• The Journal of Korea Robotics Society
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• v.8 no.4
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• pp.247-255
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• 2013

This paper shows the development of a snake robot (KAEROT-snake V) which consists of 16 1-DOF actuator modules and head module. The modules are connected serially and the joint axis of each module is rotated by $90^{\circ}$ with respect to the previous joint so that the snake robot can move in the 3D space. A tail actuator module includes slip-ring and metal connector. KAEROT-snake IV developed in prior research could move in the 3D space and climb up in a narrow pipe. But its design was not appropriate to the unstructured tough environment and its speed was somewhat slow. A new actuator module is designed to enclose all parts of the module so that any wire is not exposed. The size and weight of the new module was slightly reduced. And the rotation speed and torque of the joint was increased by about twice when compared with pre-module. An embedded controller was developed so small that it can be mounted inside the module. The performance of the developed robot was demonstrated through various locomotion experiments.

• Journal of Navigation and Port Research
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• v.44 no.2
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• pp.65-72
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• 2020

Mankind has been using ships for more than 5,000 years and has developed a range of related technologies. However, despite such a long history, compared to aircraft with a history of approximately one century, the pace of progress has been markedly slow. Even though technological progress of ships or the installation of various navigation equipment have been achieved, seaborne collisions have occurred quite frequently. This study analyzed the TCAS( Traffic Collision Avoidance System) that has contributed to the prevention of collisions with other transport methods including aircraft to suggest a collision avoidance system that can be deployed for ships. To apply the technologies applied to aircraft that move in 3D to ships that move in 2D, the difference in the operational environment between the two modes was analyzed to identify elements that need to be applied to ships. The suggested display of data on the collision prevention system is one that manipulates the augmented reality display device used in automobiles that over the past few years has undergone rapid development. Based on the presentation of technological elements that need to be considered when adopting the SCAS or the Seaborne Collision Avoidance System as suggested in this study, the authors hope to contribute to the prevention of collisions.

• Journal of Mechanical Science and Technology
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• v.20 no.5
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• pp.602-611
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• 2006

This paper proposes a locomotion pattern and a control method for biped robots with curved soles. First, since the contact point of a supporting leg may arbitrarily move back and forth on the ground, we derived the desired trajectory from a model called the Moving. Inverted Pendulum Model (MIPM) where the Zero Moment Point (ZMP) exists at the supporting point and can be moved intentionally. Secondly, a biped robot with curved soles is an under-actuated system since the supporting point contacting with a point on the ground has no actuator during the single supporting phase. Therefore, this paper proposes a computed-torque control for this under-actuated system using decoupled dynamic equations. A series of computer simulations with a 7-DOF biped robot with curved soles shows that the proposed walking pattern and control method are effective and allow the biped robot to walk fast and stably, and move more like human beings. Also, it is shown that the curved sole shape has superior energy consumption compared to flat soles, and greater efficiency in ascending and descending the stairs.

• Journal of Advanced Navigation Technology
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• v.14 no.2
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• pp.198-205
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• 2010

Any user in Ubiquitous environments have to be able to access networks in anywhere and anytime. Thus interests and researches are increasing. In this paper, we propose an interface selection scheme that adaptively utilizes a proper interface, as the wireless channel condition changes, instead of utilizing only one interface while the node is in move. The proposed scheme can determine which interface would be the most proper one by measuring data rate, packet error rate (PER), and end-to-end delay of each interface. From the simulation results, it is verified that the proposed scheme is able to enhance packet transmission about 20% better.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.16 no.3
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• pp.216-223
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• 2016

This paper proposes a new controller design method for a fork-type lifter (FTL) of a transportation mobile robot. The transportation robot needs to pick up a package from a stack on a storage shelf and move on by a planned path in a logistics center environment. The position of the storage shelf is recognized by reading a QR code on the floor, and using this position, the robot can move to reach the storage shelf and pick up the package. PID controllers and an adaptive controller are designed to control the velocity of two wheels and the position of the FTL. An adaptive controller for the lifter is designed to elevate up and down on a slideway to the correct height position of the package on the stack of the storage shelf. The simulation results show that the PID controllers can respond smoothly to the desired angular velocity and the adaptive controller can adapt quickly and correctly to the desired height.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.52 no.4
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• pp.386-393
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• 2016

It is essential to provide good environment for juvenile fish to grow and spawn in order to keep reproduction mechanism of fisheries resources. However, harvesting juvenile fish deprives adult fish of the opportunity to reproduce, thereby changing self-regulating renewable resources into non-renewable ones and preventing sustainable harvesting as well as reducing fishers' income. We reviewed the catch status of Korea on juvenile mackerel and analyzed how reducing the catch ratio of juvenile mackerel may affect the spawning stock and Korean fishermen's revenue. In addition, we analyzed the problem of caching juvenile mackerel in Korean fisheries and current efforts to protect and reduce the catch ratio of juvenile mackerel in Korea. Furthermore, we suggested future efforts to protect juvenile mackerel. The result of the study showed that reducing the catch ratio of juvenile mackerel from 44.4% to 30.0% would increase fishers' revenue by 60.6 billion KRW. We suggest the changing of purse seine fishery's catching methods from night operation to day operation, relocation of fishing vessels to move to other fishing grounds when fishing vessels meet high density of juvenile mackerel, and consumers' clever choice of consuming adult mackerel in order to accelerate the move toward protecting juvenile mackerel in Korea.

• Proceedings of the KIEE Conference
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• 2001.07a
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• pp.240-242
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• 2001

On this research, to catch up with international trend on the power system utilities move to be digitalized and move to network is certainly technological on the global business world, to compete with advanced foreign countries in the range of transmit and distribute power system and to take possession of first market share within country, we talked over a monitoring system to diagnose, monitor ACB(Air Circuit Breaker) only which is operated on the low level voltage Power plant. AMS(ACB Monitoring System) have be configured with several modules such as engine module which acquire engineering data from HICM360/860(Communication Control Units) and analyze and save it, database module which restore data and can be inquired, system monitoring view module which reflects fields information within a second, realtime trend window, historical trend window, reports as daily and yearly. In a near future, AMS must upgrade GUI to have easy to handle and have to have a field test to fit on real plants, so it will have faith in system reliability as it can apply power plant monitoring system in wide.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.15 no.1
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• pp.147-155
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• 2015

In this paper, we consider a mobile sensor network for monitoring a polluted area where human beings cannot access. Due to the limited sensing range of individual unmanned vehicles, they need to cooperate to achieve an effective sensing coverage and move to a more polluted region. In order to address the limitations of sensing and communication ranges, we propose a hazardous substance monitoring network based on virtual force algorithms, and develop a testbed. In the considered monitoring network, each unmanned vehicle achieves an optimal coverage and move to the highest interest area based on neighboring nodes sensing values and locations. By using experiments based on the developed testbed, we show that the proposed monitoring network can autonomously move toward a more polluted area and obtain a high weighted coverage.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.39C no.9
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• pp.757-766
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• 2014

To compensate signal loss due to the channel blockage in satellite communication link, we propose a cooperative communication scheme for OTM(On-The-Move) terminal in next generation satellite communication systems. The proposed scheme configures cooperation subnet with adjacent OTM terminal with the help of ground communication equipment. Shared data is spread by orthogonal spreading code, then the spread sequences are transmitted simultaneously. The receiver combines the power of received signals by EGC(Equal gain combining). The OTM terminal blockage channel is modeled by 2-state Markov chain. We evaluate the bit error rate according to the blockage channel of the channel state for the performance analysis of the proposed scheme. As a result, the proposed scheme shows better BER performance than traditional scheme with the help of subset members. In particular, the proposed scheme shows superior performance as the channel block probability is higher. However, as the number of subset members is increasing, there is a constraint because of the higher multiple access interference.

• International Journal of Internet, Broadcasting and Communication
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• v.12 no.4
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• pp.93-101
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• 2020

Shipyards are potential environments for using IoT services, sensor networks, and delay tolerant networks. Simulations of those services and networks strongly rely on human mobility models. Results obtained with an unrealistic model may not reflect the true performance of applications, protocols, and algorithms in a shipyard. A lot of synthetic models for human movements have been studied but most of them are generic and focus on the daily movements of humans on city scales. Nevertheless, workers in shipyards have unique movement characteristics such as movement speed, pause time, and attractions places. For instance, workers usually move to some places, where they work, and rarely move to other places in the factory. Movement characteristics of workers not only depend on workers but also on tasks, which they do. For instance, workers, who paint ships, have similar movement speed and pause time. Hence, in this paper, human movements in shipyards are studied. We propose a new human mobility model called the human mobility mode in shipyards (MIS). In MIS, workers are classified into multiple types. Movement characteristics of a worker are similar to other workers in the same type. Based on the visiting probability, workers have some places, where they frequently visits, and some places, where they rarely visit. We analyze real mobility traces and studie to achieve human movement characteristics from real traces. The results show that MIS provides a well-match to the movement characteristic from real traces.