• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
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• pp.145-150
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• 2006

The paper deals with integrated navigation and sense & avoid systems for small unmanned aerial vehicles (UAV). First an introduction to the current UAV activities of the institute is given. It is followed by an overview about the integrated navigation system developed for small UAVs. The system is based on a tightly-coupled GPS/INS architecture. But instead of using delta-ranges, time-differenced carrier phases are used to aid the INS. Finally, results from navigation filter validation in flight tests are presented. After that an overview about sense and avoid strategies for application in small unmanned aircraft is given. From this a guideline for developing such a system for the institute's UAVs is presented.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2011년도 추계학술발표대회
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• pp.691-694
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• 2011

차량의 위치를 인식하기 위한 시스템으로는 위성 위치 확인 시스템(GPS, Global Positioning System)과 관성 항법 시스템(INS, Inertial Navigation System)이 있다. INS는 차량의 최초 위치를 입력해야한다는 점과 시간이 지남에 따라 오차가 누적된다는 점 때문에 GPS와 INS가 상호보완적인요소로 통합하여 사용되고 있다. 하지만 GPS로부터 얻는 위치 정보는 정확성의 문제가 존재한다. 본 논문에서는 이를 해결하기 위해 톨게이트와 전광판을 활용하여 초기의 위치 값을 얻고, 누적오차를 방지하기 위해 재 초기화하는 방안을 제안한다. 고속도로상의 톨게이트와 전광판에는 모두 DSRC(Dedicate Short Range Communication) 시스템을 통해 위치를 전송할 수 있다. 따라서 INS의 최초 위치 입력이 필요한 문제와 누적오차 문제를 해결할 수 있다. 제안 방식을 통해 INS의 장점을 살리면서도 좀 더 정확한 위치를 인식 할 수 있어 차량 간 통신(V2V, Vehicle-to-Vehicle)기반의 이웃 차량 위치인지 시스템에 대한 연구가 더 활발해질 것으로 기대된다.

• 대한조선학회논문집
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• 제45권5호
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• pp.554-561
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• 2008

This paper deals with an intelligent digital ship which aims at development to support economic and safe services through an integration into the hierarchically layered digital signals such as ship's navigation, maneuvering and control signal and establishing a one-man bridge system in order to provide a support systems between ship and land station. This paper introduces the results of the mid-term project sponsored from Ministry of Commerce, Industry and Energy which consists of three sub-project such as INS(Intelligent Navigation System), AIS(Automatic Identification System), and IMIT (Integrated Maritime Information Technology). The INS system that can allow ships to navigate economically and safely through the integration and analysis of national data within the ship. AIS is a system that reports automatically on the location of the ship in order to prevent the collision between ships and between the ship and the land. IMIT is a integrated system for providing an efficient and economic support system between ships and the land and a ship-land platform and technologies.

• 한국군사과학기술학회지
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• 제14권2호
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• pp.181-188
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• 2011

A simulation technique, which simulate dynamic motion and communication environments of ship in the lab, is needed in order to reduce the testing cost when we evaluate the transfer alignment performance of shipboard INS. Hardware-In-the-Loop Simulation(HILS) can be used as an effective test method for those system because it can provide flexible and realistic simulation environments, various test scenario, and repeated test environment in the lab without additional cost and person. This paper presents the methods for implementing the real time HILS environment for testing transfer alignment performance of shipboard INS. It includes real time executive for controlling realtime simulation and calculating the ship motion, communication method for interfacing between the systems, and coordinate transformation method for converting real ship coordinate attitude data to lab coordinate attitude data.

• 보험의학회지
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• 제3권1호
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• pp.233-244
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• 1986

We'd experienced a case of primary hepatoma at medical department, Dae han Kyoyuk Ins. Company January 1985. As it was found very early stage, we made out the case long term-survival possibility unexpectedly. The conclusions we gained, making comparative-analysis of ultrasonic view and operation's view are as follows; 1. By ultrasonography, echogenicity of tumor was increased type as compared with liver parenchyme. 2. The margin of the primary hepatoma by ultrasonography encapsulated well and the extraction after operation was same. 3. The boundary of tumor was clear. 4. The space-occupying lesion in liver was solitary. 5. The affected site was left lobe of the liver. 6. We couldn't discover a little fluid echo in upper abdomen on the ultrasonography, but could see in the cul-de-sac area and it accorded with the gross finding during laparotomy. 7. The case was cholangiocarcinoma in view of pathologic histology. 8. After the operation of lobectomy. the prognosis which was passed a months was very satisfactory and she exists until present.

• 로봇학회논문지
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• 제8권2호
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• pp.129-135
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• 2013

In this paper, a high precision outdoor positioning system is newly proposed using multiple GPS receivers based on the Extended Kalman Filter (EKF). Typically, the GPS signal has the instantaneous errors that degrade the positioning seriously. Using the multiple GPS receivers instead of an expensive DGPS receiver, the positioning reliability and accuracy are improved in this research as a low cost solution. To incorporate the small displacement, an INS data have been tightly coupled to the GPS data, which has the inherit disadvantage of the cumulative error occurring over time. To achieve a stabilized and accurate positioning system, the multiple GPS receiver data are fused with the INS data through the EKF process. Through real navigation experiments of an outdoor mobile robot, the performance of the proposed system has been verified to be accurate comparable to DGPS system with a lower cost.

• 한국환경과학회지
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• 제23권5호
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• pp.973-984
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• 2014

Seasonal and stational variation of SS and COD were investigated from February 2008 to December 2010 and the relationship between them was discussed. During three years monitoring, SS decreased significantly (46% decline) possibly due to the increase of precipitation and thereby resulting salinity drop. COD on average was the highest in 2009. SS was the highest in autumn and the lowest in winter, and over 72% of SS was FSS. While SS is high in the upper sampling stations of the bay with shallow water, COD values do not show any relationship to the geomorphological characteristics. $COD_{ins}$, which was defined as COD after filtration, ranged 56%(winter) ~ 44.6%(summer) and showed no correlation with SS. It indicates that high SS concentration is not necessarily related to the high $COD_{ins}$. The seasonal $COD_{ins}$/SS data, which can be interpreted as COD density in SS, shows that SS in winter contains the dense COD materials compared to the other seasons.

• Asian Pacific Journal of Cancer Prevention
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• 제14권7호
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• pp.4339-4345
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• 2013

Background: The purpose of this study was to evaluate the prevalence of BRCA1 (MIM: 113705) founder mutations in familial breast cancer (BC) patients with high risks in Iran. BRCA1 is among the cancer susceptibility genes best known for high penetrance mutations. BRCA1 genotyping is now used to determine patient counseling, management decisions, and prognosis of this syndrome. Materials and Method: Thirty nine patients with clinical BC and 29 high risk healthy women, related to the patients, participated in the study. DNA from blood samples was extracted and analyzed by PCR and SSCP methods in order to find 185delAG and 5382insC founder mutations. In addition, a 251bp fragment of BRCA1's exon 11 was amplified and analyzed for determination of new mutations. Results: The data indicated the presence of 185delAG and 5382insC founder mutations in both groups studied. Two out of 39 BC patients (5.1%) and one out of 29 relatives (3.4%) were suspected to be carriers of 185delAG mutations. However, we found only one patient (2.6%) to be a carrier of a 5382insC mutation. Also, 2 women (5.1%) of the patient group and 3 n (10.3%) of relatives group were identified as carriers of unclarified mutations in the 251bp fragment of the BRCA1 gene. The carriers of BRCA1 founder mutations have a high lifetime risk of breast cancer. Conclusions: Therefore, these data are useful in counseling of individuals with a significant family history of breast cancer.

• 한국컴퓨터정보학회논문지
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• 제12권5호
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• pp.83-92
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• 2007

본 논문에서는 2차원 포인팅 장치의 한계를 극복하기 위하여 3차원 공간에서 주위환경에 관계없이 위치를 인지하고 좌표를 얻어낼 수 있는 관성항법시스템을 이용한 3차원 포인팅 기기의 설계 및 구현방식을 제안한다. 관성항법시스템은 각속도계(gyroscope)와 가속도계(accelerometer)의 데이터를 바탕으로 좌표를 계산하는 기법으로, 가속도계에서 발생하는 오차는 칼만 필터를 이용하여 데이터를 보정한다. 3차원 포인팅 장치의 프로토 타입 개발을 위해 무선 3차원 공간인식 마우스를 설계 및 구현하였으며, 디스플레이 장치에 표시를 위하여 RFIC를 이용하여 측정한 좌표 데이터를 수신 모듈로 전송하고 수신 모듈은 USB 드라이버를 통하여 호스트로 전달하였다. 본 논문은 관성항법시스템과 칼만 필터의 이론적인 지식을 바탕으로 3차원 포인팅 장치를 설계하고 프로토 타입을 구현하고 성능 평가를 통하여 3차원 공간에서 사용자의 움직임을 추출할 수 있는 입력 기기로서의 유용성을 검증하였으며 향후 유비쿼터스 컴퓨팅의 다양한 응용 장치로서의 가능성을 제시하였다.

• Journal of Positioning, Navigation, and Timing
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• 제10권3호
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• pp.179-187
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• 2021

To estimate the location of the train, we consider an integrated navigation system that combines Inertial Navigation System (INS) and Global Navigation Satellite System (GNSS). This system provides accurate navigation results in open sky by combining only the advantages of both systems. However, since measurement update cannot be performed in GNSS signal blocked areas such as tunnels, mountain, and urban areas, pure INS is used. The error of navigation information increases in this area. In order to reduce this problem, the train's Non-Holonomic Constraints (NHC) information can be used. Therefore, we deal with the INS/GNSS/NHC integrated navigation system in this paper. However, in the process of installing the navigation system on the train, a Mounting Misalignment Error of the IMU (MMEI) inevitably occurs. In this case, if the NHC is used without correcting the error, the navigation error becomes even larger. To solve this problem, a method of easily estimating the MMEI without an external device is introduced. The navigation filter is designed using the Extended Kalman Filter (EKF) by considering the MMEI. It is assumed that there is no vertical misalignment error, so only the horizontal misalignment error is considered. The performance of the integrated navigation system according to the presence or absence of the MMEI and the estimation performance of the MMEI according to the method of using NHC information are analyzed based on simulation. As a result, it is confirmed that the MMEI is accurately estimated by using the NHC information together with the GNSS information, and the performance and reliability of the integrated navigation system are improved.