• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.43 no.12
• /
• pp.1124-1131
• /
• 2015

This paper describes a 5-dof ground testbed which emulates micro-gravity environment for developing Rendezvous/docking algorithm of a nano-satellite. The testbed consists of two parts, the low part which eliminates friction force with ground and the upper part which has 3-dof rotational motion with respect to the low part. For Vison-based autonomous navigation algorithm, we use camera, LIDAR and AHRS as sensors and eight cold gas thrusters and three axis directional reaction wheels as actuators. All system software are implemented with C++ based on on-board computer and Linux OS.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.38 no.7
• /
• pp.737-745
• /
• 2010

This paper describes the operation results of the GPS receiver system for KSLV (Korea Space Launch Vehicle)-I on the launch site at Naro Space Center that is the first spaceport of South Korea located at Goheung. All equipments of KSLV-I including the GPS receiver system should be monitored and controlled through hard-wired interface during KSLV-I is on standby at the launch pad. The GPS receiver for KSLV-I is connected to triple almost omni-directional patch antennas mounted on the cylindrical surface of KSLV-I that should be erected vertically on the launch pad until lift-off. Signal interference and multipath effects observed in the GPS receiver on the launch site are analyzed in this paper based on the GPS signals received from each GPS antenna.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.5
• /
• pp.487-495
• /
• 2012

In this paper, a Smart Home Service Robot, McBot II, which performs mess-cleanup function etc. in house, is designed much more optimally than other service robots. It is newly developed in much more practical system than McBot I which we had developed two years ago. One characteristic attribute of mobile platforms equipped with a set of dependent wheels is their omni- directionality and the ability to realize complex translational and rotational trajectories for agile navigation in door. An accurate coordination of steering angle and spinning rate of each wheel is necessary for a consistent motion. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A specialized anthropomorphic robot manipulator which can be attached to the housemaid robot McBot II, is developed in this paper. This built-in type manipulator consists of both arms with 4 DOF (Degree of Freedom) each and both hands with 3 DOF each. The robotic arm is optimally designed to satisfy both the minimum mechanical size and the maximum workspace. Minimum mass and length are required for the built-in cooperated-arms system. But that makes the workspace so small. This paper proposes optimal design method to overcome the problem by using neck joint to move the arms horizontally forward/backward and waist joint to move them vertically up/down. The robotic hand, which has two fingers and a thumb, is also optimally designed in task-based concept. Finally, the good performance of the developed McBot II is confirmed through live tests of the mess-cleanup task.

• Journal of the HCI Society of Korea
• /
• v.1 no.1
• /
• pp.29-36
• /
• 2006

Tactile displays can provide useful information without disturbing others and are particularly useful for people with visual or auditory impairments. They can also complement other displays. In this paper, we present a new vibrotactile display device for wearable, mobile, and ubiquitous computing environments. The proposed vibrotactile device has a $5{\times}5$ array configuration for displaying complex information such as letters, numbers, and haptic patterns as well as simple directional ques and situation awareness alarms. Commercially available coin-type vibration motors are embedded vertically in flexible mounting pads in order to best localize vibrations on the skin. An embedded microprocessor controls the motors sequentially with an advanced tracing mode to increase recognition rate. User studies with the vibrotactile device on the top of the foot show 86.7% recognition rate for alphabet characters after some training. In addition, applying vibrotactile device to driving situation shows 83.9% recognition rate. We also propose some potentially useful application scenarios including Caller Identification for mobile phones and Navigation Aids for GPS systems while driving.

• Journal of Korean Society for Geospatial Information Science
• /
• v.3 no.2 s.6
• /
• pp.213-220
• /
• 1995

Map Matching is the method for correcting the current position from dead reckoning in Car Navigation System. In this paper, we proposed the new map matching algorithm that can correct the positioning error caused by sensors and digital map data around the cross road area. To do this, first we set the error boundary of the cross road area by combining the relative error of moving distance and the absolute error of road length, second, we find out the starting point of turning within the determined error boundary of the cross point area, third, we compare the turning angle of the car to the angle of each possible road, and the last, we decide the matched road. We used wheel sensor as a speed sensor and used optical fiber gyro as a directional sensor, and assembled the sensors to the notebook computer. We testified our algorithm by driving the Daejeon area-which is a part of south Korea-as a test area. And we proved the efficiency by doing that.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.20 no.2
• /
• pp.451-456
• /
• 2016

Because GPS signals are weak, system jamming is a real and present danger. This can happen when the receiver is subjected to intentional or unintentional interference by a transmitter. If the jamming signal is strong enough, the receiver can be operated to take corrective action automatically. Current methods to protect GPS receiver from jamming condition are based on spatial filtering. In this paper, the beamforming as referred to in signal processing technique used in arrays for directional signal reception was suggested and analyzed for anti-jamming. In order to change the directionality of the array when receiving a jamming signal, a beamformer can control the signal at each sensor. Therefore, cutoff angle ${\theta}$ was measured in the opposite direction of the jammer. GPS signals are only processed when the antenna element is within inside the cutoff angle. As a result, GPS positioning can be used in condition under cutoff angle $30^{\circ}$.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.15 no.2
• /
• pp.265-272
• /
• 2011

This study designed and manufactured "a DVOR virtual signal generator" to make the monitoring system of preliminary Doppler VHF Omni-directional Radio Range(DVOR) run like its real operation status in a narrow space in order to study "a DVOR virtual monitoring system". The designed and manufactured DVOR virtual signal generator is suitable for the specification of signal that is generated in the currently running equipment. In addition, it is possible to control operation conditions of equipment by using parameter variables, and the circuit construction is largely divided into the input part, the modulation part, the high-gain amplifier, and the power part. "The DVOR virtual monitoring system using the virtual signal designed and implemented in this study is very suitable to be used for low-cost actual education as it can construct the operation status like the real situation in a narrow space without using an actual system like an antenna generating side band.

• Journal of Korean Port Research
• /
• v.10 no.2
• /
• pp.91-101
• /
• 1996

Today transportation problems are severer with the increase of the vehicles and travel demand in urban areas, but could not be completely solved with only the expansion of the new transportation facilities. Because the expansion of the new transportation facilities are limited in urban areas. As one of the Transportation System Management(TSM) techniques in this study, the simulation results of the existing signal systems which were operated based upon the peak time periods for increasing the efficiency on the pretimed signalized intersections(PSI) during the different time periods : the AM on-Peak, the AM off-Peak, the PM off-Peak, and the PM on-Peak, were as follows : i) There was no distinct difference in the total traffic volumes concentrated on the signalized intersections during the different time periods, but a considerably big difference in the directional traffic volumes for those time periods. ii) There were about 53% reduction of the average delay and 51% reduction of the fuel consumption when applying the different signal systems to the different time periods regardless of the CBD and Non-CBD. iii) There were about 36% increase of the average delay and 33% increase of the fuel consumption when applying the same signal systems during the peak time periods to the different time periods regardless of the CBD and Non-CBD. Based on the above results, it was concluded that constructing the different signal systems for the different time periods would be better than construction the same ones for those periods on the pretimed signalized intersections in urban areas.

• Science of Emotion and Sensibility
• /
• v.25 no.1
• /
• pp.3-20
• /
• 2022

Recently, prior to the commercialization of urban air mobility (UAM), the importance of R&D for air transportation-related industries in urban areas has significantly increased. To create a UAM environment, research is being conducted on personal air vehicles (PAVs). They are key means of air transportation, but research on the physical factors influencing their passengers is relatively insufficient. In particular, because the PAV is expected to be used as a living space for the passengers, research on the effects of the physical elements generated in the PAV on the human body is essential to design an interior space that supports the in-vehicle activities of the passengers. Therefore, the purpose of this study is to derive the constraint factors that affect the human body due to the air navigation characteristics of the PAV and to understand the impact of these constraint factors on the bodies of the passengers performing in-vehicle activities. The results of this study indicate that when the PAV was operated at less than 4,000 ft, which is the operating standard, the constraint factors were noise, vibration, and motion sickness caused by low-frequency motion. These constraint factors affect in-vehicle activity; thus, the in-vehicle activities that can be performed in a PAV were derived using autonomous cars, airplanes, and PAV concept cases. Furthermore, considering the impact of the constraint factors and their levels on the human body, recommended constraint factor criteria to support in-vehicle activities were established. To reduce the level of impact of the constraint factors on the human body and to support in-vehicle activity, the seat's shape and built-in functions of the seat (vibration reduction function, temperature control, LED lighting, etc.) and external noise reduction using a directional speaker for each individual seat were recommended. Moreover, it was suggested that interior materials for noise and vibration reduction should be used in the design of the interior space. The contributions of this study are the determination of the constraint factors affecting the in-vehicle PAV activity and the confirmation of the level of impact of the factors on the human body; in the future, these findings can be used as basic data for suitable PAV interior design.