• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.588-591
• /
• 2004

In this paper, we propose a ground plane detection algorithm, using a new image processing method (IPD). To extract the ground plane from the color image acquired by monocular camera, we use a new identical pixel detection method (IPD) and an edge detection method. This IPD method decides whether the pixel is identical with the ground plane pixel or not. The IPD method needs the reference area and its performance depends on the reference area size. So we propose the reference area auto-expanding algorithm in accordance with situation. And we evaluated the proposed algorithm by the experiments in the various environments. From the experiments results, we know that the proposed algorithm is efficient in the real indoor environment.

• International Journal of Aeronautical and Space Sciences
• /
• v.3 no.1
• /
• pp.86-94
• /
• 2002

The initial alignment of inertial platform for navigation system was considered. An adaptive filtering technique is developed for the system with unknown and varying sway disturbance. It is assumed that the random sway motion is the second order ARMA(Auto Regressive Moving Average) model and performed parameter identification for unknown parameters. Designed adaptive filter contain both a Kalman filter and a self-tuning filter. This filtering system can automatically adapt to varying environmental conditions. To verify the robustness of the filtering system, the computer simulation was performed with unknown and varying sway disturbance.

• Journal of Auto-vehicle Safety Association
• /
• v.11 no.3
• /
• pp.19-29
• /
• 2019

Recently, autonomous vehicles have been studied actively. Autonomous vehicles can detect objects around them using their on board sensors, estimate collision probability and maneuver to avoid colliding with objects. Many algorithms are suggested to prevent collision avoidance. However there are limitations of complex and diverse environments because algorithm uses only the information of attached environmental sensors and mainly depends on TTC (time-to-Collision) parameter. In this paper, autonomous driving algorithm using I2V communication-based cooperative sensing information is developed to cope with complex and diverse environments through sensor fusion of objects information from infrastructure camera and object information from equipped sensors. The cooperative sensing based autonomous driving algorithm is implemented in autonomous shuttle bus and the proposed algorithm proved to be able to improve the autonomous navigation technology effectively.

• Journal of KIISE:Software and Applications
• /
• v.30 no.10
• /
• pp.944-954
• /
• 2003

People are experiencing severe problems in temporal navigation as time-based contents and platforms become more popular Relatively limited research, however, has been conducted on temporal navigation compared to that on spatial navigation. This research aims to identify efficient temporal navigation aids for time-based contents. It proposes Time Navigator, a new temporal navigation system based on the episodic indexing theory, and evaluates its efficiency through two experiments with a computer-based simulator for digital TV The video contents of digital TV was focused on because it is one of the most representative time-based contents and platforms. Our results indicate that Time Navigator helps people navigate time -based contents more effectively. Its effects increase as the contents include more narratives.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2012.06a
• /
• pp.573-575
• /
• 2012

기존 RADAR 기반의 VTS에 AIS를 연계 집약하면서 예측 불가능한 데이터 전송률에도 동일선박으로부터의 AIS 및 RADAR 데이터는 상관관계를 유지하면서 물표에 대한 Tracking이 지속적으로 이루어져야 하지만 AIS 신호 Lost시 RADAR Tracking 자동 전환이 안 되는 경우가 많이 발생하고 있다. 또한 3개의 VTS 모니터 화면에 각각 다른 Scale과 다른 관제구역이 디스플레이 됨으로써 특히 모니터 가장자리 부근의 관제구역은 사각지대로 관제사의 집중도가 떨어질 수밖에 없다. 이러한 문제점들은 관제사의 Traffic Image구성 및 Situational Awareness를 방해하는 요소로 작용하며 사고의 개연성을 높이고 있다. 본 연구에서는 VTS 모니터상의 화면 재구성 방법을 통해서 관제사의 SA를 돕고, AIS-RADAR Tracking 알고리즘 보완을 통한 Target Tracking의 안정성을 확보하고, 교육 훈련을 통해서 AIS특성과 Error현상에 대한 관제사들이 충분히 이해하도록 하여 관제업무의 향상을 기하는 방안을 제시하였다.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 1998.10a
• /
• pp.153-158
• /
• 1998

In this paper, we present a design of optimal 2-DOF PID controller for control of gantry crane which has to control swing motion and trolley position. For tuning the parameter of 2-DOF PID controller, we used evolution strategy(ES). During operate the crane system in yard, the goal is transporting the load to a goal position as quick as possible without rope oscillation. The crane is generally operated by an expert operator, but recently an automatic control system with high speed and rapid transportation is required. However, we developed an optimal controller which has to control the crane system with disturbance.

• Journal of the Korean Institute of Navigation
• /
• v.20 no.3
• /
• pp.65-71
• /
• 1996

Recently, the Track Control System which was separated from the Course Control System so-called Auto-Pilot has been developed for track-keeping in coastal area. From this year, the NAV Sub-committee in IMO commenced to consider the Performance Standard for the Track Control System vigorously. This system will be integrated with ECDIS and IBS so that captain/officers should analysis ship's motion characteristics accurately in the route planning using the electronic nautical charts. In this paper, a new Route Analysis Algorithm using fuzzy reasoning in route planning was proposed for 2, 700 TEU container ship. In order to verify the track-keeping, the author established a ship mathematical model and executed the simulation of the Route Analysis Algorithm at on-line condition with Pentium PC. The results of ship trajectories of the Route Analysis Algorithm were found to be effective to get track control automatically.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.2
• /
• pp.118-124
• /
• 2008

Recently fishing industry is interested in efficiency and automation to acquire the international competitive power of national fishing industry. As an automation device of fishing boat, there are electric compasses using GPS and terrestrial magnetic sensor. Electric compass can be minimum size, high effectiveness with keeping the characteristic of a magnetic compass. This can be used a heading angle sensor to construct auto-navigation system in a small size ship. This paper develop electronic compass system that has serial output signal in NMEA 0183 and demonstrates the possibility of the electronics compass in navigation system for a small sized ship.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2011.06a
• /
• pp.220-221
• /
• 2011

세일링 요트의 윈치는 선가의 10% 이상을 차지하는 고부가가치 제품으로 고하중 윈치의 제작을 위한 원천기술의 확보 및 1인 Auto Pilot 시대에 대비한 자동화 기술을 갖춘다면 내수시장은 물론 해외시장의 진출을 통한 발판을 마련할 것으로 예상된다. 산업의 고도화에 따라 자동화의 범주가 해양레저기구에도 확산되고 있으며, 해양레저 활동자의 요구도 기존의 물리적인 성향에서 쉽고 편하게 해양레저 활동을 즐길 수 있는 기구로 변화하는 추세이므로 이를 반영하여 자동제어를 통한 세일의 방향을 조정할 수 있는 윈치 적용 기술의 개발을 위한 연구를 진행하였다.

• Journal of the Korean Institute of Navigation
• /
• v.4 no.1
• /
• pp.51-61
• /
• 1980

In order to evaluate rolling characteristics of high speed container carrier the author developed yaw-sway-rudder coupled rool equation, which is likely to be 5th order differential equation. The free rolling time history with particular reference to automatic steering, was computed upon the base of the yaw-sway-rudder coupled roll equation. The computed result explained effects of $C_1$ and $C_2$ on rolling behaviors and furthermore the effect of $C_2$ proved to be very effective where $C_1$ and $C_2$ are yaw gin constant and yaw-rate gain constant of auto-pilot respectively. Computation was carried out using Matsumoto's data of hydrodynamic force derivatives of 5 meter long container model.