• Journal of Navigation and Port Research
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• v.34 no.10
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• pp.763-768
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• 2010

Today the light of mankind since the dawn of mankind and that they were living "lives" on the huge influence across space is a dynamic energy. Because of this, when all human beings with the light and you can feel more comfortable with a stable mind to the beauty and the pursuit of happiness is to have instincts. In this paper, a fuzzy control system using a combination of external environmental factors, respectively, the conversion of quantitative uncertainty information into the LED lighting is designed to express algorithms, available in indoor circadian control circuit was designed and fabricated LED. Factor in the external environment temperature, humidity, and light intensity values to the controller through the sensor to accept these values and the optimal values for lighting the fuzzy control algorithm is converted into human emotion to feel comfortable to express through the dimming control LED lighting.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2011.06a
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• pp.85-86
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• 2011

On 7 December 2007, the Hebei Spirit, a 260,000 dwt VLCC, anchored near Korea's Daesan Port, was collided with a passing crane-carrying barge Samsung1, which was under tow of two tugs Samsung T5 and Samho T3. In this study, the behaviour of Hebei Spirit at the time of the accident has been reproduced and analyzed by simulation. This study precedes the study for the investigation of any available countermeasures for Hebei Spirit to prevent the accident. The simulation has been done only for Hebei Spiri and the motion of Samsung barge is just given with recorded AIS data. Dynamic characteristics of Hebei Spirit have been modeled based on empirical data and her sea trial data. Effects of current, wave and wind are also estimateed using empirical formula. Considering uncertainty of environmental condition and control of Hebei Spirit, simulation has been done by varying engine control method and holding power coefficients of the anchor. Finally, based on simulations, the most plausible scenario on the state of anchor and engine control could cause real accidents.

• Journal of Navigation and Port Research
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• v.41 no.4
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• pp.229-234
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• 2017

Container terminal yards operate under a high degree of uncertainty as the contact point between inbound and outbound operations of vessels and external trucks. The layout, equipment operations. and job orders at the yards determine the efficacy and delays of the work, so many studies have investigated improvements in efficiency. H company, a container terminal operator developed an index called WDI to distribute work among RTGCs. The WDI is an indicator to prevent congestion in one place by equally distributing the work to each RTGC. This paper analyzes the effect of the WDI introduction and discusses the causes and results of the WDI introduction effect from quantitative and qualitative perspectives.

• Journal of Advanced Navigation Technology
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• v.23 no.5
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• pp.352-360
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• 2019

This paper proposes a docking assessment algorithm for an autonomous underwater vehicles (AUVs) with sensor uncertainties. The proposed algorithm consists of two assessments, state assessment and probability assessment. The state assessment verifies the reachability by comparing forward distance to the docking station with expected distance to reach same depth as the docking station and necessity for correcting its route by comparing calculated inaccessible areas based on turning radius of the AUV to position of the docking station. When the AUV and the docking station is close enough and the state assessment is satisfied, the probability assessment is conducted by computing success probability of docking based on the direction angle, relative position to the docking station, and sensor uncertainties of the AUV. The final output of the algorithm is decided by comparing the success probability to threshold whether to try docking or to correct its route. To verify the validation of the suggested algorithm, the scenario that the AUV approaches to the docking station is implemented through Matlab simulation.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.37 no.5
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• pp.379-388
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• 2019

Recently, a technique for acquiring spatial information data using UAV (Unmanned Aerial Vehicle) has been greatly developed. It is a very crucial issue of the GIS (Geographic Information System) mapping system that passes way point in the unmanned airframe and finally measures the accurate image and stable localization to the desired destination. Though positioning using DGPS (Differential Global Navigation System) or RTK-GPS (Real Time Kinematic-GPS) guarantee highly accurate, they are more expensive than the construction of a single positioning system using a single GPS. In the case of a low-priced single GPS system, the stability of the positioning data deteriorates. Therefore, it is necessary to supplement the uncertainty of the absolute position data of the UAV and to improve the accuracy of the current position data economically in the operating state of the UAV. The aim of this study was to present an algorithm enhancing the stability of position data in a single GPS mode of UAV with multiple GPS. First, the arrangement of multiple GPS receivers through the center of gravity of the UAV were examined. Next, MD (Mahalanobis Distance) is applied to detect instantaneous errors of GPS data in advance and eliminate outliers to increase the accuracy of previously collected multiple GPS data. Processing procedure for multiple GPS reception data by applying the center of the triangular method were presented to improve the position accuracy. Second, UAV navigation systems integrated multiple GPS through configuration of the UAV specifications were implemented. Using the unmanned airframe equipped with multiple GPS receivers, GPS data is measured with the TCM (Triangular Center Method). In addition, UAV equipped with multiple GPS were operated in study area and locational accuracy of multiple GPS of UAV with VRS (Virtual Reference Station) GNSS surveying were compared. The result showed that the error factors are compensated, and the error range are reduced, resulting in the reliability of the corrected value. In conclusion, the result in this paper is expected to realize high-precision position estimation at low cost in UAV using multiple low-cost GPS receivers.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.47 no.2
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• pp.107-113
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• 2019

In this paper, a robust filter based wind velocity estimation algorithm without an air velocity sensor in an air vehicle is presented. The wind velocity is useful information for the air vehicle to perform precise guidance and control. In general, the wind velocity can be obtained by subtracting an air velocity which is obtained by an air velocity sensor such as a pitot-tube, and a ground velocity which is obtained by a navigation equipment. However, in order to simplify the configuration of the air vehicle, the wind estimation algorithm is necessary because the wind velocity can not be directly obtained if the air velocity measurement sensor is not used. At this time, the aerodynamic coefficient of the air vehicle changes due to the turbulence, which causes the uncertainty of the system model of the filter, and the wind estimation performance deteriorates. Therefore, in this study, we propose a wind estimation method using $H{\infty}$ filter to ensure robustness against aerodynamic coefficient uncertainty, and we confirmed through simulation that the proposed method improves the performance in the uncertainty of aerodynamic coefficient.

• Journal of The Korean Association For Science Education
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• v.44 no.5
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• pp.405-420
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• 2024

This study explored the scientific uncertainties raised by students during small-group scientific argumentation and how the uncertainties contributed to the argumentation. A total of 37 seventh-grade middle school students and a teacher participated in the study. They engaged in small-group argumentation on the topic of photosynthesis. We selected three small focal groups, each consisting of 4-5 students, that actively participated in argumentation and raised uncertainties. We conducted small-group interviews with these three focal groups and the teacher. All lesson and interview videos, audio transcripts, student worksheets, and the researcher's field notes were collected and analyzed qualitatively. The findings revealed that there were three major types of uncertainties that contributed to the small-group argumentation. The first type of uncertainties-those about scientific content knowledge-prompted conceptual support from high-achieving peers or the teacher, facilitating the justification of arguments. The second type-uncertainties about data-encouraged students to consider alternative perspectives and arguments. This led students to raise rebuttals and try to reach a consensus, considering the alternatives. Finally, the third type-uncertainties about how to construct scientific arguments-was raised in one small group and prompted epistemic support from the leader, who was more proficient in argumentation. The leader encouraged other students to present their own evidence, rather than just following her opinions. This study provides useful insights for research on scientific uncertainties that students raise in epistemic practices and for developing instructional strategies to support the management of these uncertainties.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.2
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• pp.113-118
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• 2013

In this paper, spoofing effects on a GNSS receiver were analyzed. The spoofer (spoofing device) was classified to two categories. One is an active spoofer and the other is a passive spoofer. The active spoofer was considered for analysis. For the analysis of spoofing effects on a GNSS receiver, a real-time GNSS spoofing simulator was developed. The simulator was consisted with two parts which are a baseband signal generation part and a RF up-conversion part. The first GNSS baseband signal was generated according to spoofing parameters such as range, range rate, GNSS navigation data, spoofing to GNSS signal ratio, and etc. The generated baseband signal was up-converted to GNSS L1 band. Then the signal transmitted to a GNSS signal. For a perfect spoofing, a spoofer knew an accurate position and velocity of a spoofing target. But, in real world, that is not nearly possible. Although uncertainty of position and velocity of the target was existed, the spoofer was operated as an efficient jammer.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.9
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• pp.803-811
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• 2002

Machine vision systems are usually used to identify traffic lanes and then determine the steering angle of an autonomous vehicle in real time. The steering angle is calculated using a geometric model of various parameters including the orientation, position, and hardware specification of a camera in the machine vision system. To find the accurate values of the parameters, camera calibration is required. This paper presents a new camera-calibration algorithm using known traffic lane features, line thickness and lane width. The camera parameters considered are divided into two groups: Group I (the camera orientation, the uncertainty image scale factor, and the focal length) and Group II(the camera position). First, six control points are extracted from an image of two traffic lines and then eight nonlinear equations are generated based on the points. The least square method is used to find the estimates for the Group I parameters. Finally, values of the Group II parameters are determined using point correspondences between the image and its corresponding real world. Experimental results prove the feasibility of the proposed algorithm.

• Strategy21
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• s.40
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• pp.115-130
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• 2016

The security environment surrounding the East Asian seas is rapidly changing due to the naval arms race among coastal states. The arms race is likely to worsen the security dilemma of the countries involved, thus increasing the chances for armed conflicts. It is too early to tell how the contemporary naval arms race in the region will evolve. But, for sure, the level of uncertainty is increasingly becoming high and intense. At the same time, there is emerging a legal warfare or lawfare among the rival countries. In particular, the United States and China have been involved in a serious debate about the nature and scope of the right of innocent passage and freedom of navigation in other countries' maritime zones. In collaboration with its regional allies, the United States has also put normative pressures on China with its excessive claims in the South China Sea. The latest arbitral tribunal case between the Philippines and China illustrates the point. With both arms race and normative competition in play, the future of East Asian maritime security will remain very complex and uncertain.