obstacle avoidance and detection are accomplished with a laser scanner. For the navigation challenge, waypoint following and obstacle detection are required. The waypoint navigation is implemented with a global positioning system. The TailGator has provided an educational test bed for not only the contest requirements but also other studies in developing artificial intelligence algorithms such as adaptive control, creative control, automatic calibration, and internet-base control. The significance of this effort is in helping engineering and technology students understand the transition from theory to practice.

• Journal of Korea Port Economic Association
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• v.33 no.4
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• pp.149-172
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• 2017

The Alibaba Company, founded by Mayun in 1997, captured no.1 position in the global electronic commerce industry in 2016. Logistics strategy and paying system of the firm have greatly contributed to its success. The study aims not only to investigate the entrepreneurship of Mayun to inspire Korean youths with it, but also to help Korean E Commerce industry with logistics strategy of the Alibaba Group. The study adopts the management history approach through a literature survey on life time story, management philosophy of Mayun. Results from a study on Ma Yun's entrepreneurship style showed certain key characteristics: a global mindset, marketing and advertising proficiency, patriotism, a challenging spirit, and creativity. Alibaba's logistics system has greatly contributed to the success of the company's E commerce trade so far. However, some things are left to be desired in the following areas: logistics management system, logistics contract unit price, competitiveness in warehousing compared to rival Chinese companies, and last mile delivery.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.47 no.10
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• pp.728-737
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• 2019

In this study, the minimized on-board computer (OBC) module for integrated navigation is developed, which provides satellites' relative position information in formation flying and cluster operation situations. The scalability is considered to apply the user-selected wireless communication module and Global Positioning System (GPS) receiver for navigation, while considering to meet the structural design standard of nano-satellites. As a result of the product development and production, the processing speed of integrated navigation and real-time data synchronization is satisfied for cluster operation nano-satellites by using micro controller unit (MCU). From a heat/vacuum, vibration and radiation test, the OBC was confirmed to be operated in space environments. From these results, a mass production system of OBC was made which is a key part of development on satellite formation flying and cluster/constellation missions that the community demands are increasing.

• Journal of Korea Multimedia Society
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• v.11 no.2
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• pp.228-236
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• 2008

Recently augmented reality technology has been researched to view the virtual shape of buildings before construction or cultural heritages under recovery. Those researches used special devices or markers that are not applicable in long distanced outdoor environment. Also the server had to compute a lot of transformations for the location changes of virtual objects. This paper proposed a mobile augmented reality system that uses GPS and accelerometer sensors in order to compute the virtual object's locations without using markers. The server determines the position and orientation by comparing the GPS data obtained from the client with the predefined 3D object informations in the server. If the server sends the virtual object informations such as the position, orientation and matching information, then the client matches the virtual object on the screen of mobile camera phone. In addition, the client computes the transformations of location change detected by the accelerometer derived from the user's movement without additional connection to the server.

• Journal of Navigation and Port Research
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• v.29 no.8 s.104
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• pp.685-692
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• 2005

In this study, it is surveyed and analyzed under the condition of developing GPS receiver that the present status of use and the precision of GPS receiver installed in naval vessels. Throughout interview and questionnaire with the workers in naval vessels, reliability and utilization of GPS receiver are verified. In conclusion, it is suggested that the development of GPS receiver system as well as navigation methods in naval vessels. The result of this study is as follows. Though the workers in naval vessels regard the accuracy of GPS receiver position as the fix by geographical navigation method. However, it is confirmed that its practical usage is when it is difficult to obtain the fix by geographical navigation method or R/D position or for verification. The suggested plans to develop the navigation methods from naval vessels standpoint are designing a parallel systems and introducing the GPS receiver system that functions well and is linked to the electronic navigation chart.

• Journal of Korea Water Resources Association
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• v.41 no.10
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• pp.1023-1034
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• 2008

The size and frequency of the natural disaster related to the severe storms are increased for recent decades in all over the globe. The damage from natural disasters such as typhoon, storm and local severe rainfall is very serious in Korea since they are concentrated on summer season. These phenomena will be more frequent in the future because of the impact of climate change related to increment of $CO_2$ concentration and the global warming. To reduce the damage from severe storms, a short-range precipitation forecasting model using a weather radar was developed. The study was conducted as following four tasks: conversion three-dimensional radar data to two-dimensional CAPPI(Constant Altitude Plan Position Indicator) efficiently, prediction of motion direction and velocity of a weather system, estimation of two-dimensional rainfall using operational calibration. Results demonstrated that two-dimensional estimation using weather radar is useful to analyze the spatial characteristics of local storms. If the precipitation forecasting system is linked to the flood prediction system, it should contribute the flood management and the mitigation of flood damages.

• Journal of Astronomy and Space Sciences
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• v.36 no.1
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• pp.35-43
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• 2019

The Optical Wide-field patroL-Network (OWL-Net) is a global optical network for Space Situational Awareness in Korea. The primary operational goal of the OWL-Net is to track Low Earth Orbit (LEO) satellites operated by Korea and to monitor the Geostationary Earth Orbit (GEO) region near the Korean peninsula. To obtain dense measurements on LEO tracking, the chopper system was adopted in the OWL-Net's back-end system. Dozens of angle-only measurements can be obtained for a single shot with the observation mode for LEO tracking. In previous work, the reduction process of the LEO tracking data was presented, along with the mechanical specification of the back-end system of the OWL-Net. In this research, we describe an integrity assessment method of time-position matching and verification of results from real observations of LEO satellites. The change rate of the angle of each streak in the shot was checked to assess the results of the matching process. The time error due to the chopper rotation motion was corrected after re-matching of time and position. The corrected measurements were compared with the simulated observation data, which were taken from the Consolidated Prediction File from the International Laser Ranging Service. The comparison results are presented in the In-track and Cross-track frame.