• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.2
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• pp.180-187
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• 2010

In this paper, a GNSS-based AGV system was designed, and steering tested on a golf cart using electric wires in order to confirm the control efficiency of the low speed vehicle which used only position information of GNSS. After analyzed the existing AGVs system, we developed controller and steering algorithm using GNSS based position information. To analyze the performance of the developed controller and steering algorithm, straight-type and circle-type trajectory test are executed. The results show that steering performance of GNSS-based AGV system is ${\pm}\;0.2m$ for a reference trajectory.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1657-1661
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• 2005

The velocity dipole field method is presented for real-time collision avoidance of mobile robots. The direction of motion of the obstacle is used as the axis of the dipole field, and the speed of the obstacle is used to proportionally strengthen the dipole field. The elliptical field lines of the dipole field are useful to skillfully guide the robot around obstacles, quite similar to the way humans avoid moving obstacles. Field modulation coefficient is also introduced to weaken the field effect as the obstacle recedes. The real-time algorithm of the velocity dipole field has been devised and experimentally tested on the robot soccer test-bed. The results show the capability of the new real-time collision avoidance strategy and how it can overcome the weaknesses in the conventional potential field method. The new method makes an explicit and proactive action of collision avoidance, unlike the conventional method, which forces the robot merely away from the obstacle aimlessly. The proposed method delivers greater capability with no considerable computational overhead

• International Journal of Internet, Broadcasting and Communication
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• v.9 no.4
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• pp.59-66
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• 2017

Cloud computing has evolved into a core computing infrastructure for the internet that encompasses content, as well as communications, applications and commerce. By providing powerful computing and communications capabilities in the palm of the hand everywhere with a variety of smart devices, mobile applications such as virtual reality, sensing and navigation have emerged and radically changed the patterns people live. The data that is generated is getting bigger. Cloud computing, on the other hand, has problems with system load and speed due to the collection, processing and control of remote data. To solve this problem, fog computing has been proposed in which data is collected and processed at an edge. In this paper, we propose a system that dynamically selects a fog server that acts as a cloud in the edge. It serves as a mediator in the cloud, and provides information on the services and systems belonging to the cloud to the mobile device so that the mobile device can act as a fog. When the role of the fog system is complete, we provide it to the cloud to virtualize the fog. The heterogeneous problem of data of mobile nodes can be solved by using mDBaaS (Mobile DataBase as a Service) and we propose a system design method for this.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.232-237
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• 1998

This paper describes a new method for estimating time-to-collision which exhibits high tolerance to noise contained in camera images. Time to collision (TTC) is one of the most important parameters available from a camera attached to a mobile machine. TTC indirectly stands far the translation speed of the camera and is usually calculated either from successive images or optical flow by using intimate relationship between TTC and flow divergence. In most cases, however, it is not easy to get accurate optical flow, which makes it difficult to calculate TTC. In this study it is proved that if the target has a smooth surface, the average of divergence over any point-symmetric region on the image is equal to the divergence of the center of the region. It means that required divergence can be calculated by integrating optical flow vectors over a symmetric region. It is expected that in the process of the integration, accidental noise is canceled if they are independent of optical flow and the motion of the camera. Experimental results show that TTC can be estimated regardless of the surface condition. It is also shown that influence of noise is eliminated as the area of integration increases.

• Journal of the Korean Society for Library and Information Science
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• v.36 no.1
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• pp.41-60
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• 2002

This study aims to evaluate the usability for improving quality of Hoseo university digital library website. Compatibility of web browser and loading speed are analyzed in using Doctor HTML and Web Site Garage, and seven major attributes of website. that is navigation, functionality, user control language and contents. system and user feedback, consistency, architectural and visual clarify, are analyzed and evaluated in using online questionnaire method. Finally this paper was suggested some problems and improvements of that website mentioned above, and general guidelines of website construction based on usability in university digital library in korea.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.12
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• pp.137-144
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• 2001

The major movement blocks of the container are the range between the apron and the designation points on yard in container terminals. The yard tractor drived by operator takes charge of it's movement in conventional container terminals. In automated container terminal, AGV(automatic guided vehicle) takes charge of a yard tractor's role and information of navigation path are ordered from upper control system. The automated container terminal facilities must have the docking system that guides landing zinc to execute high speed travelling and precision positioning. This paper describes the new docking method with the rotating LSB(laser slit beam) generator and two pair of photo receiver. The LSB generator is installed on the fixed ground and the photo receiver is implemented on the moving vehicle such as AGV. The proposed docking system is implemented to confirm it's function and accuracy. The accuracy of measured moving position is represented in ±5mm at 1 data sampling.

• International Journal of Highway Engineering
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• v.18 no.3
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• pp.87-94
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• 2016

PURPOSES : This study analyzed the lane-by-lane traffic flow characteristics in Korea by using real-world data, including congestion levels, for 2-, 3-, and 4-lane freeways. METHODS : On the basis of a literature review, lane flow and speed characteristics were analyzed using flow measurements and speed ratios. In addition, the effect of congestion levels on traffic flow were visualized using rescaled cumulative plots. RESULTS : Driver behavior varied depending on the congestion level. During free-flow conditions, the lane-use ratio of individual lanes varied largely, whereas during congestion, the ratio was nearly the same for all lanes (i.e., equilibrium). During maximum-flow and congestion conditions, the median lane was used more than the shoulder lane, whereas during all other conditions, the shoulder lane had a higher lane-use ratio. In 3- or 4-lane freeways, the lane-use ratio of the median lane always exceeded 1 and was the highest during free-flow conditions. CONCLUSIONS : The results of the present analysis can be used as an index to predict congestion before a lane is overcapacitated. Moreover, the results can be applied in variable lane guidance systems, such as car navigation systems and variable message displays, to control traffic flow.

• Journal of Advanced Navigation Technology
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• v.7 no.2
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• pp.149-155
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• 2003

This paper generally relates to the field of wireless local area networks(WLANs), and more particularly, to AP selection and association methods for the performance of a station. In these days, IEEE 802.11 Wireless LAN network is widely deployed and used as an emerging service to connect high-speed Internet in the public wireless environment. But, if there are many users in hot spot area, they suffer a severe decrease of performance. Thus it needs an association and access control mechanism especially when it is used in the public environment. In this paper, we suggest a selection and association method using Beacon or Probe Response frames based IEEE 802.11. Station selects AP using the information of the capacity area in a Beacon or a Probe Response frame. According to the present paper, an association method for a public WLAN service, which includes a WLAN user terminal and an AP for relaying WLAN communications to and from the user terminal, includes the steps of the user terminal asking the AP's states for access to a radio channel; and the station selects and associates with the AP. According to the above-described selection in a high speed wireless Internet service based on public WLAN technologies that are currently in operations. Further, it is possible to improve the efficiency of network management.

• Journal of Advanced Navigation Technology
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• v.25 no.5
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• pp.363-369
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• 2021

In this paper, We propose variable cut-off frequency and variable sample rate small-area multi-channel digital filter for telemetry system. Proposed digital filter reduced hardware area by implementing filter banks that can variably use cut-off frequency and sample rate without additional filter banks for an arbitrary cut ratio. In addition, We propose the architecture in which sample rate can variably be selected according to the number of filters that pass through the multiplexer control. By using time division multiplexing (TDM) supported by the finite impulse response (FIR) intellectual property (IP) of Quartus, the proposed digital filter can greatly reduce digital signal processing (DSP) blocks from 80 to 1 compared without TDM. Proposed digital filter calculated order and coefficients using Kaiser window function in Matlab, and implemented using very high speed integrated circuits hardware descryption language (VHDL). After applying to the telemetry system, we confirmed that the proposed digital filter was operating through the experimental results in the test environment.

• Journal of Navigation and Port Research
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• v.47 no.6
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• pp.367-375
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• 2023

This study developed a new distance metric for vessel trajectories, applicable to marine traffic control services in the Korean coastal waters. The proposed metric is designed through the weighted summation of the traditional Hausdorff distance, which measures the similarity between spatiotemporal data and incorporates the differences in the average Speed Over Ground (SOG) and the variance in Course Over Ground (COG) between two trajectories. To validate the effectiveness of this new metric, a comparative analysis was conducted using the actual Automatic Identification System (AIS) trajectory data, in conjunction with an agglomerative clustering algorithm. Data visualizations were used to confirm that the results of trajectory clustering, with the new metric, reflect geographical distances and the distribution of vessel behavioral characteristics more accurately, than conventional metrics such as the Hausdorff distance and Dynamic Time Warping distance. Quantitatively, based on the Davies-Bouldin index, the clustering results were found to be superior or comparable and demonstrated exceptional efficiency in computational distance calculation.