• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2009.04a
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• pp.19-21
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• 2009

Updating in Digital Map 2.0 using as-built drawings required for correcting spatial conflicts due to data acquired at different time. In this paper, we defined the type of spatial conflicts and logical expression between river and contours.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.37 no.8
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• pp.563-569
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• 1988

This research presents several velocity modification methods for collision avoidance of two manipulators in a common workspace. Due to the distinct nature of collision avoidance between the two manipulators, a new classification of collision situations is presented and utilized in planning a collision-free path. Concepts of a collision map and velocity modification are applied for realizing collision-free motion planning. An example is shown for velocity modification of a trajectory, which shows the significance of the proposed approaches in collision-free motion planneng of two moving robots.

• Proceedings of KOSOMES biannual meeting
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• 2003.11a
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• pp.7-11
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• 2003

Ship is being operated under a highly dynamic environments and many factors are related with ship's collision and those factors are interacting. So, an analysis on the ship's collision causes is very important to prepare countermeasures which will ensure the safe navigation. And the analysis confirmed that ship's collision is occurred most frequently and the cause is closely related with human factor. The main purpose of this study is to build a model of human factors in ship's collision cause using SD(System Dynamics} approach and to measure a effect which is risk control countermeasures of ship's collision. To achieve this aim, the structure analysis on the causes of ship's collision using FSM are performed, and the structure was changed by quantitative, qualitative factors and their feedback loops in casual map. This model was performed over 20 years(1993-2012) in a standard simulation model and 8 policy simulation models.

• Journal of Navigation and Port Research
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• v.27 no.5
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• pp.493-498
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• 2003

Ship is being operated under a highly dynamic environments and many factors are related with ship's collision and those factors are interacting. So, An analysis on the ship's collision muses is very important to prepare countermeasures which will ensure the safe navigation. And the analysis confirmed that ship's collision is occurred most frequently and the muse is closely related with human factor. The main purpose of this study is to build a model of human factors in ship's collision muse using SD(System Dynamics} approach and to measure a effect which is risk control countermeasures of ship's collision. To achieve this aim, the structure analysis on the muses of ship's collision using FSM are performed, and the structure was changed by quantitative, qualitative factors and their feedback loops in casual map. This model was performed over 20 years(1993-2012) in a standard simulation model and 8 policy simulation models.

• Journal of the Korean Geographical Society
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• v.38 no.1
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• pp.127-140
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• 2003

This study attempts to summarize the progress of Journalistic Cartography and to investigate the quantitative growth and the transition of the forms and contents of the media maps in Korean newspapers. And this study examines the characteristics of media maps with the technological development. The results of this study are summarized as follows. First, 'Jigujeondo' in Hanseongsunbo in 1880s is the first media map in Korea. Secondly, the number of the media maps in Korean newspapers is influenced by the political and economic environments. As the time goes, the contents of the media maps have been raried. Thirdly, the representation of the media maps has their own special characteristics according to the technological developments from the handwriting to CTS.

• Proceedings of the Korean Information Science Society Conference
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• 2001.04b
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• pp.328-330
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• 2001

이 논문에서는 이동 로봇을 위하여 퍼지 이론과 Dempster-Shafer 이론을 이용한 불확실한 환경에서의 센서기반 네비게이션 방법을 제안한다. 제안된 제어기는 장애물 회피 동작과 목적지 찾기 동작을 위한 2개의 행동 모듈로 구성되어 있다. 특히, 실험 환경내에서 안전하게 움직이기 위해서 로봇이 목적지를 찾기 전에 자동으로 지도를 구축(map building) 하도록 하였다. 이 실험에서 구성된 지도는 평면상의 격자를 중심으로 작성되었다. 로봇의 센서에서 읽어들인 센서 값은 Dempster-Shaper 이론을 이용하여 기존의 지도와 혼합된다. 즉, 로봇이 움직일때마다 실험 환경내에서 새로운 정보를 읽어 들이고, 그 정보로 인하여 기존의 지도가 새로운 지도로 갱신되는 것이다. 이러한 작업을 거치면서 로봇은 장애물과 충돌없이 네비게이션하는 것 뿐 아니라 정해진 목적지까지도 쉽게 찾아갈 수 있다.

• Journal of Navigation and Port Research
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• v.47 no.6
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• pp.358-366
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• 2023

This study aimed to provide a solution for improving ship collision alert of the 'accident vulnerable ship monitoring service' among the 'intelligent marine traffic information system' services of the Ministry of Oceans and Fisheries. The current ship collision alert uses a supervised learning (SL) model with survey labels based on large ship-oriented data and its operators. Consequently, the small ship data and the operator's opinion are not reflected in the current collision-supervised learning model, and the effect is insufficient because the alarm is provided from a longer distance than the small ship operator feels. In addition, the supervised learning (SL) method requires a large number of labeled data, and the labeling process requires a lot of resources and time. To overcome these limitations, in this paper, the classification model of collision alerts for small ships using unlabeled data with the semi-supervised learning (SSL) algorithms (Label Propagation and TabNet) was studied. Results of real-time experiments on small ship operators using the classification model of collision alerts showed that the satisfaction of operators increased.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.13 no.2
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• pp.32-38
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• 1999

An autonomous mobile vehicle for transport system must plan optimal path in work envimnrent without human supervision and obstacle collision. This is to reach a destination without getting lost. In this paper, a genetic algorithm for globaI and local path planning and collision avoidance is proposed. The genetic algorithm searches for a path in the entire and continuous free space and unifies global path planning and local path planning. The sinmulation shows the proposed method is an efficient and effective method when compared with the traditional collision avoidance algorithms.rithms.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2368-2371
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• 2003

알려지지 않은 환경에서 이동로봇이 목표점까지 이동하기 위해서는 외계센서를 이용하여 장애물을 인식하여 충돌 없이 주행할 수 있는 능력이 있어야하고 또한 인식된 장애물을 지도정보로 저장하여야 한다. 이렇게 생성된 지도정보를 이용하여 최적의 경로를 실시간으로 계획하면서 목표점까지 도달하여야 한다. 본 논문에서는 초음파 센서로 알려지지 않은 환경을 인식하여 선분지도를 생성하면서 생성된 선분지도를 이용하여 동적으로 최적의 경로계획을 위한 경로생성에 대하여 방법을 제시한다. 또한 실내 환경에서 모의실험을 통하여 실시간으로 경로계획이 가능함을 확인하였다.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.49 no.2
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• pp.63-70
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• 2012

The collision-free flight planning method based on the extended collision map is proposed for cooperation of multiple unmanned aerial vehicles (UAVs) in a common 3-dimensional workspace. First, a UAV is modeled as a sphere, taking its 3-D motions such as rolling into consideration. We assume that after entering the common workspace, the UAVs move along their straight paths until they depart from the workspace, and that the priorities of the UAVs are determined in advance. According to the assumptions, the collision detection problem between two spheres in $R^3$ can be reduced into the collision detection problem between a circle and a line in $R^2$. For convenience' sake and safety, the collision regions are approximated by collision boxes. Using the collision boxes, the entrance times of the UAVs are scheduled for collision avoidance among the UAVs. By this way, all UAVs can move in the common workspace without collisions with one another. For verifying the effectiveness of the proposed flight planning method, the simulation with 12 UAVs is carried out.