• Journal of the Society of Naval Architects of Korea
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• v.60 no.3
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• pp.155-164
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• 2023

About 75% of vessel collision accidents are caused by human error, which causes enormous economic loss, environmental pollution, and human casualties, thus research on automatic collision avoidance of vessels is being actively conducted. In addition, vessels must comply with the COLREGs rules stipulated by IMO when performing collision avoidance with other vessels in motion. In this study, the collision risk was calculated by estimating the position and velocity of other vessels through the Probabilistic Data Association Filter (PDAF) algorithm based on RADAR sensor data. When a collision risk is detected, we propose an event-triggered Nonlinear Model Predict Control (NMPC) algorithm that geometrically creates waypoints that satisfy COLREGs and follows them. To verify the proposed algorithm, simulations through MATLAB are performed.

• Journal of Bio-Environment Control
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• v.8 no.1
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• pp.49-55
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• 1999

This study aims at analyzing environment factors of two tier cropping systems and suggesting effective structures of two tier cropping systems. The environment factors in two tier cropping systems are temperature, relative humidity, solar radiation, temperature of nutrient solution, and wind velocity. Especially, The most important factors are the solar radiation and the solar incident area between the two tiers. During the experiment, observations were made of the two levels in the plastic greenhouse. The highest temperatures were 38.3$^{\circ}C$ in the top level and, 35.5$^{\circ}C$ in the bottom level, respectively. The temperature of the nutrient solution between the two levels showed little difference. The relative humidity in the top level was 60~7o% and that in the bottom 65~80%, exhibiting that the bottom is approximately 10% higher. Change of photosynthetic photon flux density and solar radiation both have a tendency to be similar. The wind velocities for both levels were recorded at 0.1m.s$^{-1}$ in the afternoon and 0.05m.s$^{-1}$ in the evening. The solar incident areas in the bottom level increased by approximately 25% at an East-West position and 17.7% at a South-North position, respectively.

• Journal of Drive and Control
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• v.13 no.4
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• pp.14-22
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• 2016

This paper presents a stochastic and predictive working-risk-assessment algorithm for excavators based on a one-layer laser scanner. The one-layer laser scanner is employed to detect objects and to estimate an object's dynamic behaviors such as the position, velocity, heading angle, and heading rate. To estimate the state variables, extended and linear Kalman filters are applied in consideration of laser-scanner information as the measurements. The excavator's working area is derived based on a kinematic analysis of the excavator's working parts. With the estimated dynamic behaviors and the kinematic analysis of the excavator's working parts, an object's behavior and the excavator's working area such as the maximum, actual, and predicted areas are computed for a working risk assessment. The four working-risk levels are defined using the predicted behavior and the working area, and the intersection-area-based quantitative-risk level has been computed. An actual test-data-based performance evaluation of the designed stochastic and predictive risk-assessment algorithm is conducted using a typical working scenario. The results show that the algorithm can evaluate the working-risk levels of the excavator during its operation.

• Journal of Korean Society of Transportation
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• v.27 no.3
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• pp.71-77
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• 2009

The ubiquitous transportation system environments make it possible to collect each vehicle's position and velocity data and to perform more sophisticated traffic flow management at individual vehicle or platoon level through V2V and V2I communications. The VISSIM simulation experiments were performed to address the issues in developing the preventive congestion management algorithm proposed in the companion paper. Traffic flow stability measures were developed based on the platoon profile, which enables us to explicitly consider traffic flow stability in traffic flow management. Traffic flow management strategies according to the traffic flow states were proposed: Maintain the equilibrium speed for free flow state, maintain the traffic flow stability by platoon control for critical state, and surpress the shock wave propagation for congested state. And finally potential benefit of the proposed traffic flow management scheme was evaluated based on the simulation experiment results. It is considered that extensive field experiments should be performed to confirm the simulated results.

• The Transactions of the Korean Institute of Power Electronics
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• v.12 no.6
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• pp.500-509
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• 2007

In this paper, we propose a novel pc-based 8-channel USB interface digital multi-controller (DMC) has capacity to be able to adjust ultrasonic motor's (USM's) the parameters-frequency, amplitude, phase difference using FPGA. The proposed DMC can control parameters directly by digital logic through a FPGA. Since it has counter circuit for rotary encoder to measure position and velocity of USM, the other separate circuits are unnecessary. Therefore, it could reduce the size of controller and the production cost. Finally, to verify the performance of proposed DMC, we tested the speed characteristic of two types USM with no-load as adjusting the parameters.

• Journal of the Institute of Electronics and Information Engineers
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• v.54 no.3
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• pp.108-118
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• 2017

This paper presents experimental results of realtime sonar-based SLAM (simultaneous localization and mapping) using probability-based landmark-recognition. The sonar-based SLAM is used for navigation of underwater robot. Inertial sensor as IMU (Inertial Measurement Unit) and DVL (Doppler Velocity Log) and external information from sonar image processing are fused by Extended Kalman Filter (EKF) technique to get the navigation information. The vehicle location is estimated by inertial sensor data, and it is corrected by sonar data which provides relative position between the vehicle and the landmark on the bottom of the basin. For the verification of the proposed method, the experiments were performed in a basin environment using an underwater robot, yShark.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.5
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• pp.460-465
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• 2013

In this paper, we describe a security robot system to control human's behavior in the security area. In order to achieve these goals, we present a method for representing, tracking and human blocking by laserscanner systems in security area, with application to pedestrian tracking in a crowd. When it detects walking human who is for the security area, robot calculates his velocity vector, plans own path to forestall and interrupts him who want to head restricted area and starts to move along the estimated trajectory. While moving the robot continues these processes for adapting change of situation. After arriving at an opposite position human's walking direction, the robot advises him not to be headed more and change his course. The experimental results of estimating and tracking of the human in the wrong direction with the mobile robot are presented.

• Journal of Advanced Navigation Technology
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• v.24 no.1
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• pp.16-27
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• 2020

This paper investigates the applicability of optical flow information for unmanned aerial vehicle (UAV) navigation under environments where global navigation satellite system (GNSS) is unavailable. Since the optical flow information is one of important measurements to estimate horizontal velocity and position, accuracy of the optical flow information must be guaranteed. So a navigation algorithm, which can estimate and cancel biases that the optical flow information may have, is suggested to improve the estimation performance. In order to apply and verify the proposed algorithm, an integrated simulation environment is built by designing a guidance, navigation, and control (GNC) system. Numerical simulations are implemented to analyze the navigation performance using this environment.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.4
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• pp.451-456
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• 2009

In this paper, a virtual force is generated and fed back to the operator to make the teleoperation more reliable, which reflects the relationship between a slave robot and an uncertain remote environment as a form of an impedance. In general, for the teleoperation, the teleoperated mobile robot takes pictures of the remote environment and sends the visual information back to the operator over the Internet. Because of the limitations of communication bandwidth and narrow view-angles of camera, it is not possible to watch certain regions, for examples, the shadow and curved areas. To overcome this problem, a virtual force is generated according to both the distance between the obstacle and the robot and the approaching velocity of the obstacle w.r.t the collision vector based on the ultrasonic sensor data. This virtual force is transferred back to the master (two degrees of freedom joystick) over the Internet to enable a human operator to estimate the position of obstacle at the remote site. By holding this master, in spite of limited visual information, the operator can feel the spatial sense against the remote environment. It is demonstrated by experiments that this collision vector based haptic reflection improves the performance of teleoperated mobile robot significantly.

• Physical Therapy Korea
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• v.13 no.4
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• pp.47-55
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• 2006

The purpose of this study was to compare the static balance of standing position between adolescent idiopathic scoliosis (AIS) and a normal group that were aged-matched. There were forty subjects included in this study. Twenty-seven healthy subjects (age, $13.9{\pm}1.2$ yrs; height, $161.9{\pm}7.5$ cm; weight, $52.2{\pm}7.7$ kg) and thirteen AIS subjects (age, $14.2{\pm}2.2$ yrs; height, $161.5{\pm}8.7$ cm; weight, $48.1{\pm}8.1$ kg) were participated in the study. The thirteen subjects in the AIS group had a major Cobb angle between $20.1^{\circ}$ and $49^{\circ}$. Each group was tested with the Balance Performance Monitor (BPM). The parameters for static balance were sway area, sway path, max velocity, mean balance, anterior-posterior angle, and left-right angle of each group with their eyes opened and again with their eyes closed. Both sides of the forward reach test and the lateral reach test were also performed on each group. Results from the BPM tested showed significantly increases in all parameters of static balance with those patients with AIS under the conditions where eyes were opened and closed. In the right and left forward reach test, there was no significant difference between normal and AIS groups. However, in the lateral reach test with right and left direction, there were significant differences between normal and AIS groups. For the normal subjects, there were significant differences in the parameters with sway path and anterior-posterior sway angle between the eyes opened and closed. However, there were no significant differences in the all parameters between eyes opened and closed for the AIS subjects. These results suggest that, balance programs could be used in the rehabilitation setting for intervention of AIS and evaluation of AIS. Further study is needed to measure many patients with AIS and other functional balance scales for clinical application.