• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.34 no.2
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• pp.144-158
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• 1998

In order to study basic information on the developed electro-magnetic compass, experiments were carried out on board M. S. KAYA at the pier of Dong Kuk Steel Mill in Pusan and the Korean southern sea using a three-axis magnetic sensor from Jan. 21, 1995 to Feb. 14, 1996. The obtained results were as follows : 1. The amount of old metal on the pier was about 27,290tons~57,440tons with an average of 40,560tons, the artificial local disturbance at the pier was min. 27.1$\mu$T, max. 66.5$\mu$T, ave. 433$\mu$T for the horizontal component and min. -27.0$\mu$T, max. 45.1$\mu$T, ave. 3.7$\mu$T for the vertical component. Its direction of horizontal component was 305$^{\circ}$ with the ship's head up bearing at 225$^{\circ}$. 2. The ship's magnetic distribution on the starboard side on berthing at the pier was 17.4$\mu$T for the horizontal component and -6.2$\mu$T for the vertical component. On the ship's port side, it was 19.8$\mu$T for the horizontal component and 4.1$\mu$T for the vertical component. On the ship's starboard side at sea, the ship's magnetic distribution was 19.2$\mu$T for the horizontal component and 3.2$\mu$T for the vertical component. On the ship's port side, the readings were 22.0$\mu$T for the horizontal component and -1.8$\mu$T for the vertical component. The directions of these readings were nearly starboard side. 3. On the pier, the secular change of the artificial local disturbance decreased 8.3$\mu$T from 61.0$\mu$T to 52.7$\mu$T for the horizontal component and decreased 7.1$\mu$T from 8.9$\mu$T M 1.8$\mu$T for the vertical component. On the starboard side from its berth, the ship, s magnetic distribution increased 2.6$\mu$T from 14.8$\mu$T to 17.4$\mu$T for the horizontal component and increased -0.1$\mu$T from -6.1$\mu$T to -6.2$\mu$T for the vertical component. On the ship's port side from its berth, it increased 7.1$\mu$T from 12.7$\mu$T to 19.8$\mu$T for the horizontal component and increased 10.2$\mu$T from -6.1$\mu$T to 4.1$\mu$T for the vertical component. 4. While at sea, on the ship's starboard side, the Secular change of the ship's magnetic distribution increased 3.9$\mu$T from 15.3$\mu$T to 19.2$\mu$T for the horizontal component and increased 2.0$\mu$T from -5.2$\mu$T to -3.2$\mu$T for the vertical component. On the port side, the changes increased 11.4$\mu$T from 10.6$\mu$T to 22.0$\mu$T for the horizontal component and increased 4.9$\mu$T from -6.7$\mu$T to -1.8$\mu$T for the vertical component. Upon berthing at the pier, the deviation of the secular change increased westerly 1 degree W~ 2.5$^{\circ}$ W from 3.5$^{\circ}$ W~ 5$^{\circ}$ W M 6W with the ship's head up bearing at 225$^{\circ}$. While at sea, these increased westerly 2$^{\circ}$ ~ 3$^{\circ}$ from the Northeast to the South and increased easterly 1$^{\circ}$ ~ 8$^{\circ}$ from the Southwest to the North. 5. While at port, within 1 mile between the ship and berth of the pier, as we approached the pier, the westerly deviation increased and when we departed the pier easterly deviation increased. When approaching the pier, the deviation was smaller than the deviation when the ship was departing from the pier. When approaching the bearing at 225$^{\circ}$ with the ship's head up bearing, the varies of deviation was smaller than the varies when the ship's head up bearing was departing from it.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.2
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• pp.208-213
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• 2007

As recent research on home service robot has been performed actively in these days. It becomes very important for the robot to react upon voice and sound source, and then tracks an object position in dynamic environment like a home. When people choose a path for finding a destination of objects, in case of sound, they track a direction of the sound source. Or in case as a position of the object be girded with a point on map, people track the position according to absolute orientation of the present position and the sound source position. In this paper, In this manner we had views on what people decide own direction when they react one's voice or go some directions. We suggest a algorithm that intelligent mobile robots on which we installed a sound source tracking board and a digital magnetic compass board go some object's positions by the direction of sound source and absolute orientation.

• Journal of Positioning, Navigation, and Timing
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• v.1 no.1
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• pp.35-43
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• 2012

The UGV is one of the special field robot developed for mine detection, surveillance and transportation. To achieve successfully the missions of the UGV, the accurate and reliable navigation data should be provided. This paper presents design and implementation of multi-sensor-based open architecture integrated navigation for localization of UGV. The presented architecture hierarchically classifies the integrated system into four layers and data communications between layers are based on the distributed object oriented middleware. The navigation manager determines the navigation mode with the QoS information of each navigation sensor and the integrated filter performs the navigation mode-based data fusion in the filtering process. Also, all navigation variables including the filter parameters and QoS of navigation data can be modified in GUI and consequently, the user can operate the integrated navigation system more usefully. The conventional GPS/INS integrated system does not guarantee the long-term reliability of localization when GPS solution is not available by signal blockage and intentional jamming in outdoor environment. The presented integration algorithm, however, based on the adaptive federated filter structure with FDI algorithm can integrate effectively the output of multi-sensor such as 3D LADAR, vision, odometer, magnetic compass and zero velocity to enhance the accuracy of localization result in the case that GPS is unavailable. The field test was carried out with the UGV and the test results show that the presented integrated navigation system can provide more robust and accurate localization performance than the conventional GPS/INS integrated system in outdoor environments.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.2
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• pp.414-419
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• 2010

This paper describes the design and performance of a hovering AUV 'NOAH' constructed at Jeju National University. We analyse the dynamic performance of NOAH using simulation program and carry out depth control test at small basin. The main purpose of NOAH is to carry out fundamental tests on its attitude control and position control. Its configuration is similar to general ROV appearance for underwater works and dimension is $0.75m{\times}0.5m{\times}0.5m$. It has 4 thrusters of 450watt for longitudinal/lateral/vertical propulsion and is equipped with a pressure sensor for measuring water depth and a magnetic compass for measuring heading angle. The navigation of the vehicle is controlled by an on-board Pentium III-class computer, which runs with the help of the Windows XP operating system. These give us an ideal environment for developing various algorithm which are needed for developing and advanced hovering AUV.

• Journal of Oral Medicine and Pain
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• v.19 no.1
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• pp.137-149
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• 1994

This study was performed to investigate the relationship between Forward Head Posture(FHP) and Craniomandlbular Disorders(CMDs). Many studies reported that there was some relationship between them, however, there is still controversy. So It Is necessary to observe and compare many more patients with CMDs wirh normal controls. For the study 85 patients with CMDs and 37 dental students were selected as experimentals and controls, respectively. And the experimentals were classified Into two groups, that is, TMJ internal derangement group and muscle disorders group according to clinical diagnosis. For measuring the FHP, CROM(Cervical-Range-of-Notion)was used. This goniometer is composed of three part. First, gravity goniometer for flexion and extension. Second, magnetic compass and yoke for rotational movement. And last, forward head arm and vertebra locator for forward head posture. Next T-Scan, electronic occlusal analyzer, was used for recording of occlusal contact state. Other items such as maximum opening, lateral excursion, Helkimo's anamnestic index, and muscle palpation point from Friction's craniomandibular index were checked clinically by one examiner. The result of this study were as follows : 1. In male, control group showed much more measurement in resting forward head posture than did experimental group. But there were not significant differences between groups in female subject. From this results, the author contended that CROM is new measuring system and differ from other goniometers in some aspect, so that results should be re-evaluated 2. Mean value of maximum mouth opening in nearly all groups were greater than 40mm. and mouth opening had a significant correlation with occlusal force and with anamnestic index both sex. 3. Mean value of palpation point had not any correlationship with forward head posture in both sex, but there was significant difference between upper and lower group by rounded shouldes. 4. In summary, there was no significant relationship between forward head posture and sign and symptom of Craniomandibular Disorders.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2016.05a
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• pp.181-184
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• 2016

This study is to compensate for inaccuracies in accordance with the change in the deviation correction value due to the movement and location of the ship cargo, equipment of the vessel, and eliminating the inconvenience of hand. By modifying the deviation through the simplification and automation was planned for accuracy and ease of modification of the modified value. The main method used is charted by measuring 24 direction and inputting the value of magnetic compass direction in automatic deviation-correcting apparatus manually or automaticallyThe measured values are exhibited in Table data and made it possible to calculate accurate correction value deviation. From this it can make deviation table having the margin of error within ${\pm}3^{\circ}$in all regions of the world And this table will help to navigational safety and economy under the unavailable or limited gyro contion.

• Journal of Ocean Engineering and Technology
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• v.18 no.4 s.59
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• pp.33-39
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• 2004

This paper presents a hybrid underwater navigation system for unmanned underwater vehicles, using an additional range sonar, where the navigation system is based on inertial and Doppler velocity sensors. Conventional underwater navigation systems are generally based on an inertial measurement unit (IMU) and a Doppler velocity log (DVL), accompanying a magnetic compass and a depth sensor. Although the conventional navigation systems update the bias errors of inertial sensors and the scale effects of DVL, the estimated position slowly drifts as time passes. This paper proposes a measurement model that uses the range sonar to improve the performance of the IMU-DVL navigation system, for extended operation of underwater vehicles. The proposed navigation model includes the bias errors of IMU, the scale effects of VL, and the bias error of the range sonar. An extended Kalman filter was adopted to propagate the error covariance, to update the measurement errors, and to correct the state equation, when the external measurements are available. To illustrate the effectiveness of the hybrid navigation system, simulations were conducted with the 6-d.o.f. equations of motion of an AUV in lawn-mowing survey mode.

• Journal of Navigation and Port Research
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• v.33 no.1
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• pp.35-41
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• 2009

A waypoint tracking algorithm(WTA) is designed for Unmanned Surface Vehicle(USV) in which water-jet system is installed for propulsion To control the heading of USV for waypoint tracking, the steering nozzle of water-jet need, to be controlled. Firstly, target heading is calculated by using the position information of waypoints input from the land control center. Secondly, the command for the steering nozzle of water-jet is calculated in real time by using the heading and the rate-of-turn( ROT) from magnetic compass, In this study, in order to consider the drift angle due to external disturbance such as wind and wave, the course of ground( COG) can be used instead of heading at higher speed than a certain value, To test the performance of newly-designed WTA, the tests were carried out in actual sea area near Gwang-an bridge of Busan. In this paper, the sea trial test results from WTA are analyzed and compared with those from manual control and those from commercial controller.

• Journal of Korean Elementary Science Education
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• v.43 no.3
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• pp.385-401
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• 2024

This study presents a step-by-step analysis of the experiences and discussions of five elementary school teachers while developing the Augmented Reality (AR) science educational materials, using the Unity Physics Engine. In the preparation phase to develop the AR materials, the teachers explored the features of the AR technology and decided to create AR materials for experiments related to magnetic fields in the magnetism unit, based on discussions about the unit selection. In addition, they complained about difficulties arising out of the lack of background knowledge about the C# programming language in the preparation phase. During the material development stage, there were difficulties in operating the unfamiliar interface and other functions of the software. However, this was overcome through knowledge sharing and collaborative communication among the teachers. The final materials developed were marker-type AR materials to perform experimental activities by changing the position of the magnet and the compass markers. Based on the developed materials, the teachers discussed their smooth utilization during the classroom activities.

• Journal of the Korean Geographical Society
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• v.47 no.1
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• pp.60-78
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• 2012

The main objective of this study is to conduct subnational population projections of Korea based on a Myriad Things" (萬物門), which is part of Seongho's representative work entitled $Miscellaneous$ $Explanations$ $of$ $Seongho$ (星湖僿說), has been in this paper in order to understand Seongho's "thinking on geography". To do so, contents related to geography were selected and these were discussed and interpreted in terms of the classification system of today's geographical knowledge. Following is the result of this research. First, information on astronomical geography and natural geography such as uplift, tornado, structure of soil, and the $yut$ board as well as humangeographical topics such as wild $ginseng$, cigarettes, hot pepper, traditional fruits and nuts (chestnuts, jujubes, and persimmons), Goryeo paper (Korean paper), mulberry trees, cotton plants, natural dye, policy about horses, magnetic compass needles, and farming implements for rice transplantation are mentioned in "Myriad Things" in relation to geography. Second, the depth of information described varies from topic to topic, but the topics on tornado and magnetic compass needles, horses, wild ginseng, traditional fruits and nuts, and $yut$ board are described in depth and in detail. Third, authenticity of the contents on these topics are "true" insofar as bibliographical information and citations are provided for support. Fourth, these topics reflect the interests and circumstances that are related to the "economic improvement of common people's livelihood" in those days, such as agriculture, crops, and transportation of goods. Fifth, the bibliography and citations explaining all instances reveal that China (Qing) is a great civilization of the advanced world and that the scholarship of Joseon relied on and accepted it. Sixth, except for horse raising and management, farming implements for rice transplantation, sericulture, and natural dying of cloth, most of the topics are useful even today. In short, theres is a profound aspect to the content that makes it possible to estimate the "geographical thinking". In general, the focus of the content of this book directly linked to the practical agricultural economy of the common people.