• Journal of Navigation and Port Research
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• v.31 no.5 s.121
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• pp.325-332
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• 2007

This study develops a control algorithm on berthing/unberthing system using a joystick for ships with thrusters and a rudder. A nonlinear mathematical model for low speed maneuvering of typical container ships is used to develop a MIMO(multi-input multi-output) nonlinear control algorithm for velocity feedback joystick control. Also a virtual HILS(hardware in the loop simulation) software program for berthing/unberthing is developed to test the performance of the nonlinear and a PID control algorithm. The program is developed using LabWindow/CVI, and a user can see current position and desired trajectory of ship in a monitor, then he can control forward and yaw velocities of a ship using a joystick. The simulation results show that the nonlinear mfd the PID controller have superior performance over a simple open loop joystick control algorithm.

• Journal of Korean Society of Transportation
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• v.26 no.3
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• pp.179-186
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• 2008

It is crucial in traffic flow management to maintain productivity and the traffic stability at the same time especially under congested traffic conditions. This issue has not been explicitly addressed under the intelligent transportation system environments. However, the ubiquitous transportation system environments make it possible to collect the data for each vehicle's position and velocity and to perform more sophisticated traffic flow management at individual vehicle or platoon level through V2V and V2I communications. In this paper, a preventive traffic flow management scheme is proposed, in which the objective is to maintain traffic flow stability while the productivity of the system is not decreased. The management scheme is proposed based on Greenshield's model because it is simple and easy to handle. It is considered that further research should be performed to evaluate the various traffic flow models.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.10
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• pp.2345-2351
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• 2013

LBS(Location Based System) usually uses GPS technology to measure the exact position of the moving object. However, the method of managing location which utilizes the WiFi technology of mobile phone has not been introduced so far. The method of managing moving objects in view of the location of guardian has also not been proposed. In this paper, a new location management system of moving objects which take guardian's location into consideration is proposed. Specifically, the three methods of searching for missing child proposed in this paper are as follows : 1) a method based on an app for smart phone, 2) a method based on control server, 3) a method based on control server and fixed APs. Because the proposed system reflects the location of the guardian, the guardian is able to identify the state of child immediately and the workload can be reduced.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.12
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• pp.1100-1108
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• 2015

A camera-based real-time hand posture and gesture recognition system is proposed for controlling various devices inside automobiles. It uses an imaging system composed of a camera with a proper filter and an infrared lighting device to acquire images of hand-motion sequences. Several steps of pre-processing algorithms are applied, followed by a background normalization process before segmenting the hand from the background. The hand posture is determined by first separating the fingers from the main body of the hand and then by finding the relative position of the fingers from the center of the hand. The beginning and ending of the hand motion from the sequence of the acquired images are detected using pre-defined motion rules to start the hand gesture recognition. A set of carefully designed features is computed and extracted from the raw sequence and is fed into a decision tree-like decision rule for determining the hand gesture. Many experiments are performed to verify the system. In this paper, we show the performance results from tests on the 550 sequences of hand motion images collected from five different individuals to cover the variations among many users of the system in a real-time environment. Among them, 539 sequences are correctly recognized, showing a recognition rate of 98%.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.12
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• pp.1011-1019
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• 2005

In this paper, Ubiquitous Home Mess-Cleanup Robot(UHMR), which has a practical function of the automatic mess-cleanup, is developed. The vacuum-cleaner had made the burden of house chore lighten but the operation labour of a vacuum-cleaner had been so severe. Recently, the cleaning robot was producted to perfectly solve the cleaning labour of a house but it also was not successful because it still had a problem of mess-cleaning, which was the clean-up of big trash and the arrangement of newspapers, clothes, etc. The cleaning robot is to just vacuum dust and small trash but has no function to arrange and take away before the automatic vacuum-cleaning. For this reason, the market for the cleaning robot is not yet built up. So, we need a design method and technological algorithm of new automatic machine to solve the problem of mess-cleanup in house. It needs functions of agile automatic navigation, novel manipulation system for mess-cleanup. The automatic navigation system has to be controlled for the full scanning of living room, to recognize the absolute position and orientation of tile self, the precise tracking of the desired path, and to distinguish the mess object to clean-up from obstacle object to just avoid. The manipulate,, which is not needed in the vacuum-cleaning robot, must have the functions, how to distinguish big trash to clean from mess objects to arrange, how to grasp in according to the form of mess objects, how to move to the destination in according to mess objects and arrange them. We use the RFID system to solve the problems in this paper and propose the reading algorithm of RFID tags installed in indoor objects and environments. Then, it should be an intelligent system so that the mess cleaning task can be autonomously performed in a wide variety of situations and environments. It needs to also has the entertainment functions for the good communication between the human and UHMR. Finally, the good performance of the designed UHMR is confirmed through the results of the mess clean-up and arrangement.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.33 no.11
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• pp.41-47
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• 2005

Even more than 240 commercial geostationary communication satellites currently on orbit at the higher location than the GPS orbit altitude perform their own missions only by the support of the ground segment because of weak visibility from GPS. In addition, the orbit determination accuracy is very low without using two or more dedicated ground tracking antennas in intercontinental ground segment, since the satellite hardly moves with respect to the ground station. In this paper, we propose the GSPS(Geostationary Satellite Positioning System) in circular orbits of two sidereal days period higher than the geosynchronous orbit for orbit determination and autonomous satellite operation. The GSPS is conceived as a ranging system in that unknown positions of a geostationary satellite can be acquired from the known positions of the GSPS satellites. Each GSPS satellite transmits navigation data, clock data, correction data, and geostationary satellite command to control a geostationary satellite.

• Journal of Korean Society of Transportation
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• v.28 no.4
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• pp.167-175
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• 2010

The ubiquitous transportation system environments make it possible to collect each vehicle's position and velocity data and to perform more sophisticated traffic flow management at the individual vehicle or platoon level through vehicle to vehicle (V2V) and vehicle to infrastructure (V2I) communication. It is necessary to develop a traffic flow management scheme to take advantage of the ubiquitous transportation system environments. This paper proposes an algorithm to advise the optimal speed for each vehicle according to the traffic flow condition. The algorithm aims to stabilize the traffic flow by advising the equilibrium speed to the vehicles speeding or crawling under freely flowing condition. And it aims to prevent or at least alleviate the shockwave propagation by advising the optimal speed that should dampen the speed drop under critical flow conditions. This paper builds a simulation testbed and performs some simulation experiments for the proposed algorithm. The proposed algorithm shows the expected results in terms of travel time reduction and congestion alleviation.

• Journal of Digital Convergence
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• v.14 no.8
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• pp.305-311
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• 2016

If the automated image calibration system is performed in the position of non-experts, an expert will be required in every case inefficiently. But this requires an expert only when absolutely necessary. As well as the rapid system operation and efficient workforce can be managed. Image correction to perform projector inspection and management skills and to filter SW plug-in correction is that special theater system maintenance is not only managed efficiently, but also combined image analysis techniques can improve the technical perfection. This paper is to minimize the economic loss by developing a 10-bit High-depth and high-resolution $360^{\circ}$ projection image analysis technique and is to development of the special theater calibration system to effectively support quality.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.241-246
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• 2006

The paper presents the preparations work and experiences gained from realtime GPS car monitoring during the European Rally Championships organized on 10-12 June 2005 in Poland. The developed system is based on GPS and GSM/GPRS technology. Distribution and teletransmission of data are possible using different GSM operators in Poland, which makes the system fully independent. The system's server collects data from rally cars, processing and send data through VPN connections to the SQL server located in main control room. Data can be collected in real time via Internet or GPRS. Some information on GSM/GPRS range during rally championships are also presented in the paper. The study covered many trials and tests of different software and various configurations of the GPRS modems before finally the system started to work. Information coming from 10 Rally Cars were collected to the SQL Server continuously in one second interval. In real time mode these all data were displayed simultaneously in the rally main control room and in the rally press conference room. Paper describes also adopted emergency procedures and remote reconfiguration of GPS/GPRS boxes inside rally cars made during championships. Some problems and method of practical solutions are presented to avoid active jamming dangerous for a driver and his pilot, having system of communication intercoms jammed by teletransmission of GPRS 900/1800 MHz. In cooperation with rally teams special GPS/GPRS safety boxes were designed and made. Monitoring of all 7 rally stages with GPS receivers and method of calibrations of the maps were presented. GSM signal coverage was also checked in all stages. All data transmitted from rally cars were recorded in the computer. Some of our GPS cars had accidents and dispite them information were continuously sent to server. There is possibility to show in post mission mode the position of chosen cars in our rally application. Some information of best rally cars are presented also in the paper.

• Journal of KIISE:Software and Applications
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• v.32 no.2
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• pp.108-118
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• 2005

The software of the nuclear power plant digital control system is a safety-critical system where many techniques must be applied to it in order to preserve safety in the whole system. Formal specifications especially allow the system to be clearly and completely specified in the early requirements specification phase, therefore making it a trusted method for increasing safety. In this paper, we discuss a systematic method, which generates PLC-based FBD programs from the requirements specification using NuSCR, a formal requirements specification method. This FBD programs takes an important position in design specification. The proposed method can reduce the possible errors occur in the manual design specification, and the software development cost and time. To investigate the usefulness of our proposed method, we introduce the fixed set-point rising trip example, a trip logic of BP in DPPS RPS, which is presently being developed at KNICS.