• The Journal of Korea Robotics Society
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• v.1 no.1
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• pp.17-24
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• 2006

Though the final goal of mobile robot navigation is to be autonomous, operators' intelligent and skillful decisions are necessary when there are many scattered obstacles. There are several limitations even in the camera-based tele-operation of a mobile robot, which is very popular for the mobile robot navigation. For examples, shadowed and curved areas cannot be viewed using a narrow view-angle camera, especially in bad weather such as on snowy or rainy days. Therefore, it is necessary to have other sensory information for reliable tele-operations. In this paper, sixteen ultrasonic sensors are attached around a mobile robot in a ring pattern to measure the distances to obstacles. A collision vector is introduced in this paper as a new tool for obstacle avoidance, which is defined as a normal vector from an obstacle to the mobile robot. Based on this collision vector, a virtual reflection force is generated to avoid the obstacles and then the reflection force is transferred to an operator who is holding a joystick to control the mobile robot. Relying on the reflection force, the operator can control the mobile robot more smoothly and safely. For this bi-directional tele-operation, a master joystick system using a hall sensor was designed to resolve the existence of nonlinear sections, which are usual for a general joystick with two motors and potentiometers. Finally, the efficiency of a force reflection joystick is verified through the comparison of two vision-based tele-operation experiments, with and without force reflection.

• Journal of Advanced Navigation Technology
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• v.8 no.2
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• pp.98-104
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• 2004

When a straight-in landing from an instrument approach using ILS or VOR/DME is not possible or desirable because of topographical reason or bad weather, a circling approach maneuver is initiated by the pilot to align the aircraft with a runway for landing. Visual contact with the runway is necessary while conducting a circle to land maneuver. This research is to develop a new warning system based on a convention marker system which alerts pilots to watch out for exceeding the circling approach area. The airborne system also uses the same receiver unit without any new installations. The objective of this research is to design and develop a Yagi antenna in a special form. The research includes computer simulations to determine the size of antenna radiation pattern and to compute an expected flight path in case of alarm to validate effectiveness of the system.

• Journal of Navigation and Port Research
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• v.32 no.10
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• pp.793-798
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• 2008

This paper presents a design of RFID(Radio Frequency Identification} tag antenna which has high sensitivity for car side mirror. A proposed tag antenna ($154\;mm{\times}66\;mm{\times}1;mm$) resonants at 900 MHz and has a wide bandwidth of 690 MHz($490\;MHz{\sim}1180\;MHz$). The measured gain and readable range of tag antenna are 5.8 dBd and 10 m, respectively. Radiation pattern and readable range of proposed tag antenna located on inside of a side mirror including a car body are measured at anechoic chamber. It has been confirmed that the readable range in the vicinity of $90^{\circ}$ has been expanded about 1.5 m by comparison with one of proposed tag antenna without of car body. Good performance of the proposed tag antenna was observed and proved by comparison of measured results of commercial tag antenna.

• Journal of Navigation and Port Research
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• v.32 no.10
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• pp.805-811
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• 2008

This paper presents a design of RFID(Radio Frequency Identification) tag antenna which is available for a vehicle's side mirror and directivity characteristics by mr body. The proposed Tag antenna is designed symmetrical structure to improve the broad bandwidth characteristic and the readable range. A proposed tag antenna($30\;mm{\times}24\;mm{\times}1\;mm$) has resonant frequency at 910 MHz and bandwidth is 780 MHz ($540\;MHz{\sim}1320\;MHz$). The chip impedance is the 16 - $j131\;{\Omega}$ and the complex conjugate impedance of commercial chip has been used for tag antenna design. In order to evaluate effects of tag antenna for side view mirror's permittivity as well as car body(conductor), radiation pattern characteristics and readable range have been calculated and measured. The optimized position for a vehicle's RFID system has been observed in the inside of a side mirror and the calculated results show good agreement with the measured results.

• Journal of Advanced Navigation Technology
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• v.23 no.5
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• pp.380-385
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• 2019

This paper is concerned with departure passengers' dwell time analysis using real system data. Previous researches emphasize the importance of dwell time analysis from perspective of airport terminal planning and non-aeronautical revenue. However, short-term airport operation using passengers' dwell time is considered impossible due to absence of passengers' behavior data. Recently, in accordance with the wave of smart airport, world leading airports are systematically collecting passenger data. So there is high possibility of analyzing passengers' dwell time with the data stacked in the airport database. We conducted dwell time analysis using data from Incheon Int'l airport. In order to handle passenger data, we adapted clustering algorithm which is one of data mining techniques. As a clustering result, passengers are divided into 3 clusters. One is the cluster for passengers whose dwell time is relatively short and who tend to spend longer time in the airside. Another is the cluster for passengers who have near 3 hours dwell time. The other is the cluster for passengers whose total dwell time is extremely long.

• Journal of Advanced Navigation Technology
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• v.25 no.3
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• pp.223-228
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• 2021

In this paper, we proposed a slot-type antenna with microstrip feed embedded in a PCB for Zigbee communication (2.4 ~ 2.484 GHz). The proposed antenna is designed on a FR-4 substrate with dielectric constant 4.3, thickness of 1.6 mm, and size of 50×65 mm². Through simulations, trends of design parameters are analyzed and optimized, and the proposed antenna composed with three slots satisfy the frequency band. The measured impedance bandwidths (|S₁₁| ≤ -10 dB) of fabricated antenna are 900 MHz (2 ~ 2.9 GHz) in Zigbee frequency band. In addition, the radiation pattern showed omnidirectional characteristics for E and H-planes, and the gain of antenna in Zigbee frequency band was 1.782 dBi.

• Journal of Advanced Navigation Technology
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• v.26 no.1
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• pp.29-34
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• 2022

In this paper, the design of a triple dipole quasi-yagi antenna operating in the 2.45 GHz and 5 GHz wireless LAN frequency bands and the 3.5 GHz WiMAX frequency band was studied. The proposed quasi-Yagi antenna consists of three dipoles connected in series with a V-shaped ground plane. The longest half-bow-tie-shaped dipole resonates in the 2.45 GHz band, whereas the medium-length dipole resonates at 3.5 GHz. The shortest dipole resonates in the 5 GHz band. By adjusting the length and width of the dipoles and the spacings between the dipoles, a triple-band directional antenna operating in the 2.45 GHz, 3.5 GHz, and 5 GHz bands are designed, and fabricated on an FR4 substrate with a size of 45 mm × 55 mm. It was confirmed that the fabricated antenna operates in the designed triple bands of 2.32-2.57 GHz, 3.26-3.69 GHz, and 4.50-6.56 GHz for a voltage standing wave ratio less than 2. Gain is maintained above 3 dBi in the three bands.

• Journal of Positioning, Navigation, and Timing
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• v.11 no.3
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• pp.217-227
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• 2022

In order to provide a location-based services regardless of indoor or outdoor space, it is important to provide position information of the terminal regardless of location. Among the wireless/mobile communication resources used for this purpose, Long Term Evolution (LTE) signal is a representative infrastructure that can overcome spatial limitations, but the positioning method based on the location of the base station has a disadvantage in that the accuracy is low. Therefore, a fingerprinting technique, which is a pattern recognition technology, has been widely used. The simplest yet widely applied algorithm among Fingerprint positioning technologies is k-Nearest Neighbors (kNN). However, in the kNN algorithm, it is difficult to find the optimal K value with the lowest positioning error for each location to be estimated, so it is generally fixed to an appropriate K value and used. Since the optimal K value cannot be applied to each estimated location, therefore, there is a problem in that the accuracy of the overall estimated location information is lowered. Considering this problem, this paper proposes a technique for adaptively varying the K value by using a Convolutional Neural Network (CNN) model among Artificial Neural Network (ANN) techniques. First, by using the signal information of the measured values obtained in the service area, an image is created according to the Physical Cell Identity (PCI) and Band combination, and an answer label for supervised learning is created. Then, the structure of the CNN is modeled to classify K values through the image information of the measurements. The performance of the proposed technique is verified based on actual data measured in the testbed. As a result, it can be seen that the proposed technique improves the positioning performance compared to using a fixed K value.

• Journal of Advanced Navigation Technology
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• v.27 no.4
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• pp.457-462
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• 2023

We proposed a flexible link configuration in a system combining mid-span spectral inversion (MSSI) and dispersion management used for long-distance transmission of high-capacity optical signals such as wavelength division multiplexing signals, and examined specific methods to increase chromatic dispersion and nonlinear distortion compensation effects. The dispersion map proposed to increase the flexibility of dispersion-managed link configuration has a 'random-inverse' structure. That is, in the proposed dispersion map, the residual dispersion per span (RDPS) of each fiber span in the first half section up to the optical phase conjugator is randomly distributed, and the RDPS distribution in the second half section reverses the distribution pattern of the first section. Although the proposed dispersion map has a random distribution of RDPS, it was confirmed that the distortion compensation effect is improved due to the fact that the dispersion profile is symmetrical with respect to the optical phase conjugator. In the dispersion map of the 'random-inverse' configuration, it was also confirmed that the compensation effect of the distorted wavelength division multiplexing signal becomes improved when the magnitude of the RDPS allocated to each fiber span is large.

• Journal of Navigation and Port Research
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• v.47 no.4
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• pp.212-219
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• 2023

Vessel Traffic Service (VTS) area presents a complex traffic pattern due to ships entering or leaving the port to utilize port facilities, as well as ships passing through the coastal area. To ensure safe and efficient management of maritime traffic, VTS operators continuously monitor and control vessels in real time. However, during periods of high traffic congestion, the workload of VTS operators increases, which can result in delayed or inadequate VTS services. Therefore, it would be beneficial to predict traffic congestion and congested areas to enable more efficient traffic control. Currently, such prediction relies on the experience of VTS operators. In this paper, we defined vessel traffic congestion from the perspective of a VTS operator. We proposed a method to generate traffic networks using historical navigational data and predict traffic congestion and congested areas. Experiments were performed to compare prediction results with real maritime data (Daesan port VTS) and examine whether the proposed method could support VTS operators.