• Journal of the Korea Institute of Information and Communication Engineering
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• v.4 no.1
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• pp.191-200
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• 2000

The marine accident is being highlighted as a serious worldwide problem for the guard station of human safety and the protection of marine environment pollution. Especially, the GMDSS is operated as a international rule for the safety of a large scale ship, but the small size ship's management is required a adaptive national rule because of the complex condition of national circumstance. This study is motivated to develop a ship's position tracking system combined with GPS information for VTS and control the ship navigation, velocity and longitude etc.. In Part of Navigation Data Transmission is GPS data transmission whih ship's ID using microprocessor and TX speed translation for flexibility with 4800∼2400 [bps]. Results show that the our system for data transmission using microprocessor is useful tool in maritime transmission as SSB used the main TX method of small ship and has a cost competitive power. Therefore, we will expected cost and technical competitive power compared to AIS. But those systems are still remained the unsolved problem for protection from marine accident.. Finally, we examined the semi-actual receiving state on simulated sailing in the around sea of Mok-Po harbor.

• Korean Journal of Remote Sensing
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• v.24 no.2
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• pp.133-140
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• 2008

In this paper, we analyzed the accuracy of orbit modeling with various control point configurations and adjustment unknown parameter sets. We used 152 GCP points acquired from GPS surveying, which were distributed from Choon-chun to Nha-ju along 420km in distance. For orbit modeling, seven adjustment parameter sets were chosen to include parameters for satellite position, velocity and attitude angles at different degree of freedom. Firstly we determined the location of model point in seven configurations. Secondly we estimated model parameters for each parameter set and for each GCP configurations. Finally we applied the model to reference check points and analyzed its accuracy. We were able to find the unknown parameter set that produce best orbit modeling performance regardless of the configuration of model points.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.24 no.11
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• pp.1417-1423
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• 2020

This paper proposes a waypoint guidance algorithm for the Autonomous Underwater Vehicle(AUV). The proposed simplified guidance algorithm is presented, which is combined LOS guidance and cross-track guidance for path following. Cross-track error is calculated using the position of the AUV and reference path. LOS guidance and cross-track guidance are appropriately changed according to cross-track error. And the stability of the system has been improved using variable cross-track control gain by cross-track error. Also, in this paper, navigation hardware in-the loop simulation(HILS) is implemented to verify navigation algorithm of AUV that performs combined navigation using inertial navigation device and doppler velocity log(DVL). Finally, we design integrated system HILS (including navigation HILS) for performance verification of guidance algorithm of the autonomous underwater vehicle. By comparing the sea test result with HILS result, the proposed guidance algorithm and HILS configuration were confirmed be correct.

• Journal of Advanced Navigation Technology
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• v.21 no.2
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• pp.171-178
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• 2017

In this paper, in order to verify the performance of a localization algorithm using GPS as an auxiliary sensor, the algorithm was applied to a hovering-type autonomous underwater vehicle (AUV) to perform a field test. The applied algorithm is an algorithm to improve the accumulated positional error of dead reckoning using doppler velocity logger(DVL) and tilt-compensated compass module (TCM) mounted on the AUV. GPS when surfaced helps the algorithm to estimate the position and the heading bias error of TCM for geodetic north, which makes it possible to perform dead reckoning on north-east-down (NED) coordinates. As a result of field test performing heading control, it was judged that the algorithm could improve the positional error, enhance the operational capability of AUV and contribute to the research of underwater navigation depending on a magnetic compass.

• Journal of Astronomy and Space Sciences
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• v.22 no.4
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• pp.527-536
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• 2005

The perturbations caused by the Sun and the Moon are predominantly out-of-plane effects causing a change in the inclination and in the right ascension of ascending node of a geostationary satellite. Due to the change of the inclination, subsatellite latitude of the geostationary satellite has a daily variations of the same magnitude of the inclination. Therefore we need a facility to control the orbital inclination and right ascension of ascending node for maintaining the satellite position in specified subsatellite latitude boundary using thrusters. In this paper we studied North-South station keeping strategies of the COMS-1 such as Track-Back Chord Target (TBCT) method, Maximum Compensation Target (MCT) method and Minimum Fuel Target (MFT) method. We accomplished those North-South station keeping maneuvers for one year starting from December 2008. The required velocity increments to maintain the satellite are estimated as MCT 52.6065m/s, TBCT 52.2383m/s, MFT 51.5428m/s, respectively. We demonstrated that TBCT and MFT methods are proper to North-South station keeping for COMS-1. MFT method showed the minimum required velocity increments whereas TBCT traced narrow inclination boundary area for North-South station keeping.

• Journal of KIISE:Computer Systems and Theory
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• v.36 no.5
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• pp.404-411
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• 2009

We introduce in this paper a new method for smooth foldover-free warping of images, based on the vector field deformation technique proposed by Von Funck et al. It allows users to specify the constraints in two different ways: positional constraints to constrain the position of a point in the image and gradient constraints to constrain the orientation and scaling of some parts of the image. From the user-specified constraints, it computes in the image domain a C1-continuous velocity vector field, along which each pixel progressively moves from its original position to the target. The target positions of the pixels are obtained by solving a set of partial derivative equations with the 4th order Runge-Kutta method. We show how our method can be useful for texture mapping with hard constraints. We start with an unconstrained planar embedding of a target mesh using a previously known method (Least Squares Conformal Map). Then, in order to obtain a texture map that satisfies the given constraints, we use the proposed warping method to align the features of the texture image with those on the unconstrained embedding. Compared to previous work, our method generates a smoother texture mapping, offers higher level of control for defining the constraints, and is simpler to implement.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.1
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• pp.1-8
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• 2016

In this study, an WiFi fingerprinting method based on the k-nn algorithm was applied to improve the accuracy of location tracking of a moving train on a platform and evaluate the performance to minimize the estimation error of location tracking. The data related to the position of the moving train are monitored by the control center for trains and used widely for the safety and comfort of passengers. The train location tracking methods based on WiFi installed by telecom companies were evaluated. In this study, a simulator was developed to consider the environments of two cases; in already installed WiFi devices and new installed WiFi devices. The developed simulator can simulate the localized estimation of the position under a variety of conditions, such as the number of WiFi devices, the area of platform and entry velocity of train. To apply location tracking algorithms, a k-nn algorithm and fuzzy k-nn algorithm were applied selectively according to the underlying condition and also four distance measurement algorithms were applied to compare the error of location tracking. In conclusion, the best method to estimate train location tracking is a combination of the k-nn algorithm and Minkoski distance measurement at a 0.5m grid unit and 8 WiFi AP installed.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.20 no.4
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• pp.639-647
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• 2019

Recently, as the semiconductor integration technology due to miniaturization and high density of electronic equipment have developed, it is importantly recognized the application of thermal control system in order to release inner heat generated from chips, modules, In this study, we considered the heat transfer and pressure drop characteristics in a horizontal channel with four blocks using k-${\omega}$ SST turbulence model During CFD (Computational Fluid Dynamics) analysis, the parameters applied block width, block height, heat source and turbulence generator placement etc. As the boundary conditions of analysis, the channel inlet temperature and flow velocity were respectively 300 K and 3.84 m/s, the heat flux was $358W/m^2$. As a result, the heat transfer performance was decreased as the block width ratio (w/h) was increased, while it was increased as the block height ratio (h/w) was increased. In addition, as the arrangement of heat source size was increased to high heat flux from low heat flux, it was influenced by heat source size and the heat transfer coefficient showed a tendency to increase, When the turbulence generator was installed in the upper part of block No. 1 position the closely to the channel entrance, the heat transfer characteristics was greatly influenced on the whole of four heating blocks. and in oder to consider the pressure drop characteristics, we are able to select the most appropriate turbulence generator's position.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37 no.8C
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• pp.721-730
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• 2012

In this paper the problem of a moving control of an automatic guided vehicle(AGV) which transports a dead body to a designated cinerator safely in a crematorium, an special indoor environment, will be discussed. Since a method of burying guided lines in the floor is not proper to such an environment, a method of moving control of an AGV based on infrared ray sensors is now proposed. With this approach, the AGV emits infrared ray to the landmarks adheres to the ceiling to find a moving direction and then moves that direction by recognizing them. One of the typical problems for this method is that dead zone and/or overlapping zone may exist when the landmarks are deployed. To resolve this problem, an algorithm of recognizing double landmarks at each time is applied to minimize occurrences of sensing error. In addition, at the turning area to entering the designated cinerator, to fit an AGV with the entrance of the designated cinerator, an algorithm of controlling the velocity of both the inner and outer wheel of it. The functional correctness of our proposed algorithm has been verified by using a prototype vehicle. Our real AGV system has been applied to a crematorium and it moves automatically within an allowable range of location error.

• Journal of Ocean Engineering and Technology
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• v.33 no.2
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• pp.168-177
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• 2019

KRISO (Korea Research Institute of Ship & Ocean Engineering) started a project to develop the core algorithms for autonomous intervention using an underwater robot in 2017. This paper introduces the development of the robot platform for the core algorithms, which is an ROV (Remotely Operated Vehicle) type with one 7-function manipulator. Before the detailed design of the robot platform, the 7E-MINI arm of the ECA Group was selected as the manipulator. It is an electrical type, with a weight of 51 kg in air (30 kg in water) and a full reach of 1.4 m. To design a platform with a small size and light weight to fit in a water tank, the medium-size manipulator was placed on the center of platform, and the structural analysis of the body frame was conducted by ABAQUS. The robot had an IMU (Inertial Measurement Unit), a DVL (Doppler Velocity Log), and a depth sensor for measuring the underwater position and attitude. To control the robot motion, eight thrusters were installed, four for vertical and the rest for horizontal motion. The operation system was composed of an on-board control station and operation S/W. The former included devices such as a 300 VDC power supplier, Fiber-Optic (F/O) to Ethernet communication converter, and main control PC. The latter was developed using an ROS (Robot Operation System) based on Linux. The basic performance of the manufactured robot platform was verified through a water tank test, where the robot was manually operated using a joystick, and the robot motion and attitude variation that resulted from the manipulator movement were closely observed.