• Journal of Biosystems Engineering
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• v.43 no.4
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• pp.273-284
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• 2018

Purpose: Conventional headland turning typically requires repeated forward and backward movements to move the farming equipment to the next row. This research focuses on developing an upland agricultural robot with an optimized headland turning mechanism that enables a $180^{\circ}$ turning positioning to the next row in one steering motion designed for a two-wheel steering, four-wheel drive agricultural robot named the HADA-bot. The proposed steering mechanism allows for faster turnings at each headland compared to those of the conventional steering system. Methods: The HADA-bot was designed with 1.7-m wide wheel tracks to travel along the furrows of a garlic bed, and a look-ahead path following algorithm was applied using a real-time kinematic global positioning system signal. Pivot turning tests focused primarily on accuracy regarding the turning radius for the next path matching, saving headland turning time, area, and effort. Results: Several test cases were performed by evaluating right and left turns on two different surfaces: concrete and soil, at three speeds: 1, 2, and 3 km/h. From the left and right side pivot turning results, the percentage of lateral deviation is within the acceptable range of 10% even on the soil surface. This U-turn scheme reduces 67% and 54% of the headland turning time, and 36% and 32% of the required headland area compared to a 50 hp tractor (ISEKI, TA5240, Ehime, Japan) and a riding-type cultivator (CFM-1200, Asia Technology, Deagu, Rep. Korea), respectively. Conclusion: The pivot turning trajectory on both soil and concrete surfaces achieved similar results within the typical operating speed range. Overall, these results prove that the pivot turning mechanism is suitable for improving conventional headland turning by reducing both turning radius and turning time.

• Journal of the Korea Society of Computer and Information
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• v.27 no.12
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• pp.161-169
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• 2022

With the development of mobile devices and global positioning systems, various location-based services can be utilized, which collects user's location information and provides services based on it. In this process, there is a risk of personal sensitive information being exposed to the outside, and thus Geo-indistinguishability (Geo-Ind), which protect location privacy of LBS users by perturbing their true location, is widely used. However, owing to the data perturbation mechanism of Geo-Ind, it is hard to accurately obtain the density distribution of LBS users from the collection of perturbed location data. Thus, in this paper, we aim to develop a novel method which enables to effectively compute the user density distribution from perturbed location dataset collected under Geo-Ind. In particular, the proposed method leverages Expectation-Maximization(EM) algorithm to precisely estimate the density disribution of LBS users from perturbed location dataset. Experimental results on real world datasets show that our proposed method achieves significantly better performance than a baseline approach.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2021.10a
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• pp.243-245
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• 2021

Existing beacons are suitable for providing untact services, but they have the disadvantage of difficulty in accurate indoor positioning because the deviation in signal strength increases depending on the environment. In general, trilateration technique can reduce deviation, but if the distance between beacons is quite irregular, it becomes difficult to apply the algorithm. Therefore, in this paper, we studied how to reduce the signal power measurement error between beacons. First, we transformed the distance measurement formula using RSSI, assuming that the TX values were the same. In addition, we compared measurement errors with existing beacons by searching beacons with beacons scanner applications implemented with Android. As a result, it was confirmed that if a certain distance was further away, the measurement was measured more accurately than the non-changing beacon. Through this, accurate indoor positioning will be possible even in various disability situations. It is also expected that there will be more cases of establishing services that combine beacon with non-face-to-face services.

• Journal of Advanced Navigation Technology
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• v.27 no.6
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• pp.788-797
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• 2023

In this paper, we introduced a test environment to test a vision-aided navigation system, as an alternative navigation system when global positioning system (GPS) is unavailable, for vertical take-off and landing (VTOL) unmanned aerial system. It is efficient to use a virtual environment to test and evaluate the vision-aided navigation system under development, but currently no suitable equipment has been developed in Korea. Thus, the proposed test environment is developed to evaluate the performance of the navigation system by generating input signal modeling and simulating operation environment of the system, and by monitoring output signal. This paper comprehensively describes research procedure from derivation of requirements specifications to hardware/software design according to the requirements, and production of the test environment. This test environment was used for evaluating the vision-aided navigation algorithm which we are developing, and conducting simulation based pre-flight tests.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.2
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• pp.203-208
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• 2006

The main research conducted previously on GPS ionosphere in China is first introduced. Besides, the current investigations include as follows: (1) GPS-based spatial environmental, especially the ionosphere, monitoring, modeling and analysis, including ground/space-based GPS ionosphere electron density (IED) through occultation/tomography technologies with GPS data from global/regional network, development of a GNSS-based platform for imaging ionosphere and atmosphere (GPFIIA), and preliminary test results through performing the first 3D imaging for the IED over China, (2) The atmospheric and ionospheric modeling for GPS-based surveying, navigation and orbit determination, involving high precisely ionospheric TEC modeling for phase-based long/median range network RTK system for achieving CM-level real time positioning, next generation GNSS broadcast ionospheric time-delay algorithm required for higher correction accuracy, and orbit determination for Low-Earth-orbiter satellites using single frequency GPS receivers, and (3) Research products in applications for national significant projects: GPS-based ionospheric effects modeling for precise positioning and orbit determination applied to China's manned space-engineering, including spatial robot navigation and control and international space station intersection and docking required for related national significant projects.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.3
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• pp.359-364
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• 2011

The study uses department of the sensitivity and fuzzy reasoning, one of artificial intelligence algorithms, so that develop LED lighting system based on fuzzy reasoning for systematical control of the LED color temperature. In the area of sensitivity engineering, by considering the relation between color and emotion expressed as an adjective word, the corresponding sensitivity word can be determined, By taking into consideration the relation between the brain wave measured from the human brain and the color temperature, the preferred lesson subject can be determined. From the decision of the sensitivity word and the lesson subject, we adjust the color temperature of RGB (Red, Green, Blue) LED. In addition, by using the information of the latitude and the longitude from GPS(Global Positioning System), we can calculate the on-line moving altitude of sun. By using the sensor information of both temperature and humidity, we can calculate the discomfort index. By considering the altitude of sun as well as the value of the discomfort index, the illumination of W(white) LED and the color temperature of RGB LED can be determined. The (LED) sensitivity lighting control system is bulit up by considering the sensitivity word, the lesson subject, the altitude of sun, and the discomfort index The developed sensitivity lighting control system leads to more suitable atmosphere and also the enhancement of the efficiency of lesson subjects as well as business affairs.

• Korean Journal of Remote Sensing
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• v.39 no.3
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• pp.257-268
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• 2023

Sea ice plays an important role in Earth's climate by regulating the amount of solar energy absorbed and controlling the exchange of heat and material across the air-sea interface. Its growth, drift, and melting are monitored on a regular basis by satellite observations. However, low-resolution products with passive microwave radiometer have reduced accuracy during summer to autumn when the ice surface changes rapidly. Synthetic aperture radar (SAR) observations are emerging as a powerful complementary, but previous researches have mainly focused on winter ice. In this study, sea ice drift tracking was evaluated and analyzed using SAR images and tracker with global positioning system (GPS) during late summer-early autumn period when ice surface condition changes a lot. The results showed that observational uncertainty increases compared to winter period, however, the correlation coefficient with GPS measurements was excellent at 0.98, and the performance of the ice tracking algorithm was proportional to the sea ice concentration with a correlation coefficient of 0.59 for ice concentrations above 50%.

• Journal of Korean Society for Geospatial Information Science
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• v.2 no.2 s.4
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• pp.81-88
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• 1994

The CNS(Car Navigation System) is used more generally in driver aid system than ALV(Auto nomous Land Vehicle) research area. In this paper we developed a new position tracking algorithm for the Global Path Planning in the CNS. In japan, CNS is already well developed and, thesedays they sell CNS products about $400{\sim}500$ thousands per year, and USA and European Communications(EC), too. In Korea, studies of the first generation CNS, which finds current location of a navigating vehicle and displays its location in a Digital-Map with real-time are progressing but still in the beginning step. Therefore a new position tracking algorithm is presented, which reduces vehicle position error dramatically by fusing GPS and dead-reckoning sensors. And the validity of our algorithm is demonstrated by the experimental results with the real car.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.2
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• pp.141-147
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• 2014

This paper proposes a robust localization algorithm and optimal number of receivers considering the detection range of underwater targets. The accuracies of the source position, receiver position and sound velocity are improved using the known positions of underwater objects. The accuracies of these parameters influences the performance of the target localization error. Although the source and receiver positions are obtained by the global positioning system (GPS), there are still positional errors due to GPS and variations in sea temperature. First, the influence of those errors are analyzed mathematically and an algorithm is improved to improve the accuracies of source position, receiver position and sound velocity by using geographic points. The performance of the proposed scheme is evaluated in comparison with the conventional algorithm by computer simulations.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.17 no.5
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• pp.160-172
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• 2018

The method of estimating a position using a GPS has been applied to various fields including a navigation system of an automobile. However, since it is difficult to measure GPS signals indoors, it is difficult to locate specific objects indoors such as a building or factory. To overcome these limitations, this study proposes a system for object location estimation based on Bluetooth5 for the management of materials in factories. The object position estimation system consists of a Bluetooth signal generator, a receiver, and a database server. A signal generator based on Bluetooth Low Energy(BLE) is attached to the material and a receiver is appropriately arranged inside the factory. In this study, we propose "Diagonal Survey Method", a 4 - axis survey algorithm using four receivers to reduce the error of existing trilateration method. The proposed algorithm showed good performance compared to the conventional trilateration and we verified the effectiveness of the proposed system and algorithm by performing the experiment by installing the system in the factory.