• Title/Summary/Keyword: Autonomous Systems

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Study on the Evaluation of Ship Collision Risk based on the Dempster-Shafer Theory (Dempster-Shafer 이론 기반의 선박충돌위험성 평가에 관한 연구)

  • Jinwan Park;Jung Sik Jeong
    • Journal of the Korean Society of Marine Environment & Safety
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    • v.29 no.5
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    • pp.462-469
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    • 2023
  • In this study, we propose a method for evaluating the risk of collision between ships to support determination on the risk of collision in a situation in which ships encounter each other and to prevent collision accidents. Because several uncertainties are involved in the navigation of a ship, must be considered when evaluating the risk of collision. We apply the Dempster-Shafer theory to manage this uncertainty and evaluate the collision risk of each target vessel in real time. The distance at the closest point approach (DCPA), time to the closest point approach (TCPA), distance from another vessel, relative bearing, and velocity ratio are used as evaluation factors for ship collision risk. The basic probability assignments (BPAs) calculated by membership functions for each evaluation factor are fused through the combination rule of the Dempster-Shafer theory. As a result of the experiment using automatic identification system (AIS) data collected in situations where ships actually encounter each other, the suitability of evaluation was verified. By evaluating the risk of collision in real time in encounter situations between ships, collision accidents caused by human errora can be prevented. This is expected to be used for vessel traffic service systems and collision avoidance systems for autonomous ships.

Development of Prediction Model for Improvement of Safety Facilities in Frequent Traffic Accidents (교통사고 잦은 곳 안전시설 개선 방안 예측 모델 개발)

  • Jaekyung Kwon;Siwon Kim;Jae seong Hwang;Jaehyung Lee;Choul ki Lee
    • The Journal of The Korea Institute of Intelligent Transport Systems
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    • v.22 no.1
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    • pp.16-24
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    • 2023
  • Accidents are greatly reduced through projects to improve frequent traffic accidents. These results show that safety facilities play a big role. Traffic accidents are caused by various causes and various environmental factors, and it is difficult to achieve improvement effects by installing one safety facility or facilities without standards. Therefore, this study analyzed the improvement effect of each accident type by combining the two safety facilities, and suggested a method of predicting the combination of safety facilities suitable for a specific point, including environmental factors such as road type, road type, and traffic. The prediction was carried out by selecting an XGBoost technique that creates one strong prediction model by combining prediction models that can be simple classification. Through this, safety facilities that have had positive effects through improvement projects and safety facilities to be installed at points in need of improvement were derived, and safety facilities effect analysis and prediction methods for future installation points were presented.

A Study on the Development of Urban Roads Convoy Driving Service and Effect Analysis (도시부 도로 호송주행(Convoy Driving) 서비스 개발 및 효과분석)

  • Son, Seung-neo;Lee, Ji-yeon;Cho, Yong-sung;Park, Ji-hyeok;So, Jae-hyun(Jason)
    • The Journal of The Korea Institute of Intelligent Transport Systems
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    • v.21 no.1
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    • pp.51-63
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    • 2022
  • Convoy driving is one of the technologies of multi-vehicle cooperation driving along with platoon driving. All over the world, research on vehicle control mechanisms to maintain vehicle formation during convoy driving convoy driving has been actively conducted and in Europe's Autonet 2030 project has developed and demonstrated convoy driving services for highways. But, even the concept of convoy driving is still insufficient in Korea. Therefore, in this study, the concept of convoy driving service was established and scenarios and communication messages for service application on urban roads were developed. And its effectiveness was verified through simulation analysis. As a result of comparing and analyzing individual vehicle cooperative driving and convoy driving for the blind spot support service and dilemma zone safety support service, which are representative V2I cooperative driving services on urban roads, the number of conflicts(indicator of traffic safety) and delays and stops(indicator of traffic efficiency) are significantly improved in convoy driving compared to individual vehicle cooperative driving.

A Study on the Distance Error Correction of Maritime Object Detection System (해상물체탐지시스템 거리오차 보정에 관한 연구)

  • Byung-Sun Kang;Chang-Hyun Jung
    • Journal of the Korean Society of Marine Environment & Safety
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    • v.29 no.2
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    • pp.139-146
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    • 2023
  • Maritime object detection systems, which detects small maritime obstacles such as fish farm buoys and visualizes distance and direction, is equipped with a 3-axis gimbal to compensate for errors caused by hull motion, but there is a limit to distance error corrections necessitated by the vertical movement of the camera and the maritime object due to wave motions. Therefore, in this study, the distance error of maritime object detection systems caused by the movement of the water surface according to the external environment is analyzed and corrected using average filter and moving average filter. Random numbers following a Gaussian standard normal distribution were added to or subtracted from the image coordinates to reproduce the rise or fall of the buoy under irregular waves. The distance calculated according to the change of image coordinates, the predicted distance through the average filter and the moving average filter, and the actual distance measured by laser distance meter were compared. In phases 1 and 2, the error rate increased to a maximum of 98.5% due to the changes of image coordinates due to irregular waves, but the error rate decreased to 16.3% with the moving average filter. This error correction capability was better than with the average filter, but there was a limit due to failure to respond to the distance change. Therefore, it is considered that use of the moving average filter to correct the distance error of the maritime object detection system will enhance responses to the real-time distance change and greatly improve the error rate.

QRAS-based Algorithm for Omnidirectional Sound Source Determination Without Blind Spots (사각영역이 없는 전방향 음원인식을 위한 QRAS 기반의 알고리즘)

  • Kim, Youngeon;Park, Gooman
    • Journal of Broadcast Engineering
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    • v.27 no.1
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    • pp.91-103
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    • 2022
  • Determination of sound source characteristics such as: sound volume, direction and distance to the source is one of the important techniques for unmanned systems like autonomous vehicles, robot systems and AI speakers. There are multiple methods of determining the direction and distance to the sound source, e.g., using a radar, a rider, an ultrasonic wave and a RF signal with a sound. These methods require the transmission of signals and cannot accurately identify sound sources generated in the obstructed region due to obstacles. In this paper, we have implemented and evaluated a method of detecting and identifying the sound in the audible frequency band by a method of recognizing the volume, direction, and distance to the sound source that is generated in the periphery including the invisible region. A cross-shaped based sound source recognition algorithm, which is mainly used for identifying a sound source, can measure the volume and locate the direction of the sound source, but the method has a problem with "blind spots". In addition, a serious limitation for this type of algorithm is lack of capability to determine the distance to the sound source. In order to overcome the limitations of this existing method, we propose a QRAS-based algorithm that uses rectangular-shaped technology. This method can determine the volume, direction, and distance to the sound source, which is an improvement over the cross-shaped based algorithm. The QRAS-based algorithm for the OSSD uses 6 AITDs derived from four microphones which are deployed in a rectangular-shaped configuration. The QRAS-based algorithm can solve existing problems of the cross-shaped based algorithms like blind spots, and it can determine the distance to the sound source. Experiments have demonstrated that the proposed QRAS-based algorithm for OSSD can reliably determine sound volume along with direction and distance to the sound source, which avoiding blind spots.

Development of Trip Generation Models for Shared E-Scooter by Service Areas Clustered by Level of Trip Density (서비스 구역 수준별 공유 전동킥보드 통행발생모형 개발)

  • Tai-jin Song;Kyuhyuk Kim;Changhun Lee
    • The Journal of The Korea Institute of Intelligent Transport Systems
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    • v.22 no.6
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    • pp.124-140
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    • 2023
  • The rapid growth in shared E-scooters worldwide has led to many studies on the topic. The results of these studies are still in the early stages, and the main factors affecting trips are being identified. In particular, the development of trip-generation models is very important for transportation planning, and a new transportation mode for developing the models for shared E-scooters is lacking both domestically and internationally. This study aims to develop a trip generation model for shared E-scooters using significant variables by thoroughly reviewing previous studies. The trip characteristics of major service areas and other areas may differ owing to the trip characteristics of the mode. The trip generation models were developed based on the service trip density by dividing the areas by service level. The factors affecting shared E-scooter trips in major service areas included the presence of universities, closeness centrality, and cultural areas, while factors affecting the trips in minor service areas included the presence of universities, betweenness centrality, and trip distance. The developed models provide basic information that can be used to establish transport policies for introducing shared E-scooters in cities in the future.

A Framework of Test Scenario Development for Issuance of Conditional Driver's Licenses for Elderly Drivers (고령 운전자 조건부 운전면허 발급을 위한 평가 시나리오 개발 프레임워크)

  • Sangsu Kim;Younshik Chung
    • The Journal of The Korea Institute of Intelligent Transport Systems
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    • v.23 no.1
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    • pp.134-145
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    • 2024
  • The purpose of this study was to propose a framework for developing test scenarios for issuance of conditional driver's licenses. The framework was composed of five stages. Initially, we reviewed the literature on traffic crash characteristics in terms of accident frequency and severity regarding the main factors of crashes caused by older drivers. In the second stage, the characteristics of crashes attributed to non-elderly, early elderly, and late elderly drivers were analyzed using data obtained from the Traffic Accident Analysis System (TAAS), and crash types for elderly drivers were derived. In the third stage, black box videos of high-risk crash types were analyzed to derive crash stories that described the circumstances in which crashes occurred. In the fourth step, crash situations were classified by rating the types of crash stories derived to develop various scenarios. Step 5 involved creating a scenario by applying the PEGASUS 5-Layer format, which has recently been used to develop test scenarios for autonomous vehicles. The results of this study are expected to be used as a basis for developing driving ability evaluation scenarios for the issuance of conditional driver's licenses.

Development of User Based Recommender System using Social Network for u-Healthcare (사회 네트워크를 이용한 사용자 기반 유헬스케어 서비스 추천 시스템 개발)

  • Kim, Hyea-Kyeong;Choi, Il-Young;Ha, Ki-Mok;Kim, Jae-Kyeong
    • Journal of Intelligence and Information Systems
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    • v.16 no.3
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    • pp.181-199
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    • 2010
  • As rapid progress of population aging and strong interest in health, the demand for new healthcare service is increasing. Until now healthcare service has provided post treatment by face-to-face manner. But according to related researches, proactive treatment is resulted to be more effective for preventing diseases. Particularly, the existing healthcare services have limitations in preventing and managing metabolic syndrome such a lifestyle disease, because the cause of metabolic syndrome is related to life habit. As the advent of ubiquitous technology, patients with the metabolic syndrome can improve life habit such as poor eating habits and physical inactivity without the constraints of time and space through u-healthcare service. Therefore, lots of researches for u-healthcare service focus on providing the personalized healthcare service for preventing and managing metabolic syndrome. For example, Kim et al.(2010) have proposed a healthcare model for providing the customized calories and rates of nutrition factors by analyzing the user's preference in foods. Lee et al.(2010) have suggested the customized diet recommendation service considering the basic information, vital signs, family history of diseases and food preferences to prevent and manage coronary heart disease. And, Kim and Han(2004) have demonstrated that the web-based nutrition counseling has effects on food intake and lipids of patients with hyperlipidemia. However, the existing researches for u-healthcare service focus on providing the predefined one-way u-healthcare service. Thus, users have a tendency to easily lose interest in improving life habit. To solve such a problem of u-healthcare service, this research suggests a u-healthcare recommender system which is based on collaborative filtering principle and social network. This research follows the principle of collaborative filtering, but preserves local networks (consisting of small group of similar neighbors) for target users to recommend context aware healthcare services. Our research is consisted of the following five steps. In the first step, user profile is created using the usage history data for improvement in life habit. And then, a set of users known as neighbors is formed by the degree of similarity between the users, which is calculated by Pearson correlation coefficient. In the second step, the target user obtains service information from his/her neighbors. In the third step, recommendation list of top-N service is generated for the target user. Making the list, we use the multi-filtering based on user's psychological context information and body mass index (BMI) information for the detailed recommendation. In the fourth step, the personal information, which is the history of the usage service, is updated when the target user uses the recommended service. In the final step, a social network is reformed to continually provide qualified recommendation. For example, the neighbors may be excluded from the social network if the target user doesn't like the recommendation list received from them. That is, this step updates each user's neighbors locally, so maintains the updated local neighbors always to give context aware recommendation in real time. The characteristics of our research as follows. First, we develop the u-healthcare recommender system for improving life habit such as poor eating habits and physical inactivity. Second, the proposed recommender system uses autonomous collaboration, which enables users to prevent dropping and not to lose user's interest in improving life habit. Third, the reformation of the social network is automated to maintain the quality of recommendation. Finally, this research has implemented a mobile prototype system using JAVA and Microsoft Access2007 to recommend the prescribed foods and exercises for chronic disease prevention, which are provided by A university medical center. This research intends to prevent diseases such as chronic illnesses and to improve user's lifestyle through providing context aware and personalized food and exercise services with the help of similar users'experience and knowledge. We expect that the user of this system can improve their life habit with the help of handheld mobile smart phone, because it uses autonomous collaboration to arouse interest in healthcare.

Democracy and Confucian Philosophy of South Korea in the 21st Century - Focusing on the issue of heteronomy and autonomy - (21세기 한국의 민주주의와 유가철학 - 타율성과 자율성의 문제를 중심으로 -)

  • Lee, Cheol-seung
    • Journal of Korean Philosophical Society
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    • v.148
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    • pp.1-27
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    • 2018
  • The 10th constitution established in 1987 serves as the theoretical foundation of democracy in South Korea in the 21st century. Respect for human rights, resistance to injustice, and equality consciousness inherent in this constitution do not conflict with the content of Confucian philosophy. This means that the spirit of the constitution of South Korea in the 21st century was formed under the influence of the idea of democracy and Confucian philosophy. However, the 10th constitution attaches importance to the idea of the 'Basic free and democratic order', which was accepted in the Yushin constitution and inherited by the military forces. The Yushin constitution was affected by liberalism that prioritizes freedom over equality rather than supporting the compatibility between freedom and equality. Therefore, policies to expand the interests of the bourgeoisie rather than public welfare or the interests of the public have been implemented frequently. In particular, during the Lee Myeong-bak and Park Geun-hye regimes, many unequal phenomena were mass-produced. Confucian philosophy in the 21st century critically sees this unequal society. Confucian philosophy thinks that a sense of relative deprivation plays a role of alienating humans and emphasizes the importance of equal relationships. In addition, this constitution emphasizes the rule of law. However, the rule of law attaches importance to positive laws when the spirit of the constitution that contains natural law is applied to reality through systems. This rejects autonomous judgments and choices while inducing reliance on heteronomy. These heteronomous laws as such are accompanied by forcibleness. The positive laws as such can degrade humans into passive beings that indiscriminately adapt themselves to frames already set instead of active beings that think freely and creatively. Confucian philosophy regards and criticizes the rule of law as a system that makes humans into a means. Confucian philosophy regards humans as moral beings instead of tools. Confucian philosophy seeks to build a healthy society through morality accomplished through conscious realization of the principles of life. Confucian philosophy regards humans as originally free beings. Therefore, human beings are autonomous beings, not heteronomous beings. According to Confucian philosophy, humans beings that can realize the morality contained in their inner side by themselves to responsibly carry out their own judgments and choices. Therefore, Confucian philosophy, which considers human beings as beings to be trusted instead of beings to be distrusted, attaches importance to the realization of human decency through edification rather than by punishment through the law. This means that human values cannot be kept by the heteronomy termed positive laws but the identity of humans can be maintained by voluntary choices and judgments. As such, the comment of Confucian philosophy on the problems of liberal democracy and positive laws contained in the 10th constitution can be helpful in essentially solving the contradictions of modern South Korean society.

Methods for Integration of Documents using Hierarchical Structure based on the Formal Concept Analysis (FCA 기반 계층적 구조를 이용한 문서 통합 기법)

  • Kim, Tae-Hwan;Jeon, Ho-Cheol;Choi, Joong-Min
    • Journal of Intelligence and Information Systems
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    • v.17 no.3
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    • pp.63-77
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    • 2011
  • The World Wide Web is a very large distributed digital information space. From its origins in 1991, the web has grown to encompass diverse information resources as personal home pasges, online digital libraries and virtual museums. Some estimates suggest that the web currently includes over 500 billion pages in the deep web. The ability to search and retrieve information from the web efficiently and effectively is an enabling technology for realizing its full potential. With powerful workstations and parallel processing technology, efficiency is not a bottleneck. In fact, some existing search tools sift through gigabyte.syze precompiled web indexes in a fraction of a second. But retrieval effectiveness is a different matter. Current search tools retrieve too many documents, of which only a small fraction are relevant to the user query. Furthermore, the most relevant documents do not nessarily appear at the top of the query output order. Also, current search tools can not retrieve the documents related with retrieved document from gigantic amount of documents. The most important problem for lots of current searching systems is to increase the quality of search. It means to provide related documents or decrease the number of unrelated documents as low as possible in the results of search. For this problem, CiteSeer proposed the ACI (Autonomous Citation Indexing) of the articles on the World Wide Web. A "citation index" indexes the links between articles that researchers make when they cite other articles. Citation indexes are very useful for a number of purposes, including literature search and analysis of the academic literature. For details of this work, references contained in academic articles are used to give credit to previous work in the literature and provide a link between the "citing" and "cited" articles. A citation index indexes the citations that an article makes, linking the articleswith the cited works. Citation indexes were originally designed mainly for information retrieval. The citation links allow navigating the literature in unique ways. Papers can be located independent of language, and words in thetitle, keywords or document. A citation index allows navigation backward in time (the list of cited articles) and forwardin time (which subsequent articles cite the current article?) But CiteSeer can not indexes the links between articles that researchers doesn't make. Because it indexes the links between articles that only researchers make when they cite other articles. Also, CiteSeer is not easy to scalability. Because CiteSeer can not indexes the links between articles that researchers doesn't make. All these problems make us orient for designing more effective search system. This paper shows a method that extracts subject and predicate per each sentence in documents. A document will be changed into the tabular form that extracted predicate checked value of possible subject and object. We make a hierarchical graph of a document using the table and then integrate graphs of documents. The graph of entire documents calculates the area of document as compared with integrated documents. We mark relation among the documents as compared with the area of documents. Also it proposes a method for structural integration of documents that retrieves documents from the graph. It makes that the user can find information easier. We compared the performance of the proposed approaches with lucene search engine using the formulas for ranking. As a result, the F.measure is about 60% and it is better as about 15%.