• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2004.04a
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• pp.465-470
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• 2004

In this paper, an open architecture control system for automatic container cranes is investigated. A standard reference model for cranes, which consists of three modules； hardware module, operating system module, and application software module, is proposed. A hybrid control architecture combining deliberative and reactive controls for the autonomous operation of the cranes is proposed. The main contributions of this paper are as follows： First, a new reference platform for the crane control system is proposed. Second, by analyzing the structure of a container crane, implementation strategies for the automatic container crane are described.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.152-152
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• 2000

In this paper, we propose a new approach to intelligent motion and autonomous maneuvering of mobile robots using hybrid system. In high Level, the discrete states are defined by using the sensor-based search windows and the reference motions of a mobile robot as a low vevel are specified in the abstracted motions, The mobile robots can perform both the motion planning and autonomous maneuvering with obstacle avoidance in indoor navigation problem. Simulation and experimental results show that hybrid system approach is an effective method for the autonomous maneuvering in indoor environments.

• Journal of Navigation and Port Research
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• v.33 no.7
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• pp.501-504
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• 2009

There are many difficulties to supply constant power to marine facilities which operate in the sea. Especially, there is a limit to stand alone power supply systems due to the influence of weather conditions. That's why a hybrid power supply system is required to overcome these problems. This paper will describe an Electronic Anti-Fouling System (EAFS) to maximise the power efficiency for a solar - wave hybrid power generation system. A main factor reducing the efficiency of a Wave Energy Converter (WEC) is due to the attachment of aquatic life forms. Therefore the aim of this research is to develop a simulation programme to enable the design of more efficient EAFS for hybrid power generation systems and to provide valuable data for production of more efficient EAFS.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.277-282
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• 2006

It is well known that Kalman filtering is an optimal real-time data fusion method for GPS/INS integration. However, it has some limitations in terms of stability, adaptability and observability. A Kalman filter can perform optimally only when its dynamic model is correctly defined and the noise statistics for the measurement and process are completely known. It is found that estimated Kalman filter states could be influenced by several factors, including vehicle dynamic variations, filter tuning results, and environment changes, etc., which are difficult to model. Neural networks can map input-output relationships without apriori knowledge about them; hence a proper designed neural network is capable of learning and extracting these complex relationships with enough training. This paper presents a GPS/INS integrated system that combines Kalman filtering and neural network algorithms to improve navigation solutions during GPS outages. An Extended Kalman filter estimates INS measurement errors, plus position, velocity and attitude errors etc. Kalman filter states, and gives precise navigation solutions while GPS signals are available. At the same time, a multi-layer neural network is trained to map the vehicle dynamics with corresponding Kalman filter states, at the same rate of measurement update. After the output of the neural network meets a similarity threshold, it can be used to correct INS measurements when no GPS measurements are available. Selecting suitable inputs and outputs of the neural network is critical for this hybrid method. Detailed analysis unveils that some Kalman filter states are highly correlated with vehicle dynamic variations. The filter states that heavily impact system navigation solutions are selected as the neural network outputs. The principle of this hybrid method and the neural network design are presented. Field test data are processed to evaluate the performance of the proposed method.

• Journal of Advanced Navigation Technology
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• v.15 no.6
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• pp.1143-1151
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• 2011

This study is implemented to Hybrid-web based Integrated System which provides information requesting by user under smart phone environment, cloud computing. This system is consisted of web robot of SaaS service which storages and manages the information after collecting bulletin information from distributed servers of campuses in interval and board managing PaaS server that provides server information to user through smart phone UI. We are also implemented NOA(Notification App) that inform new bulletin information using user's GPS.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.265-270
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• 2006

Recently, inertial sensors like gyros and accelerometers have been quite miniaturized by Micro Electro-Mechanical Systems (MEMS) technology. JAXA is developing a MEM-based GPS/INS hybrid navigation system named Micro-GAIA. The navigation performance of Micro-GAIA was evaluated through off-line analysis by using flight test data. The estimation errors of the roll, pitch, and azimuth were $0.03^{\circ}$, $0.05^{\circ}$, $0.05^{\circ}$ $(1{\sigma})$, respectively. he horizontal position errors after 60-second GPS outages were reduced to 25 m CEP. The attitude errors and position errors are nearly half of ones reported previously[2]. Furthermore, using the adaptive Kalman filters, the robustness against the uncertainty of the measurement noise was improved. Comparing the innovation-based and residual-based adaptive Kalman filters, it was confirmed that the latter is robuster than the former.

• Journal of Advanced Navigation Technology
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• v.11 no.3
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• pp.274-280
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• 2007

An ultra-wideband signal is characterized by a radiated spectrum with wide bandwidth around a relatively low center frequency. In this paper, the bit error rate (BER), packet error rate (PER), and data throughput performance for an ultra-wideband system with M-ary correlation receiver are analyze in additive white Gaussian noise (AWGN) and co-channel interference channel. To evaluate the performance of UWB system, a set of UWB communication waveform as pulse position modulated (PPM) signals consisting of more than one UWB pulse is used. The M-ary PPM signals are defined to be equally correlated in order to simplify the system performance analysis. The analysis for system performance shows that the wireless channel error significantly degrades throughput performance and can be effectively increased by hybrid ARQ scheme. Also, an attempt for comparing the data throughput of ultra-wideband system on different performance improvement schemes and parameters has been made. From the performance evaluation process, it is shown that the effects of wireless channel and hybrid ARQ scheme for ultra wideband M-ary PPM system can be evaluated by means of a suitable combination of the PER, throughput vs. signal-to-noise power ratio per bit.

• Journal of Korean Neurosurgical Society
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• v.62 no.1
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• pp.35-45
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• 2019

Objective : To describe our experiences with a fully equipped high-end digital subtraction angiography (DSA) system within a hybrid operating room (OR). Methods : A single-plane DSA system with 3-dimensional rotational angiography, cone-beam computed tomography (CBCT), and real-time navigation software was used in our hybrid OR. Between April 2014 and January 2018, 191 sessions of cerebrovascular procedures were performed in our hybrid OR. After the retrospective review of all cases, the procedures were categorized into three subcategorical procedures : combined endovascular and surgical procedure, complementary rescue procedure during intervention and surgery, and frameless stereotaxic operation. Results : Forty-nine of 191 procedures were performed using hybrid techniques. Four cases of blood blister aneurysms and a ruptured posterior inferior cerebellar artery aneurysm were treated using bypass surgery and endovascular trapping. Eight cases of ruptured aneurysm with intracranial hemorrhage (ICH) were treated by partial embolization and surgical clipping. Six cases of ruptured arteriovenous malformation with ICH were treated by Onyx embolization of nidus and subsequent surgical removal of nidus and ICH. Two (5.4%) of the 37 cases of pre-mature rupture during clipping were secured by endovascular coil embolization. In one (0.8%) complicated case of 103 intra-arterial thrombectomy procedures, emergency surgical embolectomy with bypass surgery was performed. In 27 cases of ICH, frameless stereotaxic hematoma aspiration was performed using $XperGuide^{(R)}$ system (Philips Medical Systems, Best, the Netherlands). All procedures were performed in single sessions without any procedural complications. Conclusion : Hybrid OR with a fully equipped DSA system could provide precise and safe treatment strategies for cerebrovascular diseases. Especially, we could suggest a strategy to cope flexibly in complex lesions or unexpected situations in hybrid OR. CBCT with real-time navigation software could augment the usefulness of hybrid OR.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2011.11a
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• pp.162-163
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• 2011

This paper presents the system dynamics methodology for modeling and control the production/inventory system. Under system dynamics point of view, we can apply some production/inventory policies as if we use the control laws for dynamics systems, then the behavior of system is analyzed and evaluated to improve the performance of production/inventory system. We also utilize the hybrid modeling method for the dynamic of production system with the combination of Matlab/Simulink and Matlab/Sateflow. Finally, the numerical simulation results are carried out in Matlab/Simulink environment and compare with the results from other works. It is shown that our approach can obtain some good performances (such as operational cost, stability of inventory, customer service level).

• Journal of Navigation and Port Research
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• v.35 no.8
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• pp.637-641
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• 2011

Ocean structure's power system is difficult to construct a stand-alone power system. Therefore, to manage effectively power system of ocean structure, it's important to construct power system which is connected fuel-cell with hybrid power system. This paper designs power system of fuel-cell for the sea based on hydrogen generation mechanism, calculation of using electric power, etc. Designed power system is analysed & simulated using LabVIEW program. And, this paper suggests design method of power system for ocean structure based on analysed & simulated results.