• Journal of Navigation and Port Research
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• v.31 no.1 s.117
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• pp.35-42
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• 2007

Recently satellite SAR techniques have become essential observation tools for various ocean phenomena such as wind, wave, and current. The CMOD4 and CMOD-IFR2 models are used to calculate the magnitude of wind at SAR resolution with no directional information. Combination of the wave-SAR spectrum analysis and the inter-look cross-spectra techniques provides amplitude and direction of the ocean wave over a square-km sized imagette, The Doppler shift measurement of SAR image yields surface speed of the ocean current along the radar looking direction, again at imagette resolution. In this paper we report the development of a SAR Ocean processor(SOP) incorporating all of these techniques. We have applied the SOP to several RADARSAT-1 images of the coast of Korean peninsula and compared the results with oceanographic data, which showed reliability of spaceborne SAR-based oceanographic research.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2005.10a
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• pp.229-234
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• 2005

This study was carried out to analyze the effect of wind load on the stability of a 50ton container crane using wind tunnel test and provide a container crane designer with data which can be used in a wind resistance design of a container crane assuming that a wind load at 75m/s wind velocity is applied on a container crane. Data acquisition conditions for this experiment were established in accordance with the similarity. The scale of a container crane dimension, wind velocity and time were chosen as 1/200, 1/13.3 and 1/15. And this experiment was implemented in an Effect type atmospheric boundary-layer wind tunnel with $11.52m^2$ cross-section area. Each directional drag and overturning moment coefficients were investigated and uplift forces at each supporting point due to the wind load were analyzed.

• The Journal of Korea Robotics Society
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• v.1 no.1
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• pp.17-24
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• 2006

Though the final goal of mobile robot navigation is to be autonomous, operators' intelligent and skillful decisions are necessary when there are many scattered obstacles. There are several limitations even in the camera-based tele-operation of a mobile robot, which is very popular for the mobile robot navigation. For examples, shadowed and curved areas cannot be viewed using a narrow view-angle camera, especially in bad weather such as on snowy or rainy days. Therefore, it is necessary to have other sensory information for reliable tele-operations. In this paper, sixteen ultrasonic sensors are attached around a mobile robot in a ring pattern to measure the distances to obstacles. A collision vector is introduced in this paper as a new tool for obstacle avoidance, which is defined as a normal vector from an obstacle to the mobile robot. Based on this collision vector, a virtual reflection force is generated to avoid the obstacles and then the reflection force is transferred to an operator who is holding a joystick to control the mobile robot. Relying on the reflection force, the operator can control the mobile robot more smoothly and safely. For this bi-directional tele-operation, a master joystick system using a hall sensor was designed to resolve the existence of nonlinear sections, which are usual for a general joystick with two motors and potentiometers. Finally, the efficiency of a force reflection joystick is verified through the comparison of two vision-based tele-operation experiments, with and without force reflection.

• Journal of Navigation and Port Research
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• v.37 no.6
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• pp.663-671
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• 2013

The width of Haeundae beach has been decreasing annually due to the loss of sand from land, high waves, reflected waves, etc.. The accurate prediction of wave-induced currents is indispensible to analyze the beach deformation due to the sediment transport. In the this study, Numerical experiments were performed with seasonal representative wave on the basis of a long term and comprehensive survey data. In summer, we found the deposition of Mipo by longshore current eastly by ordinary and S waves, and in winter, the deposition of Dongback-island by longshore current westly by ordinary and E waves. In addition, rip current occurs in the middle of Haeundae beach by 50 year return period wave and current westly along the coast by ESE directional wave.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2006.06b
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• pp.311-316
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• 2006

This study was carried out to analyze the effect of wind load on the structural stability of a container crane according to the change of the boom shape using wind tunnel test and provided a container crane designer with data which can be used in a wind resistance design of a container crane assuming that a wind load at 75m/s wind velocity is applied on a container crane. Data acquisition conditions for this experiment were established in accordance with the similarity. The scale of a container crane dimension, wind velocity and time were chosen as 1/200, 1/13.3 and 1/15. And this experiment was implemented in an Eiffel type atmospheric boundary-layer wind tunnel with $11.25m^2$ cross-section area. Each directional drag and overturning moment coefficients were investigated and uplift forces at each supporting point due to the wind load were analyzed.

• Journal of Advanced Navigation Technology
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• v.25 no.3
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• pp.223-228
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• 2021

In this paper, we proposed a slot-type antenna with microstrip feed embedded in a PCB for Zigbee communication (2.4 ~ 2.484 GHz). The proposed antenna is designed on a FR-4 substrate with dielectric constant 4.3, thickness of 1.6 mm, and size of 50×65 mm². Through simulations, trends of design parameters are analyzed and optimized, and the proposed antenna composed with three slots satisfy the frequency band. The measured impedance bandwidths (|S₁₁| ≤ -10 dB) of fabricated antenna are 900 MHz (2 ~ 2.9 GHz) in Zigbee frequency band. In addition, the radiation pattern showed omnidirectional characteristics for E and H-planes, and the gain of antenna in Zigbee frequency band was 1.782 dBi.

• Journal of Information Technology Services
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• v.10 no.4
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• pp.259-268
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• 2011

A robot education system by emulation based on Web can be efficiently used for understanding concept of robot assembly practice and control mechanism of robot by control programming. It is important to predict the path of the line tracer robot which has to be decided by the robot. Shortest Path Algorithm is a well known algorithm which searches the most efficient path between the start node and the end node. There are two related typical algorithms. Dijkstra Algorithm searches the shortest path tree from a node to the rest of the other nodes. $A^*$ Algorithm searches the shortest paths among all nodes. The delay time caused by turning the direction of navigation for the line tracer robot at the crossroads can give big differences to the travel time of the robot. So we need an efficient path determine algorithm which can solve this problem. Thus, It is necessary to analyze the overhead of changing direction of robot at multi-linked node to determine the next direction for efficient routings. In this paper, we reflect the real delay time of directional changing from the real robot. A speed based Dijkstra algorithm is proposed and compared with the previous ones to analyze the performance.

• The Journal of the Acoustical Society of Korea
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• v.24 no.2E
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• pp.46-53
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• 2005

Agency for Defense Development (ADD) developed the Submarine Acoustic Information Management System (SAIMS Version 1.0) capable of interfacing some submarine sensors in operation and predicting detection environments for sonars. The major design concepts are as follows: 1) A proper acoustic model is examined and optimized to cover wide spectra of frequency ranges for both active and passive sonars. 2) Interfacing the submarine sensors to an electric navigation chart, the system attempts to maximize the applicability of the information produced. 3) The state-of-the-art database in large area is built and managed on the system. 4) An algorithm, which is able to estimate a full sound speed profile from the limited oceanographic data, is developed and employed on the system. This paper briefly describes design concepts and algorithms embedded in the SAIMS. The applicability of the SAIMS was verified through three sea experiments in October 2003-February 2004.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.4
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• pp.353-361
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• 2011

A precise embedded ultrasonic localization system is developed for autonomous mobile robots in indoor environments, which is essential for autonomous navigation of mobile robots with various tasks. Although ultrasonic sensors are more cost-effective than other sensors such as LRF (Laser Range Finder) and vision, they suffer inaccuracy and directional ambiguity. First, we apply the matched filter to measure the distance precisely. For resolving the computational complexity of the matched filter for embedded systems, we propose a new matched filter algorithm with fast computation in three points of view. Second, we propose an accurate ultrasonic localization system which consists of three ultrasonic receivers on the mobile robot and two or more transmitters on the ceiling. Last, we add an extended Kalman filter to estimate position and orientation. Various simulations and experimental results show the effectiveness of the proposed system.

• Journal of Ship and Ocean Technology
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• v.8 no.3
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• pp.18-25
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• 2004

Sound reception system is required to detect the sound and the quadrantal direction of the other ship's horn sound, to overcome the effects of enclosed wall for navigation space, functioning as a sound barrier. However, the realized systems can only provide quadrantal information of the other ship. This paper presents a new arrangement of microphones, having geometrically symmetric deployment with the same distances between sensors and the same angles between adjacent sensors with respect to the geometrical center. The sound pressures received at microphones are transformed into the related envelope signals by applying Hilbert transform. The time delays between microphones are estimated by the correlation functions between the derived envelope signals. This envelope base processing mitigates the noises related to the reflection by ship and sea surface. Then, the directional information is easily defined by using the estimated time delays. The suggested method is verified by the generated signals using boundary element method for a small ship model with sea surface wave. The estimated direction is quite similar to the true one and therefore the proposed approach can be used as an efficient sound reception system.