• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2004년도 춘계학술대회 논문집
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• pp.465-470
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• 2004

본 논문에서는, 컨테이너 터미널에서 운행되는 컨테이너크레인의 자동화 시스템을 개방형 제어시스템으로 제안한다. 그리고, 개방형 제어시스템을 하드웨어 모듈과 OS 모듈 그리고 응용소프트웨어 모듈로 구성되는 표준모델로 제시한다. 본 논문의 기여도는 다음과 같다. 첫째, 크레인 제어시스템의 개방화를 위한 새로운 기준모델을 제안한다. 둘째로, 컨테이너크레인의 구조를 분석하고 자동화된 컨테이너크레인을 구현하기 위한 방법을 제안한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.152-152
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• 2000

In this paper, we propose a new approach to intelligent motion and autonomous maneuvering of mobile robots using hybrid system. In high Level, the discrete states are defined by using the sensor-based search windows and the reference motions of a mobile robot as a low vevel are specified in the abstracted motions, The mobile robots can perform both the motion planning and autonomous maneuvering with obstacle avoidance in indoor navigation problem. Simulation and experimental results show that hybrid system approach is an effective method for the autonomous maneuvering in indoor environments.

• 한국항해항만학회지
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• 제33권7호
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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.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
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• pp.277-282
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• 2006

It is well known that Kalman filtering is an optimal real-time data fusion method for GPS/INS integration. However, it has some limitations in terms of stability, adaptability and observability. A Kalman filter can perform optimally only when its dynamic model is correctly defined and the noise statistics for the measurement and process are completely known. It is found that estimated Kalman filter states could be influenced by several factors, including vehicle dynamic variations, filter tuning results, and environment changes, etc., which are difficult to model. Neural networks can map input-output relationships without apriori knowledge about them; hence a proper designed neural network is capable of learning and extracting these complex relationships with enough training. This paper presents a GPS/INS integrated system that combines Kalman filtering and neural network algorithms to improve navigation solutions during GPS outages. An Extended Kalman filter estimates INS measurement errors, plus position, velocity and attitude errors etc. Kalman filter states, and gives precise navigation solutions while GPS signals are available. At the same time, a multi-layer neural network is trained to map the vehicle dynamics with corresponding Kalman filter states, at the same rate of measurement update. After the output of the neural network meets a similarity threshold, it can be used to correct INS measurements when no GPS measurements are available. Selecting suitable inputs and outputs of the neural network is critical for this hybrid method. Detailed analysis unveils that some Kalman filter states are highly correlated with vehicle dynamic variations. The filter states that heavily impact system navigation solutions are selected as the neural network outputs. The principle of this hybrid method and the neural network design are presented. Field test data are processed to evaluate the performance of the proposed method.

• 한국항행학회논문지
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• 제15권6호
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• pp.1143-1151
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• 2011

본 논문은 각 기관별로 운영되고 있는 게시판 정보를 하나로 통합하여 클라우드 기반의 스마트폰 환경에서 사용자가 원하는 정보를 제공해주는 하이브리드 웹 기반 통합 시스템을 구현하였다. 본 시스템은 대학의 각 기관에서 운영되고 있는 웹 서버의 게시물 정보를 적절한 시간 간격으로 수집하여 저장 및 관리하는 SaaS 서비스의 웹로봇과 스마트 폰의 UI를 통한 사용자에게 정보를 제공하는 게시물관리 PaaS 서버로 구성된다. 또한, 스마트폰 사용자의 GPS 정보를 활용하여 새로운 게시물의 정보를 알려주는 알리미 어플을 구현하였다.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
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• pp.265-270
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• 2006

Recently, inertial sensors like gyros and accelerometers have been quite miniaturized by Micro Electro-Mechanical Systems (MEMS) technology. JAXA is developing a MEM-based GPS/INS hybrid navigation system named Micro-GAIA. The navigation performance of Micro-GAIA was evaluated through off-line analysis by using flight test data. The estimation errors of the roll, pitch, and azimuth were $0.03^{\circ}$, $0.05^{\circ}$, $0.05^{\circ}$ $(1{\sigma})$, respectively. he horizontal position errors after 60-second GPS outages were reduced to 25 m CEP. The attitude errors and position errors are nearly half of ones reported previously[2]. Furthermore, using the adaptive Kalman filters, the robustness against the uncertainty of the measurement noise was improved. Comparing the innovation-based and residual-based adaptive Kalman filters, it was confirmed that the latter is robuster than the former.

• 한국항행학회논문지
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• 제11권3호
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• pp.274-280
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• 2007

초 광대역 신호는 상대적으로 낮은 주파수에서 매우 넓은 대역폭을 갖는 방사 스펙트럼을 특징으로 하고 있다. 본 논문에서는 잡음과 동일채널간섭 채널에서 M-ary 상관 수신기 구조로 된 초 광대역 시스템의 비트 오율, 패킷 오율, 데이터 처리율 성능을 분석한다. UWB 시스템의 성능을 평가하기 위하여 하나 이상의 펄스 위치 변조 신호로 구성된 UWB 통신 파형을 사용하였다. 본 논문에서 사용된 M-ary PPM 신호는 시스템 성능 해석의 간략화를 위하여 균일하게 상관된 PPM 신호를 정의하였다. 시스템 성능의 해석을 통하여 무선 채널 에러는 처러율 성능을 감소시키며 hybrid ARQ 기법을 통하여 효과적으로 증가시킬 수 있음을 알 수 있었다. 또한, 성능 개선 기법과 사용된 파라미터를 통하여 초 광대역 시스템의 데이터 처리율 비교를 수행하였다. 성능 평가 과정을 통하여 무선 채널과 hybrid ARQ 기법의 영향을 신호 대 잡음 전력비에 따른 PER 및 처리율을 평가하였다.

• Journal of Korean Neurosurgical Society
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• 제62권1호
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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.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2011년도 추계학술대회
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• pp.162-163
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• 2011

This paper presents the system dynamics methodology for modeling and control the production/inventory system. Under system dynamics point of view, we can apply some production/inventory policies as if we use the control laws for dynamics systems, then the behavior of system is analyzed and evaluated to improve the performance of production/inventory system. We also utilize the hybrid modeling method for the dynamic of production system with the combination of Matlab/Simulink and Matlab/Sateflow. Finally, the numerical simulation results are carried out in Matlab/Simulink environment and compare with the results from other works. It is shown that our approach can obtain some good performances (such as operational cost, stability of inventory, customer service level).

• 한국항해항만학회지
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• 제35권8호
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• pp.637-641
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• 2011

해양구조물 전력시스템은 독립형 전력체계를 구축하기 어렵다. 그러므로 해상용 전력시스템을 효과적으로 운영하기 위하여 연료전지 및 하이브리드 전력체계를 연동한 전력시스템을 구축하는 것이 중요하다. 본 연구에서는 연료전지 기반의 해양구조물용 전력체계 설계에 필요한 수소 발생 메카니즘, 사용 전력량 계산과정 등을 기초로 해상용 연료전지 기반의 전력체계를 설계하고, 설계된 전력 시스템을 LabVIEW 프로그램을 활용하여 시뮬레이션 및 분석하였으며, 이를 기반으로 해양구조물용 전력시스템 설계 방안을 제안하고자 한다.