• Journal of the Korean Society for Precision Engineering
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• v.16 no.4 s.97
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• pp.138-147
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• 1999

For autonomous navigation, a legged robot should be able to walk over irregular terrain and adapt itself to variation of supporting surface. Walking through slope is one of the typical tasks for such case. Robot needs not only to change foot trajectory but also to adjust its configuration to the slope angle for maintaining stability against gravity. This paper suggests such adaptation algorithm for stable walking which uses feedback of reaction forces at feet. Adjusting algorithm of foot trajectory was studied with the estimated angel of slope without visual feedback. A concept of virtual slope angle was introduced to adjust body configuration against slope change of the supporting terrain. Regeneration of foot trajectory also used this concept for maintaining its stable walking against unexpected landing point.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2009.06a
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• pp.375-378
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• 2009

AIS ship position transmitted from ships has been used position data generated by GPS, whose range of error is approximately 30nm. However, precision enhancement of the ship's position could be possible using DGPS correction information. More precise and accurate AIS ship position could be obtained broadcasting DGNSS Message(AIS Message 17) from ships without high-priced DGPS Beacon Receivers.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.8
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• pp.189-197
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• 2000

This paper addresses that the autonomous mobile robot with the function of teaching a moving path by speech and avoiding a collision is developed. The use of human speech as the teaching method provides more convenient user-interface for a mobile robot. In speech recognition system a speech recognition algorithm using neural is proposed to recognize Korean syllable. For the safe navigation the autonomous mobile robot needs abilities to recognize a surrounding environment and to avoid collision with obstacles. To obtain the distance from the mobile robot to the various obstacles in surrounding environment ultrasonic sensors is used. By the navigation algorithm the robot forecasts the collision possibility with obstacles and modifies a moving path if it detects a dangerous obstacle.

• Journal of Navigation and Port Research
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• v.42 no.5
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• pp.317-322
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• 2018

Marine weather information provided for vessels is mainly offered by radio devices such as NAVTEX, Weather Fax., and others. However, the information is too general for large areas, and lacks more detail. So, many seafarers are disinclined to use the information to initiate proper readiness of vessels' safety, avoiding marine accidents such as grounding, hull and cargo damage, but cannot develop an optimal and economical navigation plan, considering the inadequate level of low precision weather information. The purpose of this paper is to develop a strong wind warning system, based on the digital anemometer installed on the bridge. This study analyzed the data on 10-minutes average wind speed, when the vessel's grounding accidents happened in Korean ports. Results reveal that the vessel's strong wind warning algorithm, can estimate the growing of wind speed two-three hours in advance.

• Journal of Advanced Navigation Technology
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• v.13 no.2
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• pp.187-193
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• 2009

A lens which is one of cores for the high precision laser range finder is utilized to compute the distance by measuring the phase displacement. In order to measure the phase displacement, we transmit the optical signal from the laser diode to a target and receive the reflected laser light from the target. In this paper, we propose new lens design technique to solve the problem due to the inconsistent curvature of the lens, which consistently collects optical signals and performs the transmission and reception of the optical data, and test the implementation of the laser range finder based on the proposed technique. Since the proposed laser range finder has low error rate comparing to the conventional techniques, it may be apply to the high precision distance measurement.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.229-234
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• 2006

There are still some key problems having to be solved in theory and technique applications when GPS is used to monitor the vertical deformation of ground with high precision. Utilizing the GPS technology to monitor the deformation of the land subsidence and ground fissure in Xi'an, this paper puts forward advice that the datum frame of GPS network has significant influence on the precision and accuracy of the vertical deformation results by some research. The co-authors make some theoretical study of the datum error and practice by establishing the datum error models, especially the influence of scale and azimuth datum errors on GPS monitoring network. Then the datum frame design methods and arithmetic of GPS monitoring network are presented and have taken a good effect.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2636-2640
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• 2003

KARI had developed an Local Area Augmentation System for aircraft precision landing as following ICAO SARPs(Standards and Recommended Practices) draft and FAA's recommended algorithm( carrier smoothing techniques). JPO in charge of managing GPS has introduced the signal structure of GPS modernization program. This paper estimates the accuracy performance of KARI-LAAS with modernized GPS signal but the same processing algorithm.

• Proceedings of the KIEE Conference
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• 1999.11c
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• pp.655-657
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• 1999

In this paper we will introduce an posture error reduction algorithm for Mobile Robot. We classified odometry error into two categories. and focus on systematic odometry error correction only. Because it is the primary reason for mobile robot navigation. For this procedure we used some robot specifications and modeled robot behavior. Through some experiment, we could obtain new system specs. After modeling, Robot navigation precision was improved.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2000.06a
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• pp.33-40
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• 2000

To improve the compliance and verification mechanism is one of the important reasons to revise the STCW Convention. The mechanism includes the assessment of competence, control, precision of description of competence, quality standard system, communication of information and so on. Chinese seaman's education an training institute & the organization of evaluating and issuing certificates should enhance realizing the importance of compliance and verification mechanism and carry out it down to earth. The current work that should be reinforced is to control the qualified evaluation effectively.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.33.3-33
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• 2002

Pseudolite (PL) is a kind of signal generator, which transmits GPS-like signal at the ground. However our own made PL is different from a GPS satellite in clock accuracy. GPS satellites are synchronized by use of high precision atomic clocks. But because our PLs use low cost temperature controlled oscillators (TCXO), so it is very difficult to synchronize them. Hence, we should install reference station and use Differential GPS (DGPS) algorithm to calculate user position. By use of this method, we already developed indoor navigation system a few years ago. We named it as 'Asynchronous Pseudolite Indoor Navigation System'. However, this system requires that sampling times of all the receivers...