• Journal of Positioning, Navigation, and Timing
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• v.11 no.2
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• pp.119-126
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• 2022

This paper presents a method to reduce the vibration-induced noise effect of an inertial measurement device mounted on a self-driving vehicle. The inertial sensor used in the GNSS/INS integrated navigation system of a self-driving vehicle is fixed directly on the chassis of vehicle body so that its navigation output is affected by the vibration of the vehicle's engine, resulting in the degradation of the navigational performance. Therefore, these effects must be considered when mounting the inertial sensor. In order to solve this problem, this paper proposes to use an in-house manufactured vibration suppression device and analyzes its impact on reducing the vibration effect. Experimental test results in a static scenario show that the vibration-induced noise effect is more clearly observed in the lateral direction of the vehicle, but can be effectively suppressed by using the proposed vibration suppression device compared to the case without it. In addition, the dynamic positioning test scenario shows the position, speed, and posture errors are reduced to 74%, 67%, and 14% levels, respectively.

• Journal of Positioning, Navigation, and Timing
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• v.4 no.3
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• pp.141-150
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• 2015

In this study, a Global Navigation Satellite System (GNSS) / Inertial Navigation System (INS) / odometer / barometer integrated navigation system that uses a commercial navigation device including Micro Electro Mechanical Systems (MEMS) accelerometer and gyroscope in addition to GNSS, odometer information obtained from a vehicle, and a separate MEMS barometer sensor was implemented, and the performance was verified. In the case of GNSS and GNSS/INS integrated navigation system that are generally used in a navigation device, the performance would deteriorate in areas where GNSS signals are not available. Therefore, an integrated navigation system that calculates a better navigation solution in areas where GNSS signals are not available compared to general GNSS/INS by correcting the velocity error of GNSS/INS using an odometer and by correcting the cumulative altitude error of GNSS/INS using a barometer was suggested. To verify the performance of the navigation system, a commercial navigation device (Softman, Hyundai Mnsoft, http://www.hyundai-mnsoft.com) and a barometer sensor (ST Company) were installed at a vehicle, and an actual driving test was performed. To examine the performance of the algorithm, the navigation solutions of general GNSS/INS and the GNSS/INS/odometer/barometer integrated navigation system were compared in an area where GNSS signals are not available. As a result, a navigation solution that has a smaller position error than that of GNSS/INS could be obtained in the area where GNSS signals are not available.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2008.04a
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• pp.861-862
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• 2008

One of trend of portable devices is convergence with other devices, especially with navigation system. This converged system is generally called PND (Personal Navigation Device). This detachable device is developed for personal entertainment in everyday life and navigation system when deriving, so it should meet the specification of vehicle thermal environment, anti-vibration as well as the anti-shock by sudden drop. In this paper, the way to design the hard disk drive damper with CAE, is introduced to get a reliable system from the beginning of the design step.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.3
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• pp.315-322
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• 2009

This paper explains a control and navigation algorithm of a 6-DOF gait rehabilitation robot, which can allow a patient to navigate in virtual reality (VR) by upper and lower limbs interactions. In gait rehabilitation robots, one of the important concerns is not only to follow the robot motions passively, but also to allow the patient to walk by his/her intention. Thus, this robot allows automatic walking velocity update by estimating interaction torques between the human and the upper limb device, and synchronizing the upper limb device to the lower limb device. In addition, the upper limb device acts as a user-friendly input device for navigating in virtual reality. By pushing the switches located at the right and left handles of the upper limb device, a patient is able to do turning motions during navigation in virtual reality. Through experimental results of a healthy subject, we showed that rehabilitation training can be more effectively combined to virtual environments with upper and lower limb connections. The suggested navigation scheme for gait rehabilitation robot will allow various and effective rehabilitation training modes.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.807-814
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• 2014

In this paper, we proposed a haptic navigation system which used the tactile data for the user guides of the mobile robot to the reference point via tele-operation in unknown blind environment. This navigation system can enable a mobile robot to avoid obstacles and move to the reference point, according to the direction provided by the device guides through a haptic device consisting of a vibration motor in a blind environment. There are a great deal of obstacles in real environments, and so mobile robots can avoid obstacles by recognizing the exact position of each obstacle through the superposition of an ultrasonic sensor. The navigation system determines the direction of obstacle avoidance through an avoidance algorithm that uses virtual impedance, and lets users know the position of obstacles and the direction of the avoidance through the haptic device consisting of 5 vibration motors. By letting users know intuitionally, it lets the mobile robot precisely reach the reference point in unknown blind environment. This haptic device can implement a haptic navigation system through the tactile sensor data.

• Journal of Advanced Navigation Technology
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• v.15 no.1
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• pp.25-31
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• 2011

Recently NMEA 2000 protocol is familiarized as a standard real time instrument network of SOLAS ship. This paper is studied to develop NMEA 2000 based two-dimensional ultrasonic anemometer which is core device for navigation as a sensor of wind speed and direction using ultrasonic including temperature and barometer. Developed system is connected to NMEA 2000 network which is composed of various kinds of merchandised NMEA 2000 device such as depth gauge, speed gauge, GPS device etc. to test connectivity with other NMEA 2000 device and functional test are carried out as weather station in comparison with other merchandised weather station which are developed advanced foreign company to ascertain usability as a weather station on board.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.3
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• pp.249-255
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• 2007

Under the situation of a fire, it is difficult for a rescue robot to use sensors such as vision sensor, ultrasonic sensor or laser distance sensor because of diffusion, refraction or block of light and sound by dense smoke. But, braille blocks that are installed for the visaully impaired at public places such as subway stations can be used as a map for autonomous mobile robot's localization and navigation. In this paper, we developed a laser sensor stan device which can detect braille blcoks in spite of dense smoke and integrated the device to the robot developed to carry out rescue mission in various hazardous disaster areas at KIST. We implemented MCL algorithm for robot's attitude estimation according to the scanned data and transformed a braille block map to a topological map and designed a nonlinear path tracking controller for autonomous navigation. From various simulations and experiments, we could verify that the developed laser sensor device and the proposed localization method are effective to autonomous tracking of braille blocks and the autonomous navigation robot system can be used for rescue under fire.

• Spatial Information Research
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• v.23 no.4
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• pp.47-56
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• 2015

Recently, there has been an increase in the number of people who use the smart-phone navigation for using various latest functions such as group driving and location sharing. But smart-phone has a limited storage space for one application, since a lot of applications with different purposes are installed in the smart-phone. For this reason, road network data with a large space of memory used for map matching in the device for navigation cannot be stored in the smart-phone for this reason map matching is impossible. Besides, smart-phone which doesn't use the external GPS device, provides inaccurate GPS information, compared to the device for navigation. This is why the smart-phone navigation is hard to provide accurate location determination. Therefore, this study aims to help map matching that is more accurate than the existing device for navigation, by reducing the capacity of road network data used in the device for navigation through format design of a new road network and conversion and using a database of driver's driving patterns. In conclusion, more accurate map matching was possible in the smart-phone by using a storage space more than 80% less than existing device at the intersection where many roads cross, the building forest that a lot of GPS errors occur, the narrow roads close to the highway. It is considered that more accurate location-based service would be available not only in the navigation but also in various applications using GPS information and map in the future Navigation.

• Korean Journal of Computational Design and Engineering
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• v.9 no.4
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• pp.277-285
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• 2004

In this paper, a 2 DOF haptic yawing joystick for use as the navigation input device in virtual environments is introduced. The haptic yawing joystick has 360° range for yawing motion and ±100° for pitching motion. The device can support weights of up to 26N for χ axis and 10N for axis with 10kHz of sampling rate. The size of the haptic yawing joystick is so small that it can be assembled on armrest of an arm chair and has relatively larger work space than other conventional 2 DOF joysticks. For the haptic yawing joystick, an ellipse navigation algorithm using the user's velocity in the virtual navigation is proposed. The ellipse represents the velocity of the user. According to the velocity of the navigator, the ellipse size is supposed to be changed. Since the path width of navigation environments is limited, the ellipse size is also limited. The ellipse navigation algorithm is tested in 2 dimensional virtual environments. The test results show that the average velocity of the navigation with the algorithm is faster than the average navigation velocity without the algorithm.

• The KIPS Transactions:PartD
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• v.15D no.5
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• pp.609-620
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• 2008

The service handling the map data in the mobile device including navigation, LBS, Telematics, and etc., becomes various. The size of map data which is stored and managed in the mobile device is growing and reaches in several GB. The conventional navigation system has used the read-only PSF (physical storage format) in order to enhance the performance of system by maximum in the mobile device which has limited resources. So though a little part of the map data is changed the whole data must be updated. In general, it takes several ten minutes to write the 2 GB map data to a flash memory of mobile device. Therefore, we have developed the mobile spatial DBMS (database management system) to solve the problem which is that the partial map data couldn't be updated in the conventional navigation system. And we suggest the policy to guarantee the performance of the navigation system which is implemented using the spatial mobile DBMS and verify this by experiment.