• The Journal of Korea Institute of Information, Electronics, and Communication Technology
• /
• v.13 no.5
• /
• pp.377-388
• /
• 2020

In this paper, the autonomous mobile robot whit only LRF sensors proposes an algorithm for avoiding moving obstacles in an environment where a global map containing fixed obstacles. First of all, in oder to avoid moving obstacles, moving obstacles are extracted using LRF distance sensor data and a global map. An ellipse-shaped safety radius is created using the sum of relative vector components between the extracted moving obstacles and of the autonomuos mobile robot. Considering the created safety radius, the autonomous mobile robot can avoid moving obstacles and reach the destination. To verify the proposed algorithm, use quantitative analysis methods to compare and analyze with existing algorithms. The analysis method compares the length and run time of the proposed algorithm with the length of the path of the existing algorithm based on the absence of a moving obstacle. The proposed algorithm can be avoided by taking into account the relative speed and direction of the moving obstacle, so both the route and the driving time show higher performance than the existing algorithm.

• Journal of the korean society of oceanography
• /
• v.32 no.4
• /
• pp.181-190
• /
• 1997

A large subtidal sand ridge (Jungang Satoe) in Asan Bay, on the west coast of Korea, was studied in order to understand the morphology and sediment transport trend in a macrotidal setting, by means of analyzing sediment samples, current data, side-scan sonographs and seismic profiles. The ridge is about 15 km long and 2-5 km wide, with a relief of about 15 m. It is elongated in the flow direction of flood (SE) and ebb (NW) tidal currents, but asymmetrical in cross section. The western and southwestern side of the ridge is characterized by relatively gentle slopes averaging 0.4$^{\circ}$, whereas on the northeastern side, relatively steep slopes were mapped with 1.6$^{\circ}$ slope angles. Tidal currents associated with the ridge are very strong; maximum surface velo-cities range from neap values of 50 cm/s to spring values of 130 cm/s. The shear velocities during flood and ebb are strong enough to erode and transport sands on the ridge. Sand waves and megaripples (dunes) are the most common bedforms produced by the tidal currents, which show regional differences in shape and size on the ridge. The distribution pattern of these bedforms in-dicates that the flood tidal currents are dominant on the offshore (northwest) side of the ridge, whereas the onsho.e (southeast) side of the ridge is ebb-dominated. The sand transport path as inferred from bedform orientations is directed toward the ridge crest on the flanks, whereas on the crest, it is near-longitudinal to the ridge axis. The convergent, upslope movement of sands on the ridge flanks appears to be important in sand ridge building and maintenance. A significant ridge migration toward the northeast can be suspected on the basis of the ridge morphology, which may cause offshore hazards for navigation.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.47 no.7
• /
• pp.508-516
• /
• 2019

In this paper, we propose a guidance law to control Impact Angle in consideration of look angle limit of the missile with strapdown seeker on the non-maneuvering target. The proposed law is based on sliding mode algorithm and generates acceleration commands using look angle and line of sight information provided by the strapdown seeker and navigation system. And, target velocity and target path angle are provided by like TADS (Target Acquisition and Designation System) at launch time. We can confirm that the target interception and impact angle control are possible through the convergence of the proposed sliding surface. In addition, it is possible to confirm that the sign of derivative result of the look angle at the maximum and minimum look angle is opposite to the sign of the look angle, so the look angle limit is not exceeded.

• The Journal of Korean Institute of Information Technology
• /
• v.17 no.10
• /
• pp.57-63
• /
• 2019

Motion errors which are caused by several reasons, non-ideal path, errors of navigation systems, and radar system errors, have to be corrected. Motion compensation methods can compensate the motion error, but not exactly. To correct these residual errors, several autofocus methods are invented. A popular method is phase gradient autofocus (PGA). PGA does not assume specific circumstances, such as isolated point targets and shapes of errors. PGA is an iterative and adaptive method, so that the processing time is the main problem for the real time processing. In this paper, the improved method to select targets for PGA is proposed to reduce processing time. The variances of image pixels are used to select targets with high SNR. The processing of PGA with these targets diminishes the processing time and iterations effectively. The processed results with real radar data, obtained by flight tests, show that the proposed method compensates errors well, and reduce working time.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.24 no.1
• /
• pp.44-49
• /
• 2020

Recently, one of the major issues of shipbuilding and marine is the reduction of air and marine pollution emission to ships. In response, the International Maritime Organization (IMO) has concluded an international convention (MARPOL) to prevent pollution from ships. A Annex Six of The Convention restricts and regulates air and marine pollution of ship from exhausting gases. To this end, it is required to apply EEDI (Energy Efficiency Design Indicators) to the construction of new ships, and to minimize the emission of environmental pollutants by recommending the application of EEOI (Energy Efficiency Operation Indicators) to operational ships. Therefore, in this study, we propose to calculate the grade of operating efficiency (EG) of ships based on actual operational data for transport ships and to provide energy-efficient optimal path search information through analysis of marine environment data.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2004.04a
• /
• pp.5-9
• /
• 2004

In this paper, we studied the OCT(Optical Coherence Tomography) system which it has been extensively studied because of having some advantages such as high resolution cross-sectional images, low cost, and small size configuration. A basic principle of OCT system is Michelson interferometer. The characteristics of light source determine the resolution and the transmission depth. As a results, the light source have a commercial SLD with a central wavelength of 1,285 nm and FWHM(Full Width at Half Maximum) of 35.3 nm. The optical delay line part is necessary to equal of the optical path length with scattered light or reflected light from sample. In order to equal the optical path length, the stage which is attached to reference mirror is moved linearly by step motor And the interferometer is configured with the Michelson interferometer using single mod fiber, the scanner can be focused of the sample by using the reference arm. Also, the 2-dimensional cross-sectional images were measured with scanning the transverse direction of the sample by using step motor. After detecting the internal signal of lateral direction at a paint of sample, scanner is moved to obtain the cross-sectional image of 2-demensional by using step motor. Photodiode has been used which has high detection sensitivity, excellent noise characteristic, and dynamic range from 800 nm to 1,700 nm. It is detected mixed small signal between noise and interference signal with high frequency After filtering and amplifying this signal, only envelope curve of interference signal is detected. And then, cross-sectional image is shown through converting this signal into digitalized signal using A／D converter. The resolution of the OCT system is about 30$\mu\textrm{m}$ which corresponds to the theoretical resolution. Also, the cross-sectional image of ping-pong ball is measured. The OCT system is configured with Michelson interferometer which has a low contrast because of reducing the power of feedback interference light. Such a problem is overcomed by using the improved inteferometer. Also, in order to obtain the cross-sectional image within a short time, it is necessary to reduce the measurement time for improving the optical delay line.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.14 no.4
• /
• pp.438-444
• /
• 2004

The intelligent robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, robots need to recognize their position and posture in known environment as well as unknown environment. Moreover, it is necessary for their localization to occur naturally. It is desirable for a robot to estimate of his position by solving uncertainty for mobile robot navigation, as one of the best important problems. In this paper, we describe a method for the localization of a mobile robot using image information of a moving object. This method combines the observed position from dead-reckoning sensors and the estimated position from the images captured by a fixed camera to localize a mobile robot. Using the a priori known path of a moving object in the world coordinates and a perspective camera model, we derive the geometric constraint equations which represent the relation between image frame coordinates for a moving object and the estimated robot's position. Since the equations are based or the estimated position, the measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the mobile robot. The Kalman filter scheme is applied for this method. its performance is verified by the computer simulation and the experiment.

• Journal of Korean Society of Transportation
• /
• v.22 no.7 s.78
• /
• pp.91-98
• /
• 2004

This study focuses on the development of dynamic assignment for evaluation and application for dynamic route guidance strategy. Travelers are classified according to information contents which they received pre/on trip. The first group have no traffic information, so they travel with fixed route. The second group have real-time shortest path and travel according to it. The last group have car navigation system or individual method(cellular phone, PDA-two way communication available) for traffic information on trip. And then they are assigned in accordance with the proposed multiclass dynamic assignment model. At this time the last group is gotten under control with DFS(decentralized feedback strategy). In use of this Process we expect that various traffic information strategy can be tested and also be the key factor for success of ITS, location of VMS(variable message sign), cycle of information, area of traffic information, etc).

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2008.10a
• /
• pp.331-339
• /
• 2008

Nowadays with advancement in technology and aging society, the number of disabled citizens is increasing. The disabled citizens always need a caretaker for daily life routines especially for mobility. In future, the need is considered to increase more. To reduce the burden from the disabled, various devices for healthcare are introduced using computer technology. The power wheelchair is an important and convenient mobility device. The demand of power wheelchair is increasing for assistance in mobility. In this paper we proposed a robotic wheelchair for mobility aid to reduce the burden from the disabled. The main issue in an autonomous wheelchair is the automatic detection and avoidance of obstacles and going to the pre-designated place. The proposed algorithm detects the obstacles and avoids them to drive the wheelchair to the desired place safely. By this way, the disabled will not always have to worry about paying deep attention to the surroundings and his path. User has a handheld bio-sensor monitoring system for get user's bio-signal. If user detects unusual signal, alarm send to protector.

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