• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2021.10a
• /
• pp.18-20
• /
• 2021

In order to prevent collision accidents of ships, which has been increasing recently, research on artificial intelligence-based autonomously operated ships (Maritime Autonomous Surface Ship, MASS) is underway. However, most of the studies related to autonomous ships mainly target medium-to-large ships due to the size and cost of the autonomous navigation system, and the sensors used here have a problem in that it is difficult to mount them on small ships. Therefore, this paper provides a path tracking system equipped with GPS and IMU sensors for autonomous operation of small ships. GPS and IMU sensors are utilized to determine the exact position of the vessel, which allows the proposed system to manually control the small vessel model to create a path and then when the small vessel travels the same path. Use the Pure Pursuit algorithm to follow the path. As a result, In this research, it is expected that a lightweight and low-cost sensor can be used to develop an autonomous operation system for small ships at low cost.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.41 no.5
• /
• pp.555-564
• /
• 2016

This paper proposes a time slot allocation scheme for military patrol environments. This proposal comes from analysis of traffic properties in a military patrol environment. In the near future, robots are expected to explore enemy grounds and measure threat, taking the place of human patrol. In order to control such robots, control messages must be extremely accurate. One mistake from the control center could cause a tragedy. Thus, high reliability must be guaranteed. Another goal is to maintain a continual flow of multimedia data sent from patrol robots. That is, QoS (Quality of Service) must be guaranteed. In order to transmit data while fulfilling both attributes, the per-path based centralized TDMA slot allocation scheme is recommended. The control center allocates slots to robots allowing synchronization among robots. Slot allocation collisions can also be avoided. The proposed scheme was verified through the ns-3 simulator. The scheme showed a higher packet delivery ratio than the algorithm in comparison. It also performed with shorter delay time in the downlink traffic transmission scenario than the algorithm in comparison.

• Journal of the Institute of Electronics Engineers of Korea TC
• /
• v.42 no.1
• /
• pp.39-47
• /
• 2005

The range of hardware implementation increases in communication systems as high-speed processing is required for high data rate. In the broadband wireless access (BWA) system based on IEEE standard 802.16 the functions of higher part in the MAC layer to Provide data needed for generating MAC PDU are implemented in software, and the tasks from formatting MAC PDUs by using those data to transmitting the messages in a modem are implemented in hardware. In this paper, the interface hardware for efficient message exchange between MAC and PHY layers in the BWA system is designed. The hardware performs the following functions including those of the transmission convergence(TC) sublayer; (1) formatting TC PDU(Protocol data unit) from/to MAC PDU, (2) Reed-solomon(RS) encoding/decoding, and (3) resolving DL MAP and UL MAP, so that it controls transmission slot and uplink and downlink traffic according to the modulation scheme of burst profile. Also, it provides various control signal for PHY modem. In addition, the truncated binary exponential backoff (TBEB) algorithm is implemented in a subscriber station to avoid collision on contention-based transmission of messages. The VLSI architecture performing all these functions is implemented and verified in VHDL.

• Journal of the Korean Society of Marine Environment & Safety
• /
• v.30 no.1
• /
• pp.74-81
• /
• 2024

In the near future, autonomous ships, ships controlled by shore remote control centers, and ships operated by navigators will coexist and operate the sea together. In the advent of this situation, a method is required to evaluate the safety of the maritime traffic environment. Therefore, in this study, a plan to evaluate the safety of navigation through ship control simulation was proposed in a maritime environment, where ships directly controlled by navigators and autonomous ships coexisted, using autonomous operation technology. Own ship was designed to have autonomous operational functions by learning the MMG model based on the six-DOF motion with the PPO algorithm, an in-depth reinforcement learning technique. The target ship constructed maritime traffic modeling data based on the maritime traffic data of the sea area to be evaluated and designed autonomous operational functions to be implemented in a simulation space. A numerical model was established by collecting date on tide, wave, current, and wind from the maritime meteorological database. A maritime meteorology model was created based on this and designed to reproduce maritime meteorology on the simulator. Finally, the safety evaluation proposed a system that enabled the risk of collision through vessel traffic flow simulation in ship control simulation while maintaining the existing evaluation method.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.48 no.6
• /
• pp.467-478
• /
• 2020

Hypervisor virtualize hardware resources to utilize them more effectively. At the same time, hypervisor's characteristics of time and space partitioning improves reliability of flight software by reducing a complexity of the flight software. Korea Aerospace Research Institute chooses one of hypervisors for space, XtratuM, and examine its applicability to the flight software. XtratuM has strong points in performance improvement with high reliability. However, it does not support SMP. Therefore, it has limitation in using it with high performance applications including satellite altitude orbit control systems. This paper proposes RTEMS XM-SMP to support SMP with RTEMS, one of real time operating systems for space. Several components are added as hypercalls, and initialization processes are modified to use several processors with inter processors communication routines. In addition, all components related to processors are updated including context switch and interrupts. The effectiveness of the developed RTEMS XM-SMP is demonstrated with a GR740 board by executing SMP benchmark functions. Performance improvements are reviewed to check the effectiveness of SMP operations.

• Journal of the Korean Society of Marine Environment & Safety
• /
• v.29 no.7
• /
• pp.980-991
• /
• 2023

To prevent accidents near the quay caused by a ship, ports are generally designed and constructed through navigation and berthing safety assessment. However, unpredictable accidents such as ship collisions with the quay or personal accidents caused by ropes still occur sometimes during the ship berthing or mooring process. Automatic mooring systems, which are equipped with an attachment mechanism composed of robotic manipulators and vacuum pads, are designed for rapid and safe mooring of ships. This paper deals with a displacement and velocity measurement system for the automatic mooring device, which is essential for the position and speed control of the vacuum pads. To design a suitable system for an automatic mooring device, we first analyze the sensor's performance and outdoor environmental characteristics. Based on the analysis results, we describe the configuration and design methods of a displacement and velocity measurement system for application in outdoor environments. Additionally, several algorithms for detecting the sensor's state and estimating a ship's velocity are developed. The proposed method is verified through some experiments for displacement and speed measurement targeted at a moving object with constant speed.