• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.335-338
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• 2006

The more deeply the researches make progress in ocean researches including the seabed resource investigation or the oceanic ecosystem investigation, the more important the role of UUV gets. In case of study on the deep sea, there are difficulties in telecommunications between AUV and ships, and in data communication and recharging. Therefore, docking is required. In AUV docking system, the AUV should identify the position of docking and make contact with a certain point of docking device. MOERI (Maritime & Ocean Engineering Research Institute), KORDI has conducted the docking testing on AUV ISIMI in KORDI Ocean Engineering Water Tank. As AUV ISIMI approachs the docking device, it is presented that attitude is unstable, because the lights Which is on Image Frame are disappeared. So we fix the rudder and stem, if the lights on Image Frame are reaching the specific area in the Image Frame. In this paper, we intend to solve the problems that were found in the testing, which, first, will be identified via simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.10
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• pp.939-947
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• 2010

With the rising numbers of elderly and disabled people, the demand for welfare services using a robotic system and not involving human effort is likewise increasing. This study deals with a mobile-robot system combined with a BWS (Body Weight Support) system for gait rehabilitation. The BWS system is designed via the kinematic analysis of the robot's body-lifting characteristics and of the walking guide system that controls the total rehabilitation system integrated in the mobile robot. This mobile platform is operated by utilizing the AGV (Autonomous Guided Vehicle) driving algorithm. Especially, the method that integrates geometric path tracking and obstacle avoidance for a nonholonomic mobile robot is applied so that the system can be operated in an area where the elderly users are expected to be situated, such as in a public hospital or a rehabilitation center. The mobile robot follows the path by moving through the turning radius supplied by the pure-pursuit method which is one of the existing geometric path-tracking methods. The effectiveness of the proposed method is verified through the real experiments those are conducted for path tracking with static- and dynamic-obstacle avoidance. Finally, through the EMG (Electromyography) signal measurement of the subject, the performance of the proposed system in a real operation condition is evaluated.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.12
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• pp.158-164
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• 2015

Lane detection is one of the key parts among autonomous vehicle technologies because lane keeping and path planning are based on lane detection. Camera is used for lane detection but there are severe limitations such as narrow field of view and effect of illumination. On the other hands, Lidar sensor has the merits of having large field of view and being little influenced by illumination because it uses intensity information. Existing researches that use methods such as Hough transform, histogram hardly handle multiple lanes in the co-occuring situation of lanes and road marking. In this paper, we propose a method based on RANSAC and regularization which provides a stable and precise detection result in the co-occuring situation of lanes and road marking in highway scenarios. This is performed by precise lane point extraction using circular model RANSAC and regularization aided least square fitting. Through quantitative evaluation, we verify that the proposed algorithm is capable of multi lane detection with high accuracy in real-time on our own acquired road data.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.12
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• pp.150-157
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• 2015

Pedestrian detection has largely been researched as one of the important technologies for autonomous driving vehicle and preventing accidents. There are two categories for pedestrian detection, camera-based and LIDAR-based. LIDAR-based methods have the advantage of the wide angle of view and insensitivity of illuminance change while camera-based methods have not. However, there are several problems with 3D LIDAR, such as insufficient resolution to detect distant pedestrians and decrease in detection rate in a complex situation due to segmentation error and occlusion. In this paper, two methods using GM-PHD filter are proposed to improve the poor rates of pedestrian detection algorithms based on 3D LIDAR. First one improves detection performance and resolution of object by automatic accumulation of points in previous frames onto current objects. Second one additionally enhances the detection results by applying the GM-PHD filter which is modified in order to handle the poor situation to classified multi target. A quantitative evaluation with autonomously acquired road environment data shows the proposed methods highly increase the performance of existing pedestrian detection algorithms.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.41 no.5
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• pp.422-428
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• 2013

Recently, many unmanned aerial vehicle (UAV) studies have focused on small UAVs, because they are cost effective and suitable in dangerous indoor environments where human entry is limited. Map building through distance measurement is a key technology for the autonomous flight of small UAVs. In many researches for unmanned systems, distance could be measured by using laser range finders or stereo vision sensors. Even though a laser range finder provides accurate distance measurements, it has a disadvantage of high cost. Calculating the distance using a stereo vision sensor is straightforward. However, the sensor is large and heavy, which is not suitable for small UAVs with limited payload. This paper suggests a low-cost distance measurement system using a laser pointer and a monocular vision sensor. A method to measure distance using the suggested system is explained and some experiments on map building are conducted with these distance measurements. The experimental results are compared to the actual data and the reliability of the suggested system is verified.

• The Journal of the Korea Contents Association
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• v.16 no.12
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• pp.399-409
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• 2016

Recent automotive market is changing rapidly with eco-friendly, fuel-efficient, unmanned autonomous. In order to grow domestic automotive industry, various companies such as IT, marketing, advertising/PR, production/manufacturing, distribution have to need the fused global value chain(GVC) production system. The purpose of this study is that Small parts makers will look for support measures to enter the GVC of global automakers. To this end, to examine the status and cooperation between vehicle manufacturers and component suppliers in GVC. Part SMEs will look for Realistic and possible support policy direction needed to enter the carmakers GVC. In order that the small parts company have to enter the GVC of the car manufacturers in the automotive industry, the small parts company should understand the nature and governance of large corporations that operate the GVC, and develop a tailored strategy.

• The Journal of the Korea institute of electronic communication sciences
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• v.15 no.2
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• pp.237-244
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• 2020

This paper describes an implement of Simultaneous Localization and Mapping(SLAM) in two dimensional space. The method uses Invariant Extended Kalman Filter(IEKF), which transforms the state variables and measurement variables so that the transformed variables constitute a linear space when variables called the invariant quantities are kept constant. Therefore, the IEKF guarantees convergence provided in the invariant quantities are kept constant. The proposed IEKF approach uses Lie group matrix for the transformation. The method is tested through simulation, and the results show that the Kalman gain is constant as it is the case for the linear Kalman filter. The coherence between the estimated locations of the vehicle and the detected objects verifies the estimation performance of the method.

• Korean Journal of Occupational Health Nursing
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• v.23 no.1
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• pp.20-27
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• 2014

Purpose: This study was conducted to identify the association between emotional labor and job stress in bus drivers, as well as to propose management strategies for job stress. Methods: The study was conducted in February 2013 and involved 182 bus drivers working in the Gyeonggi area. Results: emotional labor was $9.5{\pm}2.34$ on average, and job stress was higher than the median of the same indicator among Korea's workers in the areas of physical environment, job autonomy, and relationship conflicts. Factors that affected job stress was lower if the subjects' Higher values for emotional labor indicated a higher level of job stress. Conclusion: To reduce among drivers, the following measures are necessary: increase the comfort of the driver's seat within the vehicle, provide adequate rest between bus headways, provide comfortable in-house rest facilities, and establish physical training spaces to reduce musculoskeletal disorders as well as programs for reducing back pain. In addition, relationship conflicts may be relieved by increasing job autonomy as much as possible, by granting autonomous control of working hours and bus headways, as well as by banning long work hours. Moreover, various club activities, exercise programs, and counseling programs that workers can be involved in together may be beneficial. This study is significant in that it identified the relationship of the bus drivers' emotional labor and job stress, which has previously been ignored as a research topic. Through its results, this study provides baseline data for the preparation of management strategies that can address the job stress of bus drivers.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.19 no.2
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• pp.104-109
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• 2020

In this paper, we proposed a miniaturized folded inverted F antenna with ISM-band (center frequency : 447 MHz) for mounting in intelligent parking sensor. First, to mount the antenna in the intelligent parking sensor module (72 mm × 70 mm) with limited size, a folded inverted F antenna was designed at low frequency 447 MHz (wavelength λ : 670 mm) of the ISM-band. As a result, it resonates in the ISM band and obtains suitable characteristic with a -10 dB bandwidth of 13 MHz (2.9%). In addition, the H-plane pattern by the vertical and horizontal elements represents the omni-directional patterns from which the null point is removed, and the E-plane has directivity in a specific direction. Finally, it is suitable as and antenna for vehicle management in parking lots.

• Management & Information Systems Review
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• v.4
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• pp.257-284
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• 2000

According as the drivers increase who have their cars, the comprehensive studies on the automobile for the traffic safety have been raised as the important problems. Visual Recognition System for radio-controled driving is a part of the sensor processor of Unmanned Autonomous Vehicle System. When a driver drives his car on an unknown highway or general road, it produces a model from the successively inputted road traffic information. The suggested Recognition System of the Road Traffic Safety Information Board is to recognize and distinguish automatically a Road Traffic Safety Information Board as one of road traffic information. The whole processes of Recognition System of the Road Traffic Safety Information Board suggested in this study are as follows. We took the photographs of Road Traffic Safety Information Board with a digital camera in order to get an image and normalize bitmap image file with a size of $200{\times}200$ byte with Photo Shop 5.0. The existing True Color is made up the color data of sixteen million kinds. We changed it with 256 Color, because it has large capacity, and spend much time on calculating. We have practiced works of 30 times with erosion and dilation algorithm to remove unnecessary images. We drawing out original image with the Region Splitting Technique as a kind of segmentation. We made three kinds of grouping(Attention Information Board, Prohibit Information Board, and Introduction Information Board) by RYB( Red, Yellow, Blue) color segmentation. We minimized the image size of board, direction, and the influence of rounding. We also minimized the Influence according to position. and the brightness of light and darkness with Eigen Vector and Eigen Value. The data sampling this feature value appeared after building the learning Code Book Database. The suggested Recognition System of the Road Traffic Safety Information Board firstly distinguished three kinds of groups in the database of learning Code Book, and suggested in order to recognize after comparing and judging the board want to recognize within the same group with Nearest Neighborhood Decision Making.