• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.95-99
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• 1994

Robot engineering is developed mainly in the field of intelligibility such as a manipulation. Considering the popularization of robots in the future, however, a robot should be studied from a viewpoint of saving energy because a robot is a kind of machine with a energy conversion. This paper deals with minimizing an energy consumption of a manipulator which is driven in a point-to-point control method. When a manipulator carries a heavy payload toward gravitation or the links are de-accelerated for positioning, the motors at joints generate electric energy. Since this energy can be regenerated to the source by using a chopper, the energy consumption of a manipulator is only heat loss by an electric and a frictional resistance of the motors. The minimization of the sum of these losses is reduced Lo a two-points boundary-value problem of an non-linear differential equation. The solutions are obtained by the generalized Newton-Raphson method in this paper. The energy consumption due to the optimum angular velocity patterns of two joints of a two-links manipulator is compared with conventional velocity patterns such as quadratic and trapezoid.

• Proceedings of the IEEK Conference
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• 2008.06a
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• pp.421-422
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• 2008

In this paper, CMOS RF front-end circuits for an L1/L5 dual-band global positioning system (GPS)/Galileo receiver are designed in $0.13\;{\mu}m$ CMOS technology. The RF front-end circuits are composed of an RF single-to-differential low noise amplifier, an RF polyphase filter, two down-conversion mixers, two transimpedance amplifiers, a IF polyphase filter, four de-coupling capacitors. The CMOS RF front-end circuits provide gains of 43 dB and 44 dB, noise figures of 4 dB and 3 dB and consume 3.6 mW and 4.8 mW from 1.2 V supply voltage for L1 and L5, respectively.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 1998.04a
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• pp.36-47
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• 1998

The test transimissionof DGPS correction data has been carried out since early 1996. The data has been sent from marine radiobeacon station at Changgi Gap Ligthouse. It was the first test brosdcast of DGPS correction data based on midium frequency of marine radiobeacon where transmission power and rate are 300W and 100bps respectively. However, there has not been any scientific study on the characteristic of the accuracy of a marine DGPS/radiobeacon. Accordingly. this paper investigates the accuracy of the system, which is currently operating in 310KHz. As a result , planned 8 reference station and coverage verified that the differential positioning accuray using themarine radiobeacon is sufficient to ensure the safetyof marine activities around the coast of Korea(position error of distance 107NM at reference station was about10m(drms)).

• Journal of the Korean Society of Clothing and Textiles
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• v.21 no.8
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• pp.1297-1306
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• 1997

The purpose of this study was to investigate the difference of visual evaluation about combination of contrary clothing image, Elegance-Casual, Ethnic-Modern. The data were collected using 23 semantic differential hi-polar scale questionnaires from 50 female students majoring in clothing and textile and analyzed by Factor analysis, ANOVA, Discriminant analysis and MDS. The results obtained were summarized as follows; 1. As a result of factor analysis, 4 factors -Attractiveness, Casualness, Moderateness, Modernness-were found out as constructing factors of contrary clothing image. 2. For the visual evaluation of contrary clothing image combined with top and bottom, there were significant differences in all factors. 3. As a result of discriminant analysis, discrimination among images was more closely related to renovated image by combination of contrary clothing image. 4. As a result of MDS, evaluative dimensions of contrary clothing image were identified, and relationship between clothing images and special qualities of design was shown on positioning map.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.4
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• pp.378-384
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• 2005

This paper proposes a theoretically rigorous analysis procedure that compares the position domain and range domain carrier-smoothed-code filters for differential GNSS positioning. Utilizing consistent error covariance formulation, it is shown that filtering in the position domain is, in theory, more advantageous than range domain carrier-smoothed-code filtering. It is also shown that if the visible satellite set does not change during a sufficiently long time interval the performances of position and range domain filters are similar.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.9
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• pp.850-855
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• 2006

This is concerned with the development and design of automatic maneuvering system using Differential Global Positioning System(DGPS). To achievement of autonomous maneuvering controller for giant ship, first, we investigated automatic maneuvering controller using DGPS in motor car. The sensors are configured with DGPS and digital compass. We calculated velocity and steering angle of motor car based on sensor signal. To design the controller, we derived the bicycle model and developed critically damped controller. The critically damped controller can be tracing previously appointed position in the fastest time. We are used a laptop computer to realize and the control algorithm is programmed by visual basic software. The obtained experimental results from developed system show unmanned motor car is good tracing planed positions. Hence, the system is looking forward to use the autonomous maneuvering control fur giant ship.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• v.9 no.1
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• pp.1125-1129
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• 2005

In this study, for suggesting the development of GPS navigation in the naval vessels, the test of GPS error is conducted for analyzing the precision of GPS installed in the naval vessels. And the reliability and utilization of GPS are verified throughout interview and questionnaire with the workers in the naval vessels.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2011.10a
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• pp.585-588
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• 2011

현 시점 우리나라는 1999년부터 해안 DGPS(Differential Global Positioning System) 기준국을 기반으로 하여 2009년까지 해안기준국(11곳), 내륙기준국(6곳)으로 전국 17개소의 DGPS 기준국을 설치 및 운용하고 있으며, 전국적으로 DGPS 서비스를 해상 및 육상에서도 다양한 분야에 걸쳐 실시간으로 서비스가 진행되고 있다. 그러나, 우리나라의 지형상 산악지형이나 여러 가지 요인에 의한 서비스 음영지역이 발생하고 있는 실정이다. 따라서, 본 논문에서는 실측데이터를 이용하여 내륙기준국에서의 지점경로 전파분석을 통하여 기준국 안테나 파라미터를 알아보고 서비스 음영지역 도출 및 나타나는 음영지역 해소 방안으로 안테나 효율 및 기준국의 송신 출력을 검토하여 그에 대한 방안을 모색하고자 한다.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.11
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• pp.1973-1977
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• 2006

This paper reports the absolute position tracking algorithm of underwater vehicles such as ROV, AUV in global region by fusing sensor informations of IMU, DVL, USBL, DGPS etc. This algorithm is to be used in the position tracking of the 6,000m class deep-sea unmanned underwater vehicle, HEMIRE for scientific exploration.

• Proceedings of the KSRS Conference
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• 2003.11a
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• pp.930-932
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• 2003

For this study we used a CCD video camera to capture the pavement image information via the computer. During investigation processing, the CCD video camera captured 10${\sim}$30 images per second. If the vehicle velocity is too fast, the collected images will be duplicated and if the velocity is too slow there will be a gapped between images. Therefore, in order to control the efficiency of the image grabber we should add accessory tools such as the Differential Global Positioning System (DGPS) and odometer. Furthermore, Kalman Filtering can also solve these problems. After the CCD video camera captured the pavement images, we used the Least-Squares method to eliminate images of gradation which have non-uniform surfaces due to the illumination at night. The Fuzzy Entropy method calculates images of threshold segments and creates binary images. Finally, the Object Labeling algorithm finds objects that are cracks or noises from the binary image based on volume pixels of the object. We used these algorithms and tested them, also providing some discussion and suggestions.