• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.11
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• pp.1193-1199
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• 2014

To achieve safe and high-speed navigation of a mobile service robot, velocity of dynamic obstacles should be considered while planning the trajectory of a mobile robot. Trajectory planning schemes without considering the velocity of the dynamic obstacles may collide due to the relative velocities or dynamic constraints. However, the general planning schemes that considers the dynamic obstacle velocities requires long computational times. This paper proposes a velocity control scheme by scaling the time step of trajectory to deal with dynamic obstacle avoidance problem using the RNLVO (Robot Nonlinear Velocity Obstacles). The RNLVO computes the collision conditions on the basis of the NLVO (Nonlinear Velocity Obstacles). The simulation results show that the proposed scheme can deal with collision state in a short period time. Furthermore, the RNLVO computes the collisions using the trajectory of the robot. As a result, accurate prediction of the moving obstacles trajectory does not required.

• Transactions of the Korean Society of Automotive Engineers
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• v.19 no.4
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• pp.146-154
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• 2011

This article describes the Autonomous Vehicle #1 (A1), which won the 2010 Autonomous Vehicle Competition (AVC) organized by Hyundai Kia automotive group. The A1 was developed for high speed and stable driving without human intervention. The autonomous system of A1 was developed based on in-vehicle networks, electronic control units, and embedded software. Novel environment perception and navigation algorithm were evaluated and validated through the AVC. In this paper, we presented the system and software architecture of A1.

• Journal of Navigation and Port Research
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• v.31 no.6
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• pp.515-521
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• 2007

To increase the stevedore efficiency and service level at container terminal, it is essential to reduce working time of container crane which has a bottle neck in the logistic flow of container. The working speed and safety are required to be improved by controlling the movement of the trolley as quick as possible without big overshoot and any residual swing motion of container in the vicinity of target position. This paper presents optimal state feedback control using RCGAs in the case of existing constrained conditions

• Journal of Advanced Navigation Technology
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• v.21 no.5
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• pp.428-434
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• 2017

In recent years, owing to the growing user demand for the two-way internet service based on the mobile global broadband communications, a new type of satellite terminal has been developed, known as ESIM(Earth Station in Motion). This service was required by Resolution 158(WRC-15) to study on the coexistence with the co-primary FS(Fixed Service) in 27.5-29.5 GHz as a FSS(Fixed Satellite Service) uplink. In this paper, the average received power on ESIM within -10 dB of beam width of FS and its outage probability was analyzed theoretically and also simulated to account for the azimuth angle with uniform distribution. From the results, it can be concluded that this theoretical analysis is very useful to analyze the interference from ESIM into FS based on the statistical and probabilistic method. Therefore, it is necessary to control the azimuth angle due to a moving terminal as well as the inclination angle of moving path, the operation hours, and the speed of ESIM to protect the co-primary FS.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.14 no.12
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• pp.2730-2736
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• 2010

Recently, various networks have been introduced in the car of the internal and external sides. These have been integrated by one HMI(Human Machine Interface) to control devices of each network and provide information service. The existing vehicle navigation system, providing GPS based vehicle positioning service, has been included to these integrated networks as a default option. The GPS has been used to the most universal device to provide position information by using satellites' signal. But It is impossible to provide the position information when the GPS can't receive the satellites' signal in the area of tunnel, urban canyon, or forest canopy. Thus, this paper propose and implement the method of measuring vehicle position by using the sensing data of internal CAN network and external Wi-Fi network of the integrated car navigation circumstances when the GPS doesn't work normally. The results obtained by implementation shows the proposed method works well by map matching.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2015.10a
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• pp.322-323
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• 2015

Traditional rotation type large beacon was characterized by frequent failure, long repair time and high cost etc. These problems are caused by traditional light sources(metal halide lamps or tungsten halogen lamps). In order to solve these problems, IALA standards-based(efficiency and reliability) large LED beacon technologies are needed. we developed by applying a LED. The object of the this project, to design a reflective optics and the high power LED lighting engine module. And to develop a rotational speed control system for controlling flash pattern of beacon. As a result, to develop of LED beacon for landfall mark that distance to reach the light 20NM to 27NM.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2013.06a
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• pp.293-298
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• 2013

This research develops an ultrasonic sensor to measure the distance in underwater. The ultrasonic transducer transmits an acoustic signal to an object and receives the echo signal reflected from the object. The ultrasonic driver calculates a distance by multiplying the acoustic speed to the time of flight(TOF) which is the time necessary for the acoustic signal to travel from the transducer to the object. We apply a thresholding and a cross correlation methods to detect the TOF and show their results. When an echo pulse is corrupted with noise and its shape is distorted, the cross correlation method is used to find the TOF based on the maximum similarity between the reference and the delayed echo signals. The echoes used for the reference signal are achieved at the different environments, which improves the performance of the sensor. This paper describes the driver of the acoustic sensor and analyzes the performance of sensors in different measurement environments.

• Journal of Advanced Navigation Technology
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• v.28 no.3
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• pp.362-368
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• 2024

In this paper, we investigated the performance of directional and omnidirectional precoding schemes when transmitting to improve downlink performance in massive MIMO. Omnidirectional precoding was used to broadcast a common signal, such as a synchronization or control signal, to all users. The main purpose of omnidirectional precoding is to design the precoding matrix so that the signal transmitted in the downlink is the same in all directions and emitted with maximum energy. We propose a flexible omnidirectional precoding method for full-dimensional massive MIMO that can set the spatial coverage range to less than 120 degrees. The constraints of omnidirectionality of all antennas, equal transmit power, and maximum transmit rate are used to design the encoding matrix of the proposed method. The performance was evaluated in terms of spatial coverage by considering changing the spatial coverage of the antenna array by changing the distance between neighboring antennas in the antenna array.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2022.05a
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• pp.465-468
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• 2022

The incidence of traffic accidents is increasing every year, and Korea is among the top OECD countries. In order to improve this, various road traffic laws are being implemented, and various traffic control methods using equipment such as unmanned speed cameras and traffic control cameras are being applied. However, as drivers avoid crackdowns by detecting the location of traffic control cameras in advance through navigation, a mobile crackdown system that can be cracked down is needed, and research is needed to increase the recognition rate of vehicle license plates on the side of the road for accurate crackdown. This paper proposes a method to improve the vehicle number recognition rate on the road side by applying a gradient correction algorithm using image processing. In addition, custom data learning was conducted using a CNN-based YOLO algorithm to improve character recognition accuracy. It is expected that the algorithm can be used for mobile traffic control cameras without restrictions on the installation location.

• Journal of the Korean Society for Precision Engineering
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• v.31 no.1
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• pp.43-50
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• 2014

This paper introduces a robot platform which can do weeding while traveling between rice seedlings stably against irregular land surface of a paddy field. Also, an autonomous navigation technique that can track on stable state without any damage of the seedlings in the working area is proposed. Detection of the rice seedlings and avoidance knocking down by the robot platform is achieved by the sensor fusion of a laser range finder (LRF) and an inertial measurement unit (IMU). These sensors are also used to control navigating direction of the robot to keep going along the column of rice seedling consistently. Deviation of the robot direction from the rice column that is sensed by the LRF is fed back to a proportional and derivative controller to obtain stable adjustment of navigating direction and get proper returning speed of the robot to the rice column.