• 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.

• Journal of Fisheries and Marine Sciences Education
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• v.10 no.1
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• pp.53-62
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• 1998

Accuracy of positions by GPS receiver at Tongyoung Port were measured and analysed in order to get more credible information on GPS positioning for vessels. Positions were automatically recorded every 5-Min from 1st October, 1997 to 30th of November, 1997 by two identical GPS receivers at the Laboratory of Navigation in the College of Marine Science, Gyeongsang University ($34^{\circ}$ 49' 57.985"N, $128^{\circ}$ 24' 06.562") and at the training ship "Gyeongyang" alongside in the tongyoung passenger port ($34^{\circ}$ 50" 10.080"N, $128^{\circ}$ 25' 16.415") as fixed positions. The results are as follows ; 1. Number of the usable satellites observing Zenith angle between $9^{\circ}$ and $82^{\circ}$ was normally 4 during a day 24 hours except for 3 hours with total Number 20. 2. Accuracy of position with time was widely dispersed around center of standard position as well as directional deviation around mean position. 3. Specific error of GPS receiver showed a little deviation by alternative measurements for consecutive 5 days at each fixed position respectively. 4. Accuracy of GPS position at 2 fixed positions of Tongyoung port was revealed 27.2 m as minimum value while normal accuracy for all day could be less than 50 m.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.19 no.1
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• pp.94-106
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• 2020

Recently, the radio navigation method utilizing the GPS(Global Positioning System) satellite information is widely used as the method to measure the position of objects. As GPS applications become wider and fields based on various positioning information emerge, new methods for achieving higher accuracy are required. In the case of autonomous vehicles, the INS(Inertial Navigation System) using the IMU(Inertial Measurement Unit), and the DR(Dead Reckoning) algorithm using the in-vehicle sensor, are used for the purpose of preventing degradation of accuracy of the GPS and to measure the position in the shadow area. However, these positioning methods have many elements of problems due not only to the existence of various shaded areas such as building areas that are continually enlarged, tunnels, underground parking lots and but also to the limitations of accumulation-based location estimation methods that increase in error over time. In this paper, an efficient positioning method in a large underground parking space using Fingerprint method is proposed by placing the AP(Access Points) and directional antennas in the form of four anchors using WLAN, a popular means of wireless communication, for positioning the vehicle in the GPS shadow area. The proposed method is proved to be able to produce unchanged positioning results even in an environment where parked vehicles are moved as time passes.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2023.11a
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• pp.116-118
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• 2023

In recent years, the need for economical and sustainable ship routing has emerged due to the enforced regulations on environmental issues. Despite the development of weather forecasting technology, maritime accidents by rough waves have continued to occur due to incorrect weather forecasts. In this study, onboard measurements are conducted to observe the acutal situation on merchant ships in operation encountering rough waves. The types of measured data include information related to navigation (Ship's position, speed, bearing, rudder angle) and engine (engine revolutions, power, shaft thrust, fuel consumption), weather conditions (wind, waves), and ship motions (roll, pitch, and yaw). These ship experiments was conducted to 28,000 DWT bulk carrier, 63,000 DWT bulk carrier, 20,000 TEU container ship, and 12,000 TEU container ship. The actual ship experiment of each ship is intended to acquire various types of data and utilize them for multi-objective studies related to ship operation. Additionally, in order to confirm the sea conditions, the directional wave spectrum was reproduced using a wave simulation model. Through data collection from ship experiments and wave simulations, various studies could be proceeding such as the measurement for accurate wave information by marine radar and analysis for cargo collapse accidents. In addition, it is expected to be utilized in various themes from the perspective of safety and efficiency in ship operation.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.14 no.6
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• pp.69-76
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• 2015

Although traffic information has been actively analyzed using big data, it has not been used as much with the consideration of driver characteristics. Among the various types of information, road signs can directly affect the driver. Road signs must provide the optimal information that enables drivers to reach their destinations with ease as well as information suitable for navigation systems. However, present road sign rules provide standardized information, regardless of the road type or size. This study suggests a method for providing road information that will help drivers determine their behavior. First, the minimum character size that can be used on a road sign for each design speed was obtained with respect to the visibility and decipherability of a road sign. Instead of conventional diagram-based direction guidance, a scenario using split-based direction guidance was created. To verify the effectiveness of the provided information, a three-dimensional simulated road environment was constructed, and a driving simulator was used for the test. At a simple plane intersection, the driver was not greatly influenced by directional guidance, but at a complex, three-dimensional intersection, the driver preferred summary-based directional guidance, which is instinctive guidance, over diagram-based guidance. On the basis of the test results, a secondary verification test that applied split-based guidance at a three-dimensional intersection confirmed that the driver had no problems in making decisions.

• Journal of Advanced Navigation Technology
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• v.19 no.6
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• pp.623-629
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• 2015

In the present study, a coplanar waveguide (CPW)-fed printed monopole antenna with an inverted n-shaped slot is newly proposed for dual band operations which cover bandwidths of CDMA (1.85~2.025 GHz) and WLAN (2.4~2.484 GHz) as well as implementation of omnidirectional radiation pattern. For enhancement of impedance bandwidth ($S11{\leq}10dB$) in 2.4 GHz WLAN frequency band, an inverted n-shaped slot instead of the previous n-shaped slot is etched on the printed radiating monopole. The proposed antenna is designed and fabricated on one side of FR4 substrate with dielectric constant of 4.4, thickness of 1.6 mm, and size of $50{\times}25mm^2$. It has been observed that the measured impedance bandwidths are 280 MHz (1.84~2.12 GHz) in frequency band of CDMA and 420 MHz (2.38~2.8 GHz) in WLAN frequency band respectively. It is noticeable that impedance bandwidth in 2.4 GHz frequency band of WLAN is enlarged to three times due to use of inverted L-shaped slot in comparison with impedance bandwidth 140 MHz (2.39~2.53 GHz) obtained by use of the previous n-shaped slot. In addition, good omnidirectional radiation patterns have been observed over the entire frequency band of interest.

• Journal of Advanced Navigation Technology
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• v.12 no.2
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• pp.100-108
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• 2008

In this paper, the dual-ground, high-gain and broad-band internal antenna has been designed and fabricated for 4th-generation mobile communication applications. The optimized antenna was fabricated using photolithography method. The antenna consist of the patches, antenna and system ground, and a probe. The patch and ground plane were separated by air. In order to prevent the demage due to radiator swaying, the foams(${\varepsilon}_r{\fallingdotseq}1.03$) were used to fix the patches and ground. The conductor for the radiators was 0.05 [mm] thick. The measured input return loss showed less than -10 [dB] at the broadband from 3499 to 4743 [MHz]. It's measured bandwidth was 1244 [MHz]. The radiation patterns measured at 3400, 3600, 3800, 4000 and 4200 [MHz] showed Omni-directional characteristics. The gain in the E-plane and H-plane was 4.7 ~ 6.1 and 2.1 ~ 4.3 [dBi], respectively.

• Journal of Advanced Navigation Technology
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• v.22 no.5
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• pp.449-455
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• 2018

For the size reduction, we propose a microstrip-fed monopole antenna with half X-slot in the radiation patch and cover WLAN dual band 2.4 GHz band (2.4 ~ 2.484 GHz) and 5 GHz band (5.15 ~ 5.825 GHz). The frequency characteristics such as impedance bandwidth and resonant frequencies were satisfied by optimizing the numerical values of various parameters, while the reflection loss in 5 GHz was improved by using defected ground structure (DGS). The proposed antenna is designed and fabricated on a FR-4 substrate with dielectric constant 4.3, thickness of 1.6 mm, and size of $24{\times}41mm^2$. The measured impedance bandwidths (${\mid}S_{11}{\mid}{\leq}-10dB$) of fabricated antenna are 450 MHz (2.27 ~ 2.72 GHz) in 2.4 GHz band and 1340 MHz (4.79 ~ 6.13 GHz) in 5 GHz band which sufficiently satisfied with the IEEE 802. 11n standard in dual band. In particular, radiation patterns which are stable as well as relatively omni-direction could be obtained, and the gain of antennas in each band was 1.31 and 1.98 dBi respectively.

• Proceedings of the Korean Geotechical Society Conference
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• 2009.09a
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• pp.133-144
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• 2009

Incheon Bridge, 18.4 km long sea-crossing bridge, will be opened to the traffic in October 2009 and this will be the new landmark of the gearing up north-east Asia as well as the largest & longest bridge of Korea. Incheon Bridge is the integrated set of several special featured bridges including a magnificent cable-stayed girder bridge which has a main span of 800 m width to cross the navigation channel in and out of the Port of Incheon. Incheon Bridge is making an epoch of long-span bridge designs thanks to the fully application of the AASHTO LRFD (load & resistance factor design) to both the superstructures and the substructures. A state-of-the-art of the geotechnologies which were applied to the Incheon Bridge construction project is introduced. The most Large-diameter drilled shafts were penetrated into the bedrock to support the colossal superstructures. The bearing capacity and deformational characteristics of the foundations were verified through the world's largest static pile load test. 8 full-scale pilot piles were tested in both offshore site and onshore area prior to the commencement of constructions. Compressible load beyond 30,000 tonf pressed a single 3 m diameter foundation pile by means of bi-directional loading method including the Osterberg cell techniques. Detailed site investigation to characterize the subsurface properties had been carried out. Geotextile tubes, tied sheet pile walls, and trestles were utilized to overcome the very large tidal difference between ebb and flow at the foreshore site. 44 circular-cell type dolphins surround the piers near the navigation channel to protect the bridge against the collision with aberrant vessels. Each dolphin structure consists of the flat sheet piled wall and infilled aggregates to absorb the collision impact. Geo-centrifugal tests were performed to evaluate the behavior of the dolphin in the seabed and to verify the numerical model for the design. Rip-rap embankments on the seabed are expected to prevent the scouring of the foundation. Prefabricated vertical drains, sand compaction piles, deep cement mixings, horizontal natural-fiber drains, and other subsidiary methods were used to improve the soft ground for the site of abutments, toll plazas, and access roads. Light-weight backfill using EPS blocks helps to reduce the earth pressure behind the abutment on the soft ground. Some kinds of reinforced earth like as MSE using geosynthetics were utilized for the ring wall of the abutment. Soil steel bridges made of corrugated steel plates and engineered backfills were constructed for the open-cut tunnel and the culvert. Diverse experiences of advanced designs and constructions from the Incheon Bridge project have been propagated by relevant engineers and it is strongly expected that significant achievements in geotechnical engineering through this project will contribute to the national development of the longspan bridge technologies remarkably.