• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2004.04a
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• pp.465-470
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• 2004

In this paper, an open architecture control system for automatic container cranes is investigated. A standard reference model for cranes, which consists of three modules； hardware module, operating system module, and application software module, is proposed. A hybrid control architecture combining deliberative and reactive controls for the autonomous operation of the cranes is proposed. The main contributions of this paper are as follows： First, a new reference platform for the crane control system is proposed. Second, by analyzing the structure of a container crane, implementation strategies for the automatic container crane are described.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.04a
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• pp.540-544
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• 2001

This paper addresses a hybrid control architecture for the hospital service robot, SmartHelper. In hybrid architecture, the deliberation takes place at planning layer while the reaction is dealt through the parallel execution of operations. Hence, the system presents both a hierarchical and an heterarchical decomposition, being able to show a predictable response while keeping rapid reactivity to the dynamic environment. The deliberative controller accomplishes four functions which are path generation, selection of navigation way, command and monitoring. The reactive controller uses fuzzy and potential field method for robot navigation. Through simulation under a virtual environment IGRIP, the effectiveness of the hybrid architecture is verified.

• Journal of Navigation and Port Research
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• v.33 no.7
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• pp.501-504
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• 2009

There are many difficulties to supply constant power to marine facilities which operate in the sea. Especially, there is a limit to stand alone power supply systems due to the influence of weather conditions. That's why a hybrid power supply system is required to overcome these problems. This paper will describe an Electronic Anti-Fouling System (EAFS) to maximise the power efficiency for a solar - wave hybrid power generation system. A main factor reducing the efficiency of a Wave Energy Converter (WEC) is due to the attachment of aquatic life forms. Therefore the aim of this research is to develop a simulation programme to enable the design of more efficient EAFS for hybrid power generation systems and to provide valuable data for production of more efficient EAFS.

• Journal of the Korean Institute of Navigation
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• v.10 no.1
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• pp.29-40
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• 1986

Abroad-band design method of a lumped-element 3 dB quadrature hybrid without magnetic coupling is proposed and discussed, where techniques of cascading fundamental hybrids via second-order delay equializers and adding matching sections are adopted. It is shown that the designed broad-band lumped-element 3 dB quadrature hybrid can be easily constructed and its bandwidth reaches up to 54%. Furthermore, the experiments have been carried out, the results of which agree with the theoretical ones, and hence, the validity of the broad-band design method proposed here was confirmed.

• Journal of Advanced Navigation Technology
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• v.17 no.6
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• pp.633-637
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• 2013

By using geolocation and maps, we need to trace the path of ourselves, others, or the objects. Until now, we used a native apps development mehod to develop path tracking systems in mobile devices such as smart phones and tablet computers. A disadvantage of this method is that we have to work again to provide the same service on different platforms. Web Apps and Hybrid Apps are developed to recover this disadvantage. Since Hybrid Apps look like Native Apps apparently, users prefer Hybrid Apps to Web Apps. In this paper, we develop a hybrid app which can trace the path on mobile devices. The recently suggested next generation markup language, HTML5, has geolocation features. By using them, we implemented a hybrid app for a path tracking system. First, we create a web app using HTML5, CSS, and JavaScript, Then, PhoneGap, a mobile development framework, is used to convert it to the hybrid app. By implementing hybrid app, various apps which need path tracking can be developed rapidly and effectively, regardless of the mobile devices.

• Journal of Korean Neurosurgical Society
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• v.62 no.1
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• pp.35-45
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• 2019

Objective : To describe our experiences with a fully equipped high-end digital subtraction angiography (DSA) system within a hybrid operating room (OR). Methods : A single-plane DSA system with 3-dimensional rotational angiography, cone-beam computed tomography (CBCT), and real-time navigation software was used in our hybrid OR. Between April 2014 and January 2018, 191 sessions of cerebrovascular procedures were performed in our hybrid OR. After the retrospective review of all cases, the procedures were categorized into three subcategorical procedures : combined endovascular and surgical procedure, complementary rescue procedure during intervention and surgery, and frameless stereotaxic operation. Results : Forty-nine of 191 procedures were performed using hybrid techniques. Four cases of blood blister aneurysms and a ruptured posterior inferior cerebellar artery aneurysm were treated using bypass surgery and endovascular trapping. Eight cases of ruptured aneurysm with intracranial hemorrhage (ICH) were treated by partial embolization and surgical clipping. Six cases of ruptured arteriovenous malformation with ICH were treated by Onyx embolization of nidus and subsequent surgical removal of nidus and ICH. Two (5.4%) of the 37 cases of pre-mature rupture during clipping were secured by endovascular coil embolization. In one (0.8%) complicated case of 103 intra-arterial thrombectomy procedures, emergency surgical embolectomy with bypass surgery was performed. In 27 cases of ICH, frameless stereotaxic hematoma aspiration was performed using $XperGuide^{(R)}$ system (Philips Medical Systems, Best, the Netherlands). All procedures were performed in single sessions without any procedural complications. Conclusion : Hybrid OR with a fully equipped DSA system could provide precise and safe treatment strategies for cerebrovascular diseases. Especially, we could suggest a strategy to cope flexibly in complex lesions or unexpected situations in hybrid OR. CBCT with real-time navigation software could augment the usefulness of hybrid OR.

• Journal of Advanced Navigation Technology
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• v.17 no.6
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• pp.658-663
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• 2013

In this paper, a microstrip line implementation using via transition and its application of multilayer compact ring hybrid coupler are presented. This transition is the sandwich structure with via hole to connect two microstrip lines in different layer. For designing a compact RF/Microwave passive circuit, the microstrip line using via-hole transition is proposed to reduce a size of microwave circuit with long transmission line. For the validation of the microstrip line with via-hole transition, the multilayer ring hybrid coupler is implemented at center frequency of 2 GHz. The measured performances are in good agreement with simulation results and about 50% size reduction compare to conventional ring hybrid coupler.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2004.04a
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• pp.459-464
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• 2004

In this paper, an autonomous navigation system for autonomous guided vehicles (AGVs) operated in an automated container terminal is designed. The navigation system is based on the sensors detecting the range and bearing. The navigation algorithm used is an interacting multiple model (IMM) algorithm to detect other AGVs and avoid other obstacles using informations obtained from multiple sensors. As models to detect other AGVs (or obstacles), two kinematic models are derived： Constant velocity model for linear motion and constant speed turn model for curvilinear motion. For constant speed turn model, an unscented Kalman filter (UKF) is used because of drawbacks of the extended Kalman filter (EKF) in nonlinear system. The suggested algorithm reduces the root mean squares error for linear motions, while it can rapidly detect possible turning motions.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.884-887
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• 1996

This paper describes a GPS/DR integration filter for a car navigation system. A new GPS/DR integration filter is derived for obtaining more accurate and reliable position data. The covariance analysis results and simulation results are shown for evaluating the performance of the proposed GPS/DR integration filter.

• Journal of Advanced Navigation Technology
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• v.11 no.3
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• pp.274-280
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• 2007

An ultra-wideband signal is characterized by a radiated spectrum with wide bandwidth around a relatively low center frequency. In this paper, the bit error rate (BER), packet error rate (PER), and data throughput performance for an ultra-wideband system with M-ary correlation receiver are analyze in additive white Gaussian noise (AWGN) and co-channel interference channel. To evaluate the performance of UWB system, a set of UWB communication waveform as pulse position modulated (PPM) signals consisting of more than one UWB pulse is used. The M-ary PPM signals are defined to be equally correlated in order to simplify the system performance analysis. The analysis for system performance shows that the wireless channel error significantly degrades throughput performance and can be effectively increased by hybrid ARQ scheme. Also, an attempt for comparing the data throughput of ultra-wideband system on different performance improvement schemes and parameters has been made. From the performance evaluation process, it is shown that the effects of wireless channel and hybrid ARQ scheme for ultra wideband M-ary PPM system can be evaluated by means of a suitable combination of the PER, throughput vs. signal-to-noise power ratio per bit.