• Journal of Advanced Navigation Technology
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• v.21 no.1
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• pp.21-29
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• 2017

In this paper, we studied the control of the hybrid underwater glider (HUG), which has the advantage of high precision route search function and long-term mission capability. Dynamic modeling of HUG is based on numerical model of the attitude controller and buoyancy engine, thruster. We designed the control part considering the smooth control and precise sailing of HUG. A buoyancy engine capable of inhaling water is designed to control the buoyancy of HUG. And mass shifter carrying the battery was designed for controlling pitching motion of HUG. A control system for controlling the buoyancy engine and the attitude controller was constructed. In order to verify performance, we performed water tank test using manufactured HUG.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1178-1183
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• 2003

As personal robots coexist with a person with a role to help a person, while adapting various human life and environment, the personal robots have to accommodate frequently-changing or different-from-home-to-home environment. In addition, personal robots may have many kinds of different Kinematic configurations depending on the capabilities. Some may have a mobile base and others may have arms and a head. The motivation of this study arises from this not-well-defined home environment and varying Kinematic configuration. So the goal of this study is to develop a general control architecture for personal robots. There exist three major architectures; deliberative, reactive and hybrid. We found that these are applicable only for the defined environment with a fixed Kinematic configuration. Neither could accommodate the above two requirements. For the general solution, we propose a Supervised Hybrid Architecture (SHA), in which we use double layers of deliberative and reactive controls, distributed control with a modular design of Kinematic configurations, and real-time Linux OS. Deliberative and reactive actions interact through a corresponding arbitrator. These arbitrators help a robot to choose an appropriate architecture depending on the current situation to successfully perform a given task. The distributed control modules communicate through IEEE 1394 for the easy expandability. With a personal robot platform with a mobile base, two arms, a head and a pan-tilt stereo eye system, we tested the developed SHA for static as well as dynamic environments. For this application, we developed decision-making rules for selecting appropriate control methods for several situations of navigation task. Examples are shown to show the effectiveness.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.9
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• pp.4408-4428
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• 2019

Due to the rapid advancement in smart phones, numerous new specifications are developed for variety of applications ranging from health monitoring to navigations and tracking. The word indoor navigation means location identification, however, where GPS signals are not available, accurate indoor localization is a challenging task due to variation in the received signals which directly affect distance estimation process. This paper proposes a hybrid approach which integrates fingerprinting based K-Nearest Neighbors (K-NN) and lateration based MinMax position estimation technique. The novel idea behind this hybrid approach is to use Euclidian distance formulation for distance estimates instead of indoor radio channel modeling which is used to convert the received signal to distance estimates. Due to unpredictable behavior of the received signal, modeling indoor environment for distance estimates is a challenging task which ultimately results in distance estimation error and hence affects position estimation process. Our proposed idea is indoor position estimation technique using Bluetooth enabled smart phones which is independent of the radio channels. Experimental results conclude that, our proposed hybrid approach performs better in terms of mean error compared to Trilateration, MinMax, K-NN, and existing Hybrid approach.

• Journal of Navigation and Port Research
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• v.34 no.5
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• pp.311-317
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• 2010

Mobile Harbor(MH) is a new paradigm for maritime transport system introduced in Korea, the target of which is to carry out ship-to-ship cargo operation rapidly and effectively even under a condition of sea state 3. A MH ship is moored alongside a large container vessel anchored at the defined anchorage and also equipped with gantry cranes for handling containers. The MH study concerned includes rapid container handling system, optimum design for floating structure, hybrid berthing & cargo operation system, design for cargo handling crane, etc. This paper is to deal with a conceptual design of a stabilized mooring system and mooring equipment under a condition of ship-to-ship mooring. In this connection, we suggest a positioning control winch system in order to control heave motions of the MH ship which is to add constant brakepower and stabilized function to an auto-tension winch and mooring equipment used currently in large container ships.

• Journal of Navigation and Port Research
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• v.37 no.6
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• pp.597-601
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• 2013

Recently, many studies about the wave power generation system for the marine structure as the hybrid form in linked with the original features have been made of. Of these, the wave power generation system using oscillating water column(OWC) has function to convert wave energy to electrical energy with original function of the break water structure. In this type of generation system, it is important to make the flow of sea water as much as possible without loss. Output characteristics of wave power generation system depending on entrance section were described in the paper. Also, flow quantity changing with entrance section, velocity of sea water and output of wells turbine were measured by simulating OWC wells turbine model in break water, one of the general marine structure. Finally, entrance section was suggested to enhance the energy conversion efficiency based on the results of simulation.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.46 no.1
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• pp.50-55
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• 2010

The ship's heading information of hybrid GPS/EM compass were applied to the AIS of fishing vessel and examined the possibility of accuracy improvement. It is observed 453 each in AIS receiver of land among 3,982 each in AIS Rx/Tx transponder of the test ship at sea, and transmission interval according to the speed of ship is determined the 11.4% good transmitting data of the all information. In results, maximum compass error for the ship's heading of an EM compass was $19.1^{\circ}$. The variance of ship's heading owing to the speed of ship is surveyed. The COG (Course Over Ground) was changed extremely in $180^{\circ}W-179^{\circ}E$ range under 4.9knots, and in $24^{\circ}W-23^{\circ}E$ range over 4.9knots. Finally, using the ship's heading of EM compass and the COG from GPS for the autopilot system of a small fishing boat and the ship's heading information of AIS results in danger on the own ship's navigation safety and leads to make confusion both the others and VTS (Vessel Traffic Service) center. Therefore, the hybrid GPS/EM compass is identified as the best system for a small fishing boat and is allowed to offer continuously a ship's heading information with high accuracy and stability.

• Journal of Ocean Engineering and Technology
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• v.34 no.6
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• pp.475-480
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• 2020

Underwater operating platforms face difficulties regarding power supply and communications. To overcome these difficulties, this study proposes a hybrid surface and underwater vehicle (HSUV) and presents the development of the platform, control algorithms, and results of field tests. The HSUV is capable of supplying reliable power to the unmanned underwater vehicle (UUV) and obtaining data in real time by using a tether cable between the UUV and the unmanned surface vehicle (USV). The HSUV uses global positioning system (GPS) and ultra-short base line sensors to determine the relative location of the UUV. Way point (WP) and dynamic positioning (DP) algorithms were developed to enable the HSUV to perform unmanned exploration. After reaching the target point using the WP algorithm, the DP algorithm enables USV to maintain position while withstanding environmental disturbances. To ensure the navigation performance at sea, performance tests of GPS, attitude/heading reference system, and side scan sonar were conducted. Based on these results, manual operation, WP, and DP tests were conducted at sea. WP and DP test results and side scan sonar images during the sea trials are presented.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38C no.8
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• pp.663-673
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• 2013

The drastic growth of mobile communication and spreading of smart phone make the significant attention on Location Based Service. The one of most important things for vitalization of LBS is the accurate estimating position for mobile object. Focusing on IMU deployed in smart phone, we develop a hybrid positioning estimation framework with a combination of WPS. The developed approaches can strengthen the advantages of independent indoor applicability of IMU. The estimation of IMU is efficiently compensated by radio fingerprint based Wi-Fi Positioning System. We put a focus especially on the hybrid algorithmic framework. Compared on the existing approaches of WPS or IMU, we achieve the comparable higher performance on both of average error of estimation and deviation of errors. Furthermore test-bed based on smart phone platform is practically developed and all data have been harvested from the actual measurement of test indoor area. This can approve the practical usefulness of proposed framework.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2012.06a
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• pp.50-51
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• 2012

The final purpose of this study is to develop a hybrid ocean power generation system which has innovate and very high efficiency performance, and which can be operated on both emergency and normal conditions. So, A survey on the electricity power consumption of residential areas at island on south coast.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2011.11a
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• pp.136-137
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• 2011

The final purpose of this study is to develop a hybrid ocean power generation system which has innovate and very high efficiency performance, and which can be operated on both emergency and normal conditions. So, A survey on the electricity power consumption of residential areas at island on south coast.