• Journal of Advanced Navigation Technology
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• v.15 no.2
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• pp.181-188
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• 2011

A small UAVs(Unmaned Aerial Vehicles) have limited by the payload capacity which requires miniaturization of a navigation system. In this paper, the performance of the lightweight and small sized AHRS(Attitude Heading Reference System), which is self-developed, is evaluated at low acceleration environment. The designed AHRS adopts the commercial low-cost MEMS sensors. A quaternion-based attitude calculation method, which eliminates singularity with relatively simple algebra, is used. In an attitude correction algorithm, the Kalman filter is used with accelerometers and magnetometers combined. The fabricated AHRS is also evaluated with reference to a COTS(Commercial Off-The-Shelf) AHRS which reports a number of successful applications to a small UAVs. The test results show that the measurements from the fabricated AHRS provide proper attitude output data with acceptable amount of differences(horizontal axis 0.5$^{\circ}$, vertical axis 1.5$^{\circ}$) in test environment.

• Journal of Advanced Marine Engineering and Technology
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• v.35 no.6
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• pp.842-848
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• 2011

A fabricated hybrid control board using multi-communication is designed with a low power 8-bit microcontroller, ATxmega128A1. The microcontroller consists of 8 UART (Universal asynchronous receiver/transmitter) ports, 2 kbytes EEPROM, 128 kbytes flash memory, 8 kbytes SRAM. The 8 URAT ports are used for a multi-communication modem, a GPS module, etc. The EEPROM is used for saving a configuration for running programs, and the flash memory of 128 kbytes is used for storing a F/W (Firm Ware), and the 8 kbytes SRAM is used for stack and for storing memory of global variables while running programs. If we use the multi-communication of CDMA, TRS and RF to remotely control Aid to Navigation, it is able to remove the communication shadow area. Even though there is a shadow area for an individual communication method, we can select an optimal communication method. The compatibility of data has been enhanced as using of same data frame per communication device. For the test, 8640 of data have been collected from each buoy during 30 days in every 5 minutes and the receiving rate of the data has shown more than 85 %.

• 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.

• 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.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2012.06a
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• pp.110-112
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• 2012

Education and training of technical staff for the new generation technological equipment has a vital importance for developing countries in order to maintain sustainable development and keep up with new generation technologies. Mechatronics the synergistic combination of mechanical, electronic and software engineering from an engineering perspective to serve the purposes of controlling advanced hybrid systems is a product of new generation technology which can be given as a sample to this phenomenon. Recent marine engines are combination of heavy industry with high technology. Nowadays, ships are built in full automation and equipped with computer controlled mechatronics systems. However, finding qualified officer and engineers who can operate, maintain, control and repair when it is required such full automatic systems with knowledge of a new generation system became a serious issue. Due to importance of this fact STCW Manila amendment has new training and certification requirements for electro-technical officers. In this paper, Mechatronics applications on ship are introduced, importance of it highlighted and a new syllabus is proposed for the training of marine engineers to be nurtured with mechatronics knowledge as it is required.

• Korean Journal of Geomatics
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• v.3 no.2
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• pp.129-140
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• 2004

This paper addresses solutions th the challenges of carrier phase integer ambiguity resolution and cycle slip detection/identification, for maintaining high accuracy of an integrated GPS/Pseudolite/INS system. Such a hybrid positioning and navigation system is an augmentation of standard GPS/INS systems in localized areas. To achieve the goal of high accuracy, the carrier phase measurements with correctly estimated integer ambiguities must be utilized to update the system integration filter's states. The contribution presents an effective approach to increase the reliability and speed of integer ambiguity resolution through using pseudolite and INS measurements, with special emphasis on reducing the ambiguity search space. In addition, an algorithm which can effectively detect and correct the cycle slips is described as well. The algorithm utilizes additional position information provided by the INS, and applies a statistical technique known as th cumulative-sun (CUSUM) test that is very sensitive to abrupt changes of mean values. Results of simulation studies and field tests indicate that the algorithms are performed pretty well, so that the accuracy and performance of the integrated system can be maintained, even if cycle slips exist in the raw GPS measurements.

• Spatial Information Research
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• v.19 no.1
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• pp.107-116
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• 2011

Due to development of environment of wireless Internet, location based services on the basis of spatial data have been increased such as real time traffic information as well as CNS(Car Navigation System) to provide mobile user with route guidance to the destination. However, the current application adopting the file-based system has limitation of managing and storing the huge amount of spatial data. In order to supplement this challenge, research which is capable of managing large amounts of spatial data based on embedded database system is surely demanded. For this reason, this study aims to suggest the lossless compression technique by using the hybrid approach of BytePacking and Lempel-Ziv which can be applicable in DBMS so as to save a mass spatial data efficiently. We apply the proposed compression technique to actual the Seoul and Inchcon metropolitan area and compared the existing method with suggested one using the same data through analyzing the query processing duration until the reconstruction. As a result of comparison, we have come to the conclusion that suggested technique is far more performance on spatial data demanding high location accuracy than the previous techniques.

• Journal of Multimedia Information System
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• v.4 no.3
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• pp.123-144
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• 2017

Personalized media includes user-targeted and user-generated content (UGC) exchanged through social media and interactive applications. The increased consumption of UGC presents challenges and opportunities to multimedia information systems. We work towards modeling a deep structure for content networks. To gain insights, a hybrid practice with Media Framework (MF) is presented for network creation of personalized media, which leverages the authoring methodology with user-generated semantics. The system's vertical integration allows users to audition their personalized media networks in the context of a global system network. A navigation scheme with dynamic GUI shifts the interaction paradigm for content query and sharing. MF adopts a multimodal architecture anticipating emerging use cases and genres. To model diversification of platforms, information processing is robust across multiple technology configurations. Physical and virtual networks are integrated with distributed services and transactions, IoT, and semantic networks representing media content. MF applies spatiotemporal and semantic signal processing to differentiate action responsiveness and information responsiveness. The extension of multimedia information processing into authoring enables generating interactive and impermanent media on computationally enabled devices. The outcome of this integrated approach with presented methodologies demonstrates a paradigmatic shift of the concept of UGC as personalized media network, which is dynamical and evolvable.

• International Journal of Naval Architecture and Ocean Engineering
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• v.10 no.1
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• pp.69-84
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• 2018

In order to analyze the characteristics of propeller exciting force, the hybrid grid is adopted and the numerical prediction of KCS ship model is performed for hull-propeller-rudder system by Reynolds-Averaged Navier Stokes (RANS) method and volume of fluid (VOF) model. Firstly, the numerical simulation of hydrodynamics for bare hull at oblique state is carried out. The results show that with the increasing of the drift angle, the coefficients of resistance, side force and yaw moment are constantly increasing, and the bigger the drift angle, the worse the overall uniformity of propeller disk. Then, propeller bearing force for hull-propeller-rudder system in oblique flow is calculated. It is found that the propeller thrust and torque fluctuation coefficient peak in drift angle are greater than that in straight line navigation, and the negative drift angle is greater than the positive. The fluctuation peak variation law of coefficient of side force and bending moment are different due to various causes.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2004.02a
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• pp.82-94
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• 2004

This paper addresses solutions to the challenges of carrier phase integer ambiguity resolution and cycle slip detection/identification, for maintaining high accuracy of an integrated GPS/Pseudolite/INS system. Such a hybrid positioning and navigation system is an augmentation of standard GPS/INS systems in localized areas. To achieve the goal of high accuracy, the carrier phase measurements with correctly estimated integer ambiguities must be utilized to update the system integration filter's states. The occurrence of a cycle slip that is undetected is, however, can significantly degrade the filter's performance. This contribution presents an effective approach to increase the reliability and speed of integer ambiguity resolution through using pseudolite and INS measurements, with special emphasis on reducing the ambiguity search space. In addition, an algorithm which can effectively detect and correct the cycle slips is described as well. The algorithm utilizes additional position information provided by the INS, and applies a statistical technique known as the cumulative-sum (CUSUM) test that is very sensitive to abrupt changes of mean values. Results of simulation studies and field tests indicate that the algorithms are performed pretty well, so that the accuracy and performance of the integrated system can be maintained, even if cycle slips exist in the raw GPS measurements.