• Journal of the Korean Society of Marine Environment & Safety
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• v.23 no.3
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• pp.273-278
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• 2017

This paper is to study a technique to detect the real-time route aberrance on the passage route using bumper area of the ship domain theory. In order to evaluate the risk of route aberrance, a quarter line was created between the center line and the outer line, and a passage route with the image line outside the outer line was designed. It calculated the real-time route aberrance with the vessel bumper area to measure the risk level on the passage route. The route aberrance using overlap bumper area was simulated through three kinds of scenario vessel at the designed passage route. In this paper, we proposed Ratio to Aberrance Risk as one of the evaluation parameter to detect the route aberrance risk at each sector in the passage route and to give the evaluation criteria of 5 levels for seafarer's navigation safety. The purpose of this work is to provide the information of the route aberrance to seafarer automatically, to make it possible to prevent the human errors of seafarer on the high risk aberrance route. As the real-time risk of route aberrance on the passage route is automatically evaluated, it was well thought that seafarer can have only a little workload in order to know the risk of route aberrance at early-time. Following the further development of this work, the techniques for detecting the real-time route aberrance will be able to use the unmanned vessel.

• 전자공학회논문지 IE
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• v.43 no.1
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• pp.59-66
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• 2006

In this study, we have proposed a motion equation to control synchro drive mobile robot, a path plan to compute and track the best path to given destination and a technique utilizing uniform distribution and cluster management based Monte Carlo localization to have track current position of moving robot. In the localization test which was repeated 73 times resulted as following. The average process time of original Monte Carlo localization was 12.8ms. The proposed cluster management Monte Carlo localization resulted 9.3ms. Also the proposed method resulted correctly in the cases where original method failed.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.19 no.1
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• pp.145-155
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• 2010

This paper presents a new approach to obstacle avoidance for mobile robot in unknown or partially unknown environments. The method combines two navigation subsystems: low level and high level. The low level subsystem takes part in the control of linear, angular velocities using a multivariable PI controller, and the nonlinear position control. The high level subsystem uses ultrasonic and IR sensors to detect the unknown obstacle include static and dynamic obstacle. This approach provides both obstacle avoidance and target-following behaviors and uses only the local information for decision making for the next action. Also, we propose a new algorithm for the identification and solution of the local minima situation during the robot's traversal using the set of fuzzy rules. The system has been successfully demonstrated by simulations and experiments.

• Journal of Information Processing Systems
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• v.9 no.1
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• pp.1-30
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• 2013

The capitalization of know-how, knowledge management, and the control of the constantly growing information mass has become the new strategic challenge for organizations that aim to capture the entire wealth of knowledge (tacit and explicit). Thus, knowledge mapping is a means of (cognitive) navigation to access the resources of the strategic heritage knowledge of an organization. In this paper, we present a new mapping approach based on the Boolean modeling of critical domain knowledge and on the use of different data sources via the data mining technique in order to improve the process of acquiring knowledge explicitly. To evaluate our approach, we have initiated a process of mapping that is guided by machine learning that is artificially operated in the following two stages: data mining and automatic mapping. Data mining is be initially run from an induction of Boolean case studies (explicit). The mapping rules are then used to automatically improve the Boolean model of the mapping of critical knowledge.

• Journal of the Korean Institute of Educational Facilities
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• v.11 no.1
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• pp.25-37
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• 2004

This study is derived from a problem for the blind, how to recognize the space and how to find their way. Unlike ordinary people, the disabled people are closely related with special constructor environment using the other sense. Especially, to find his/her location, each person depends on the wayfinding ability as acquiring specific and various information,(e.g. recognizing figure by tactile sense, space size by auditory sense, direction by light from a window and regular noise, and existence of switch in a specific place.) Those senses help the person's wayfinding to his/her destination. The procedure of wayfinding are location, position, orientation, navigation, and movement. Consequently, construction for the people above mentioned can offer a design-guideline considering following factors, building arrangement considering regular noise, refurbishment, plan configuration of floor and wall-skin changed, circulation stream that maintains right angle by the regular noise in the building, enforcement location character by the inflow of the light into a crossing.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.14 no.6
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• pp.303-308
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• 2014

This paper deals with interface design of a university webzines that to search through an internet portal site Naver. It was obtained the following conclusions. First, university webzines are using a hypertext link to such images, text, movie. Second, it could be seen that mainly been using block grid, the module grid, and a transformed layout of 2 tier grid. Third, Seoul woman's University, Kyungpook National University, and Korea Maritime University's webzines found that layout, color, user-friendly access the structure. Fourth, webzine was used the text or image a link, search function, site map, icon, favorites, quick menus, navigation bars, and rollover menu. Last, university webzines were shown to contribute mere to the enhancement of its value as a promotional medium.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.13 no.2
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• pp.140-146
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• 2013

In this paper, we describe a vision sensor-based driving algorithm for indoor automatic guided vehicles (AGVs) that facilitates a path tracking task using two mono cameras for navigation. One camera is mounted on vehicle to observe the environment and to detect markers in front of the vehicle. The other camera is attached so the view is perpendicular to the floor, which compensates for the distance between the wheels and markers. The angle and distance from the center of the two wheels to the center of marker are also obtained using these two cameras. We propose five movement patterns for AGVs to guarantee smooth performance during path tracking: starting, moving straight, pre-turning, left/right turning, and stopping. This driving algorithm based on two vision sensors gives greater flexibility to AGVs, including easy layout change, autonomy, and even economy. The algorithm was validated in an experiment using a two-wheeled mobile robot.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.10
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• pp.955-961
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• 2006

The global ultrasonic system for the self-localization of a mobile robot consists of several ultrasonic transmitters fixed at some reference positions in the global coordinates of robot environment. By activating the ultrasonic transmitters, the mobile robot is able to get the distance to the ultrasonic transmitters and compute its own position in the global coordinate. Due to the limitation on the ultrasonic signal strength and beam width as well as the environmental obstacles however, the ultrasonic signals from some generator may not be transmitted to the robot. Thus, instead of activating the all ultrasonic transmitters, it is necessary to select some ultrasonic generators to activate based on the current robot position. In this paper, we propose a selective activation algorithm for self-localization with the global ultrasonic system. The selective activation algorithm gets the meaningful ultrasonic data at every sampling instants, which results in the faster and more accurate response of the self-localization than the conventional sequential activation. Through the self-localization and path following control, we verify the effectiveness of the proposed selective activation algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.5
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• pp.398-405
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• 2005

The intelligent robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, robots need to recognize their position and posture in known environment as well as unknown environment. Moreover, it is necessary for their localization to occur naturally. It is desirable for a robot to estimate of his position by solving uncertainty for mobile robot navigation, as one of the best important problems. In this paper, we describe a method for the localization of a mobile robot using image information of a moving object. This method combines the observed position from dead-reckoning sensors and the estimated position from the images captured by a fixed camera to localize a mobile robot. Using a priori known path of a moving object in the world coordinates and a perspective camera model, we derive the geometric constraint equations which represent the relation between image frame coordinates for a moving object and the estimated robot's position. Also, the control method is proposed to estimate position and direction between the walking human and the mobile robot, and the Kalman filter scheme is used for the estimation of the mobile robot localization. And its performance is verified by the computer simulation and the experiment.

• Journal of Korean Port Research
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• v.14 no.4
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• pp.419-427
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• 2000

Today travel demand continues to increase with spread of economic zones. Also, urban freeway plays an important role in intra-zone transportations as a major corridor in a big city. However, most of urban freeways experience a severe congestion with the excess of inflowing or outflowing traffic through freeway ramps. The purpose of this study is to identify the traffic characteristics, analyze the relationships between the traffic characteristics and finally construct the speed predictive models on the ramp junctions of urban freeway under the intelligent transportation system(ITS) settings. From the analyses of traffic characteristics following results were obtained: ⅰ) 24 hours average traffic characteristics flow, occupancy, speed under the ITS settings showed about 40%, 38%, 8.8% increase each on urban freeway junctions period when compared with that under the non-ITS settings each other. Free flow speed and traffic flow on the mainline sections of urban freeway under the ITS settings also showed about 20% and 17% increase when compared with that under the non-ITS, respectively. ⅱ) The upstream when compared speed( $S_{u}$)and downstream occupancy( $O_{d}$) were especially shown to have higher explanatory powers on the stable flow ramp junctions, but the upstream speed( $S_{u}$) and downstream flow( $V_{d}$) were especially shown on the unstable flow ramp junctions of urban freeway under the ITS settings.ngs.ngs.