• KSII Transactions on Internet and Information Systems (TIIS)
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• v.15 no.11
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• pp.4084-4104
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• 2021

Visual place recognition (VPR) is a fundamental yet challenging task of mobile robot navigation and localization. The existing VPR methods are usually based on some pairwise similarity of image descriptors, so they are sensitive to visual appearance change and also computationally expensive. This paper proposes a simple yet effective four-step method that achieves adaptive convolutional neural network (CNN) landmark matching for VPR. First, based on the features extracted from existing CNN models, the regions with higher significance scores are selected as landmarks. Then, according to the coordinate positions of potential landmarks, landmark matching is improved by removing mismatched landmark pairs. Finally, considering the significance scores obtained in the first step, robust image retrieval is performed based on adaptive landmark matching, and it gives more weight to the landmark matching pairs with higher significance scores. To verify the efficiency and robustness of the proposed method, evaluations are conducted on standard benchmark datasets. The experimental results indicate that the proposed method reduces the feature representation space of place images by more than 75% with negligible loss in recognition precision. Also, it achieves a fast matching speed in similarity calculation, satisfying the real-time requirement.

• International Journal of Computer Science & Network Security
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• v.22 no.3
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• pp.135-140
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• 2022

Scientific and technological progress is also fundamental to the evolving merchant shipping industry, both in terms of the size and speed of modern ships and in the level of their technical capabilities. While the freight performance of ships is growing, the number of crew on board is steadily decreasing, as more work processes are being automated through the implementation of information technologies, including ship management systems. Although there have been repeated appeals from international maritime organizations to focus on building effective maritime security defenses against cyber attacks, the problems have remained unresolved. Owners of shipping companies do not disclose information about cyberattack attempts or incidents against them due to fear of commercial losses or consequences, such as loss of image, customer and insurance claims, and investigations by independent international organizations and government agencies. Issues of cybersecurity of control systems in the world today have gained importance, due to the fact that existing threats concern not only the security of technical means and devices, but also issues of environmental safety and safety of life at sea. The article examines the implementation of cyber risk management in the shipping industry, providing recommendations for the safe ship operation and its systems in order to improve vulnerability to external threats related to cyberattacks, and to ensure the safety and security of such a technical object as a seagoing ship.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.53 no.4
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• pp.423-429
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• 2017

As invigoration plan of the marine tourism, Busan City has the plan to operate the cruise ship inside of the harbor, but the area has narrow water way with heavy traffic. As a result it is requested to evaluate the safety for the preparation of actual navigation. In this study, the Ship Handling Simulation (SHS) Assessment was conducted, which is regulated by the Maritime Traffic Safety Audit Scheme (MTSAS) in compliance with the Marine Safety Law and the Maritime Traffic Risk Assessment System based on the Electronic Chart Display and Information System (ECDIS). The proximity assessment, control assessment and subjective assessment were implemented, which is enacted by the Marine Safety Law by using the SHS. In the case of proximity assessment, the probability of trespass was not analyzed. As the control assessment, the swept path was measured at 11.7 m and 11.5 m for port entry and port departure respectively, which exceeded the width of the model vessel, 10.4 m over; it was considered as a marginal factor. As a result of the subjective evaluation of the navigator, there would be no difficulty on ship maneuvering by paying particular attention to the mooring vessel nearby the Busan Bridge and Yeongdo Bridge as well as the coming vessel from the invisible sea area when the vessel is entering and departing the port. The Marine Traffic Risk Assessment System analyzed as [Cautious] level until the vessel passed the Busan bridge and the curved area at 5 kts and it became to [Dangerous] level from where it left 75 m to the Busan Bridge. When the vessel passed the Busan Bridge and the curved area at 10 kts and entered the narrow area, it indicated the [Dangerous] level and became to [Very dangerous] level from where it left 410 m to the Busan bridge. In conclusion, the vessel should maintain at the speed of 5 kts to reduce the risk when it passes this area.

• Journal of the Korean Society of Marine Environment & Safety
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• v.17 no.3
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• pp.227-233
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• 2011

Korea coastal area is highly potential dangerous zone of marine accident due to frequent ship's encounters. VTS center can't identify ship's information because of beyond VHF range. It is also difficult of us to efficiently manage vessel traffic beyond VTS control area, so that it can't prevent marine accident. Presently, korean government is conducting maritime traffic safety assessment according to enlargement of harbor & development of new port but do not have the system which provide danger of information depending on maritime traffic environment with real time. So it is necessary to develop evaluation index which can assess sea risk through the evaluation of maritime traffic environment. In this paper, on the basis of vessel navigator's risk consciousness, we carried out survey & statistical analysis vessel navigator's subjective risk depending on the LOA, crossing situation($045^{\circ}$, $090^{\circ}$, $135^{\circ}$), overtaking, head-on situation, encountering vessel's side, within or outside harbor, speed with other vessel(ex. same, fast or slow), speed difference with other vessel and distance with other vessel & propose basic expression to develop maritime traffic safety evaluation model. And by using this model, we can confirm that this proposing expression is suitable for domestic maritime traffic environment.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 1993.06a
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• pp.975-976
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• 1993

This talk presents the overview of the author's research and development activities on fuzzy inference hardware. We involved it with two distinct approaches. The first approach is to use application specific integrated circuits (ASIC) technology. The fuzzy inference method is directly implemented in silicon. The second approach, which is in its preliminary stage, is to use more conventional microprocessor architecture. Here, we use a quantitative technique used by designer of reduced instruction set computer (RISC) to modify an architecture of a microprocessor. In the ASIC approach, we implemented the most widely used fuzzy inference mechanism directly on silicon. The mechanism is beaded on a max-min compositional rule of inference, and Mandami's method of fuzzy implication. The two VLSI fuzzy inference chips are designed, fabricated, and fully tested. Both used a full-custom CMOS technology. The second and more claborate chip was designed at the University of North Carolina(U C) in cooperation with MCNC. Both VLSI chips had muliple datapaths for rule digital fuzzy inference chips had multiple datapaths for rule evaluation, and they executed multiple fuzzy if-then rules in parallel. The AT & T chip is the first digital fuzzy inference chip in the world. It ran with a 20 MHz clock cycle and achieved an approximately 80.000 Fuzzy Logical inferences Per Second (FLIPS). It stored and executed 16 fuzzy if-then rules. Since it was designed as a proof of concept prototype chip, it had minimal amount of peripheral logic for system integration. UNC/MCNC chip consists of 688,131 transistors of which 476,160 are used for RAM memory. It ran with a 10 MHz clock cycle. The chip has a 3-staged pipeline and initiates a computation of new inference every 64 cycle. This chip achieved an approximately 160,000 FLIPS. The new architecture have the following important improvements from the AT & T chip: Programmable rule set memory (RAM). On-chip fuzzification operation by a table lookup method. On-chip defuzzification operation by a centroid method. Reconfigurable architecture for processing two rule formats. RAM/datapath redundancy for higher yield It can store and execute 51 if-then rule of the following format: IF A and B and C and D Then Do E, and Then Do F. With this format, the chip takes four inputs and produces two outputs. By software reconfiguration, it can store and execute 102 if-then rules of the following simpler format using the same datapath: IF A and B Then Do E. With this format the chip takes two inputs and produces one outputs. We have built two VME-bus board systems based on this chip for Oak Ridge National Laboratory (ORNL). The board is now installed in a robot at ORNL. Researchers uses this board for experiment in autonomous robot navigation. The Fuzzy Logic system board places the Fuzzy chip into a VMEbus environment. High level C language functions hide the operational details of the board from the applications programme . The programmer treats rule memories and fuzzification function memories as local structures passed as parameters to the C functions. ASIC fuzzy inference hardware is extremely fast, but they are limited in generality. Many aspects of the design are limited or fixed. We have proposed to designing a are limited or fixed. We have proposed to designing a fuzzy information processor as an application specific processor using a quantitative approach. The quantitative approach was developed by RISC designers. In effect, we are interested in evaluating the effectiveness of a specialized RISC processor for fuzzy information processing. As the first step, we measured the possible speed-up of a fuzzy inference program based on if-then rules by an introduction of specialized instructions, i.e., min and max instructions. The minimum and maximum operations are heavily used in fuzzy logic applications as fuzzy intersection and union. We performed measurements using a MIPS R3000 as a base micropro essor. The initial result is encouraging. We can achieve as high as a 2.5 increase in inference speed if the R3000 had min and max instructions. Also, they are useful for speeding up other fuzzy operations such as bounded product and bounded sum. The embedded processor's main task is to control some device or process. It usually runs a single or a embedded processer to create an embedded processor for fuzzy control is very effective. Table I shows the measured speed of the inference by a MIPS R3000 microprocessor, a fictitious MIPS R3000 microprocessor with min and max instructions, and a UNC/MCNC ASIC fuzzy inference chip. The software that used on microprocessors is a simulator of the ASIC chip. The first row is the computation time in seconds of 6000 inferences using 51 rules where each fuzzy set is represented by an array of 64 elements. The second row is the time required to perform a single inference. The last row is the fuzzy logical inferences per second (FLIPS) measured for ach device. There is a large gap in run time between the ASIC and software approaches even if we resort to a specialized fuzzy microprocessor. As for design time and cost, these two approaches represent two extremes. An ASIC approach is extremely expensive. It is, therefore, an important research topic to design a specialized computing architecture for fuzzy applications that falls between these two extremes both in run time and design time/cost. TABLEI INFERENCE TIME BY 51 RULES {{{{Time }}{{MIPS R3000 }}{{ASIC }}{{Regular }}{{With min/mix }}{{6000 inference 1 inference FLIPS }}{{125s 20.8ms 48 }}{{49s 8.2ms 122 }}{{0.0038s 6.4㎲ 156,250 }} }}

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.17 no.5
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• pp.200-209
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• 2018

This study proposed a method to select existing facilities as a landmark in order to reset accumulated errors of dead reckoning in a tunnel difficult to receive GNSS signals in automated driving. First, related standards and regulations were reviewed in order to survey 'variety' on shapes and installation locations as a feature of facilities. Second, 'recognition' on facilities was examined using image and Lidar sensors. Last, 'regularity' in terms of installation locations and intervals was surveyed through related references. The results of this study selected a fire fighting box / lamp (50m), an evacuation corridor lamp (300m), a lane control system (500m), a maximum / minimum speed limit sign and a jet fan as a candidate landmark to reset positioning errors. Based on those facilities, it was determined that error correction was possible. The results of this study are expected to be used in repositioning of automated driving vehicles in a tunnel.

• Journal of Korean Society of Transportation
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• v.21 no.1
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• pp.41-49
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• 2003

Marine traffic management could be defined as the implementation of managerial technical measures to improve vessel traffic safety. The managerial elements of vessel traffic management for ports and harbours or narrow channels include the total amount of traffic control, the vessel traffic separation scheme, speed restriction, traffic control by signals, the navigation information service and so forth. This research aims to quantify how much the traffic separation schemes(TSS) contribute to the alleviation effect of ship handling difficulty and to propose a design standard when the individual management measure is applied in an actual waterway. Traffic separation schemes have now been established in most of the major routes and congested waters of the world, and the number of collisions and groundings have often been dramatically reduced. In this part, the relationship between the alleviation of ship handling difficulty and the reduction of encounter figures among ships is quantitatively clarified by applying the ES model. As results of simulation analysis, it is recognized that a traffic separation system is most effective in the case of narrow width and heavy traffic volume. The centre buoy installation reduces about 1/4 of the alleviation of ship handling difficulty, TSS establishment 1/3, and design change to one-way traffic from two-way traffic reduces 1/2.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.4
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• pp.1824-1832
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• 2011

In this paper, a smart home service robot McBot II is newly developed in much more practical and intelligent system than McBot I which we had developed a few years ago. Thus far, vacuum-cleaners have lightened the burden of household chores but the operational labor that vacuum-cleaners entail has been very severe. Recently, a cleaning robot was commercialized to solve but it also was not successful because it still had the problem of mess-cleanup, which pertained to the clean-up of large trash and the arrangement of newspapers, clothes, etc. Hence, we develop a new home mess-cleanup robot McBot II to completely overcome this problem on real environments. The mechanical design and the basic control of McBot II, which performs mess-cleanup function etc. in house, is actually focused in this paper. McBot II is mechanically modeled in the same method that the human works in door by using the waist and the hands. The big-ranged vertical lift and the shoulder joints to be able to forward move are mechanically designed for the operating function as the human's waist when the robot works. The mobility of McBot II is designed in the holonomic mobile robot for the collision avoidance of obstacle and the high speed navigation on the small area in door. Finally, good performance of McBot II, which has been optimally desinged, is confirmed through the experimental results for the control of the robotic body, mobility, arms and hands in this paper.

• Proceedings of the Korean Information Science Society Conference
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• 2001.10c
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• pp.202-204
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• 2001

가상 세계의 공유 개념은, 특히 사용자들이 인터넷 같이 대규모 네트웍을 통해 지역적으로 분산된 경우는 복제가 수용할 수 있는 상호작용 성능을 제공하기 때문에 각 사용자의 사이트에 정보를 복제함으로써 확장된다. 그러나, 다수의 동시 갱신은 replicas간의 일관되지 않은 뷰를 일으키게 될 것이다. 따라서, 동시성 제어가 복제자들간에 일관된 상태를 유지하도록 하기 위한 중요한 요소가 된다. 우리는 단지 대상 객체의 주변에 있는 사용자들만이 소유권 요청을 다중 전송하게 하는 확장성 있는 예측기반 동시성 제어 스킴을 제안했었다. 이 작업에서, 우리는 모든 사용자들이 동일한 속도론 가지고 가상 세계를 이동한다고 가정했다. 이것은, 그러나, 좀더 사실성을 더하기 위해 사용자가 가상 세계와 상호작용을 할 매 그들의 이동속도를 변경하도록 하는 네트웍 게임같은 네트웍 가상 환경에서는 너무 common 하다. 본 논문은 다양한 속도를 가진 사자를 지원하기 위한 확장을 제안한다. 확장된 스킴은 다른 속도의 수만큼의 다중 Entity Radii를 가지며 각 속도를 가진 사용자에게 분리된 큐를 할당한다. 각 큐는 다음 소유자 후보를 예측하기 위해 동시에 예측을 수행하고 선택된 후보들간에서 최소의 Predicted Collision Time을 가지는 최종 후보자가 선택된다. 이는 사용자의 속도에 기반을 둔 적절한 Entity Radius를 사용함으로써 소유권의 timely advanced transfer과, 다른 이돔 속도와 latency를 가지는 사용자들 간의 간섭을 줄임으로써 공정(공평)한 소유권 양도, 그리고 불필요한 소유권 전송을 줄임으로써 놓은 예측 정확도를 제공한다.성을 지닌 AMMQL 학습법은 로봇축구와 같이 끊임없이 실시간적으로 변화가 일어나는 다중 에이전트 환경에서 특히 높은 효과를 볼 수 있다. 본 논문에서는 AMMQL 학습방법의 개념을 소개하고, 로봇축구 에이전트의 동적 위치 결정을 위한 학습에 어떻게 이 학습방법을 적용할 수 있는지 세부 설계를 제시한다.다.으로서 hemicellulose구조가 polyuronic acid의 형태인 것으로 사료된다. 추출획분의 구성단당은 여러 곡물연구의 보고와 유사하게 glucose, arabinose, xylose 함량이 대체로 높게 나타났다. 점미가 수가용성분에서 goucose대비 용출함량이 고르게 나타나는 경향을 보였고 흑미는 알칼리가용분에서 glucose가 상당량(0.68%) 포함되고 있음을 보여주었고 arabinose(0.68%), xylose(0.05%)도 다른 종류에 비해서 다량 함유한 것으로 나타났다. 흑미는 총식이섬유 함량이 높고 pectic substances, hemicellulose, uronic acid 함량이 높아서 콜레스테롤 저하 등의 효과가 기대되며 고섬유식품으로서 조리 특성 연구가 필요한 것으로 사료된다.리하였다. 얻어진 소견(所見)은 다음과 같았다. 1. 모년령(母年齡), 임신회수(姙娠回數), 임신기간(姙娠其間), 출산시체중등(出産時體重等)의 제요인(諸要因)은 주산기사망(周産基死亡)에 대(對)하여 통계적(統計的)으로 유의(有意)한 영향을 미치고 있어 $25{\sim}29$세(歲)의 연령군에서, 2번째 임신과 2번째의 출산에서 그리고 만삭의 임신 기간에, 출산시체중(出産時體重) $3.50{\sim}3.99kg$사이의 아

• Journal of Advanced Marine Engineering and Technology
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• v.39 no.9
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• pp.911-917
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• 2015

The objective of this work focuses on the analysis of injection rate and macroscopic spray behavior characteristics with injection pressures as well as combustion and exhaust emission characteristics with injection timing and injection pressure by using a common rail single-cylinder diesel engine. The injection rate was measured by applying the Bosch method, and macroscopic spray behavior characteristics were analyzed with a constant-volume vessel and a high-speed camera. In addition, combustion and emission characteristics were analyzed in a common-rail single-cylinder diesel engine with precise control of fuel injection timing and pressure. For injection pressures of 30MPa and 50MPa, the injection rate was higher at 50 MPa, and the spray development (penetration) was also higher in the same elapsed time. The peak in-cylinder pressure and rate of heat release showed a tendency to decline as injection timing was delayed, and the peak in-cylinder pressure and rate of heat release were slightly higher for higher injection pressures. Higher injection pressures also reduced the mean effective pressure, while the indicated mean effective pressure and torque increased as injection timing was delayed to TDC. Nitrogen oxides had a peak level at injection timings of $BTDC20^{\circ}$(30MPa) and $BTDC15^{\circ}$(50MPa); carbon monoxide emissions were reduced by delaying injection timing from $BTDC30^{\circ}$.