• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.23-30
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• 2024

This paper studies a GPS error filtering method that takes into account the continuity of the ongoing path to enhance the safety of autonomous agricultural mobile robots. Real-Time Kinematic Global Positioning System (RTK-GPS) is increasingly utilized for robot position evaluation in outdoor environments due to its significantly higher reliability compared to conventional GPS systems. However, in orchard environments, the robot's current position obtained from RTK-GPS information can become unstable due to unknown disturbances like orchard canopies. This problem can potentially lead to navigation errors and path deviations during the robot's movement. These issues can be resolved by filtering out GPS information that deviates from the continuity of the waypoints traversed, based on the robot's assessment of its current path. The contributions of this paper is as follows. 1) The method based on the previous waypoints of the traveled path to determine the current position and trajectory. 2) GPS filtering method based on deviations from the determined path. 3) Finally, verification of the navigation errors between the method applying the error filter and the method not applying the error filter.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.16 no.4
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• pp.805-811
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• 2012

In this paper, movement of conduction path has been analyzed for electron distribution in the channel of double gate(DG) MOSFET. The analytical potential distribution model of Poisson equation, validated in previous researches, has been used to analyze transport characteristics. DGMOSFETs have the adventage to be able to reduce short channel effects due to improvement for controllability of current by two gate voltages. Since short channel effects have been occurred in subthreshold region including threshold region, the analysis of transport characteristics in subthreshold region is very important. Also transport characteristics have been influenced on the deviation of electron distribution and conduction path. In this study, the influence of electron distribution on conduction path has been analyzed according to intensity and distribution of doping and channel dimension.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.1 no.2
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• pp.81-89
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• 2008

Improved EKF suggests variable path prediction to reduce the event traffic caused by the information sharing among multi-users in networked virtual environment. The three dimensional virtual space is maintained consistently by endless status information exchange among dispersed users, and periodic status transmission brings traffic overhead in network. By using the error between the measured movement trace of dynamic information and the EKF predicted, we propose the method applied to predict the mobile packet of dynamic data which is simultaneously changing. And, the simulation results of DIS dead reckoning algorithms and EKF path prediction is compared here. It followed the specific path and while moving, the proposed method which it proposes predicting with DIS dead reckoning algorithm and to compare to the mobile path of the actual object and it got near it predicts the possibility of knowing it was.

• Journal of Positioning, Navigation, and Timing
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• v.12 no.2
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• pp.91-100
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• 2023

The existing indoor localization method using Wi-Fi fingerprinting has a high collection cost and relatively low accuracy, thus requiring integrated correction of convergence with other technologies. This paper proposes a new method that significantly reduces collection costs compared to existing methods using Wi-Fi fingerprinting. Furthermore, it does not require labeling of data at collection and can estimate pedestrian travel paths even in large indoor spaces. The proposed pedestrian movement path estimation process is as follows. Data collection is accomplished by setting up a feature area near an indoor space intersection, moving through the set feature areas, and then collecting data without labels. The collected data are processed using Kernel Linear Discriminant Analysis (KLDA) and the valley point of the Euclidean distance value between two data is obtained within the feature space of the data. We build learning data by labeling data corresponding to valley points and some nearby data by feature area numbers, and labeling data between valley points and other valley points as path data between each corresponding feature area. Finally, for testing, data are collected randomly through indoor space, KLDA is applied as previous data to build test data, the K-Nearest Neighbor (K-NN) algorithm is applied, and the path of movement of test data is estimated by applying a correction algorithm to estimate only routes that can be reached from the most recently estimated location. The estimation results verified the accuracy by comparing the true paths in indoor space with those estimated by the proposed method and achieved approximately 90.8% and 81.4% accuracy in two experimental spaces, respectively.

• The Journal of Korean Academy of Prosthodontics
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• v.26 no.1
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• pp.63-84
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• 1988

Recently the instantaneous centre concept has been used to understand the biomechanics by which a tissue derangement causes a mechanical derangement in temporomandibular joint. In this study, four male subjects without temporomandibular joint disorder and malocclusion were selected for the determination of the instantaneous centre of rotation (I.C.R) in the mandibular movement. The habitual opening and closing paths were recorded on the sagittal plate by two spring pencils attached on the lower anterior teeth which was designed for this study, and the I.C.R. was calculated by the computer program of Rouleaux's method. Also the computer graphic opening and closing movements of mandible were obtained according to the determined I.C.R. The results obtained from this study were as follows. 1. The instantaneous centres of rotation were not positioned within the condyle in the mandibular opening and closing movement. 2. There was some similarity between the anatomical curvature of the articular emience and the movement pattern of condyle. 3. The opening path and the closing path of the most superior pl)int of the condyle stowed a slight difference. 4. At the early stage of the habitual opening movement, the condyle was moved downward. 5. The opening and closing mandibular movements were simulated by the instantaneous centre of rotation which was determined by the computer program of Rouleaux's method.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.5
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• pp.1013-1019
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• 2016

This paper describes a novel Context-awareness Markov Chain Prediction (CMCP) algorithm based on movement prediction using Markov chain in Delay Tolerant Network (DTN). The existing prediction models require additional information such as a node's schedule and delivery predictability. However, network reliability is lowered when additional information is unknown. To solve this problem, we propose a CMCP model based on node behaviour movement that can predict the mobility without requiring additional information such as a node's schedule or connectivity between nodes in periodic interval node behavior. The main contribution of this paper is the definition of approximate speed and direction for prediction scheme. The prediction of node movement forwarding path is made by manipulating the transition probability matrix based on Markov chain models including buffer availability and given interval time. We present simulation results indicating that such a scheme can be beneficial effects that increased the delivery ratio and decreased the transmission delay time of predicting movement path of the node in DTN.

• Magazine of the Korean Society of Agricultural Engineers
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• v.45 no.3
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• pp.103-115
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• 2003

This study examines groundwater movement system analysis and movement forecast algorithm using finite element method. The target is Cheongha-myeon area, Bukgu, Pohang-city which has many difficulties in water supply during drought period. From the comparison of the differences between obtained values by WINFlOW model and observed values, it is thought that groundwater head distribution under steady flow is reflected well at the level of reliability Groundwater movement of study area shows stable pattern from western watershed to eastern coastal area while flow path is dense and steep in the center of the coastal area. The results of particle tracing for each well show a comparatively straight line from the western boundary side to the observation position at the upper area of the well, and are analyzed as it diffuses according to getting closer to the coast at the lower area of the well. The result of effect circle examination attendant on pumping amount in study area shows variation tendency that groundwater head decreases at the side and the lower area more than at the upper area of the well when groundwater flows from west to east(coast). As mentioned above, satisfactory results of groundwater movement analysis using WINFlOW model, two dimensional groundwater movement analysis model, are obtained through the great decrease of physical uncertainty of groundwater movement system.

• The Journal of the Korea Contents Association
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• v.10 no.5
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• pp.446-459
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• 2010

The technological convergence of IT, BT and NT is expected to drive technological revolution in the twenty first century, so a large amount of R&D expenditure is being concentrated on the development of fusion technology worldwide. Researches on how to direct and manage fusion technology development, however, are rare up to the present. This study investigates technology development and S&T human resources practices in the fusion technology are a focusing on the career path movement of researchers. On the basis of case study and a field survey of 209 scientists and engineers from academia, research institutes and industry, four strategic directions are recommended for improving human resources development in convergence technologies. The limitations and contributions of the study are also discussed.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.34 no.2B
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• pp.151-161
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• 2009

The PULSE protocol can greatly reduce power consumption using a node's sleep state. But this protocol does not consider movement of a sink node in a sensor network. In the mobile sensor network a routing protocol must recover path error by movement of a sink node as quickly as possible. Therefore we have to achieve fast path recovery and power saving to support movement of a sink node in a sensor network. This paper proposes the Mobile PULSE protocol which is a improved routing protocol for a mobile sink node. And we evaluate Mobile PULSE and show that the Mobile PULSE reduces the recovery time about 40% compared with original PULSE protocol. Mobile PULSE increases energy consumption than PULSE as a maximum of 0.8%, which means Mobile PULSE is similar to PULSE in energy consumption. This paper shows mobile PULSE's capability in the mobile sensor network through evaluation of path recovery time and power consumption.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.23 no.7
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• pp.852-860
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• 2019

In this paper, we proposed a new trilateration technique based on exponential moving average (EMA) filter with adaptive signal model which enhances accuracy of positioning system even if the RSSI changes randomly due to movement of obstacles or blind node in indoor environment. In the proposed scheme, three fixed transmitters sent out the signal to blind node. The transmitter decides the location of the blind node based on RSSI and it estimates the cause of RSSI fluctuation which is interference of obstacle or movement of blind node. When the path between blind node and transmitter has become NLOS path because of obstacles, the transmitter ignores the measured RSSI in NLOS path and replace estimated RSSI in LOS environment. In the other case, the transmitter updated the new RSSI to represent of movement of blind node. The proposed scheme has been verified on a ZigBee testbed and we proved the improved positioning accuracy compared to the existing indoor position system.