• Journal of the Institute of Electronics Engineers of Korea CI
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• v.44 no.6
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• pp.19-29
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• 2007

This paper introduces a robot knowledge framework which is represented with multiple classes, levels and layers to implement robot intelligence at real environment for mobile robot. Our root knowledge framework consists of four classes of knowledge (KClass), axioms, rules, a hierarchy of three knowledge levels (KLevel) and three ontology layers (OLayer). Four KClasses including perception, model, activity and context class. One type of rules are used in a way of unidirectional reasoning. And, the other types of rules are used in a way of bi-directional reasoning. The robot knowledge framework enable a robot to integrate robot knowledge from levels of its own sensor data and primitive behaviors to levels of symbolic data and contextual information regardless of class of knowledge. With the integrated knowledge, a robot can have any queries not only through unidirectional reasoning between two adjacent layers but also through bidirectional reasoning among several layers even with uncertain and partial information. To verify our robot knowledge framework, several experiments are successfully performed for object recognition and navigation.

• Journal of Navigation and Port Research
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• v.44 no.3
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• pp.158-165
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• 2020

Buoys are a necessary component for the safety of vessel traffic. However, if the buoy becomes inoperable from damage and loss, it can have significant impact on vessel traffic safety as well as unexpected budget spending. The purpose of this study was to evaluate the risk of accidental contact by applying the marine traffic assessment index that can reflect the traffic flow in the sea area. First, Busan Port No. 5 fairway, with a high number of buoys and many contact accidents, was set as the sea area for assessment. to investigate the status of accidental contact and evaluate risk of contact accidents based on the IALA Waterway Risk Assessment Programme (IWRAP MkII) and Potential Assessment of Risk Model (PARK Model). As a result, buoys are near the P recautionary Area wherein the traffic flow was complicated by the Masan port vessel and Busan new port vessel, and buoys are near the entrance of the Gadeok waterway, wherein vessels show a pattern of navigation across the fairway and buoys are near the breakwater in the inner fairway were considered as high risk for contact accidents. This study can be used as basic data for establishing an integrated model to evaluate the risk of buoy contact accidents.

• Journal of the Korean Association of Geographic Information Studies
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• v.22 no.2
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• pp.50-64
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• 2019

According to the Maritime Safety Act, there are all 34 routes including 5 traffic safety zones, 3 traffic separation schemes, 26 routes designated by regional maritime affairs departments in the Republic of Korea. In the SOLAS convention, the route information should be is effectively used for the safe navigation. However, the route information is complicatedly composed of the location of the route, the navigation rule by each route, the restriction of the navigation, and the anchorages. Moreover, the present method of providing information using the navigational chart and other publications is not effective for users to grasp the navigational information. Therefore, it was conducted to study the design of the S-100 based routing information data model developed by the International Hydrographic Organization to find ways to more effectively provide route information. To do this, the analysis of route requirement, selection of items, encoding test and users' review were carried out. Through expert user review, it was evaluated that the study on the design of the route information data model can be utilized as a good basic data for the route information integration service. Future research on the development of route information data models is expected to provide integrated route information services.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2019.05a
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• pp.230-231
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• 2019

This study is a development on condition based maintenance(CBM) technology which is a core item of future autonomous ships. It is developing to design & installation of condition monitoring system and acquisition & processing of data from ongoing ships for fault prediction & prognosis of engine in operation. The ultimate goal of this study is to develop a predicts and decision support software for marine engine faults. To do this, the FMEA and fault tree analysis of the main engine should be accompanied by the analysis of classification of system, identification of the components, the type of faults, and the cause and phenomenon of the failure. Finally, the CBM system solution software could predict and diagnose the failure of main engine through integrated analysis for bid-data of ongoing ships and engineering knowledge. Through this study, it is possible to pro-actively cope with abnormal signals of engine and to manage efficiently, and as a result, expected that marine accident and ship operation loss during navigation will be prevented in advance.

• Proceedings of the KSME Conference
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• 2001.06c
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• pp.213-218
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• 2001

VR (Virtual reality) technologies have given engineers the ability to design, test, and evaluate engineering systems in a virtual environment. The virtual plant is the highlight of the application of the VR technology to plant engineering. Plant design, maintenance, control, management, operation are integrated in the virtual plant. The VR monitoring system including the concept of the virtual plant is developed to replace a current control room that has number of gages and warning lamps in two-dimensional panels which shows the operating status of a plant. The operating status of the plant is displayed in the VR monitoring system through the realistic computer graphics. Sophisticated, realistic and prompt control becomes possible. The VR monitoring system consists of advanced visualization, walk-through simulation and navigation. In the virtual environment, a user can navigate and interact with each component of a plant. In addition, the user can access the information by just clicking interesting component. The VR monitoring system is operated with various modules, such as (1) virtual plant constructed with Graphic Management System (GMS), (2) Touch & Tell System, and (3) Equipment DB System of Part. In order to confirm the usefulness of the VR monitoring system, a pilot gas plant which is currently being used for plant operator training is taken as application. The end of the paper gives an outlook on the future work and a brief conclusion.

• Journal of Advanced Marine Engineering and Technology
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• v.39 no.3
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• pp.261-267
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• 2015

A support system which allows operator to check the condition of a vessel and to warn the sea risk in order to prevent accidents of leisure boats, is required. Therefore, this paper proposes a navigational safety support system to ensure the safety of vessels by monitoring and managing the status of those ships. In developing a system process, each developed equipment is integrated and verified whether the functional, compositional and operational algorithms are working properly according to the designed object.

• The Journal of Korea Robotics Society
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• v.2 no.4
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• pp.334-340
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• 2007

This paper introduces a prototype smart home environment that is built in the research building to demonstrate the feasibility of a robot-assisted future home environment. Localization, navigation, object recognition and handling are core functionalities that an intelligent service robot should provide. A huge amount of research effort has been made to make the service robot perform these functions with its own sensors, actuators and a knowledge base. With all complicated configuration of sensors, actuators and a database, the robot could only perform the given tasks in a predefined environment or show the limited capabilities in a natural environment. We started a smart home environment for service robots for simple service robots to provide reliable services by communicating with the environment through the wireless sensor networks. In this paper, we introduce various types of smart devices that are developed for assisting the robot in the environment by providing sensor and actuator capabilities. In addition, we present how the devices are integrated to constitute the smart home environment for service robots.

• Journal of Broadcast Engineering
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• v.14 no.2
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• pp.154-163
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• 2009

Traditional broadcasting environment is merged with various interactive broadcasting services, and the users use these services through Set-Top-Boxes. But they have limited user interfaces, which are not suitable for TV environments by adopting internet formats. Therefore, this paper suggests a User Navigating Interface which helps the audiences to select and watch their favorite channels more effectively. Firstly, this paper analyzes EPG interface - the most basic service in interactive broadcasting. Secondly, it suggests a user interface and service structure suitable in the network-integrated TV environment.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.5 no.1
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• pp.125-132
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• 2001

This paper proposes integrated safety diagnosis system of motor used in a ship. It carried out the safety diagnosis for insulation-resistor and current. The motor exposed to sea breeze and oil all the time is able to have problems as a over-current, reduction of the insulation-resistor and so on. These problems impact on the safety navigation, and occur a heavy casualties and loss of property. The proposed system is able to sense error of the motor before a accident occur, by verifying and controlling value of the insulation-resistor and current in working area or control room. The validity of the proposed system is verified through experiment results on the 3-Phase induction motor.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1039-1043
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• 2005

Despite the many significant advances made in robot architecture, the basic approaches are deliberative and reactive methods. They are quite different in recognizing outer environment and inner operating mechanism. For this reason, they have almost opposite characteristics. Later, researchers integrate these two approaches into hybrid architecture. In such architecture, Reactive module also called low-level motion control module have advantage in real-time reacting and sensing outer environment; Deliberative module also called high-level task planning module is good at planning task using world knowledge, reasoning and intelligent computing. This paper presents a framework of the integrated planning and control for mobile robot navigation. Unlike the existing hybrid architecture, it learns topological map from the world map by using MST (Minimum Spanning Tree)-based SOFM (Self-Organizing Feature Map) algorithm. High-level planning module plans simple tasks to low-level control module and low-level control module feedbacks the environment information to high-level planning module. This method allows for a tight integration between high-level and low-level modules, which provide real-time performance and strong adaptability and reactivity to outer environment and its unforeseen changes. This proposed framework is verified by simulation.