• Journal of Institute of Control, Robotics and Systems
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• v.13 no.9
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• pp.883-895
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• 2007

In this work, we present the development of a patrol robot which is intended to navigate outdoor rough terrain. Proposed mechanism consists of six legs for overcoming an obstacle, and six wheels for traveling. Also, in order to absorb vibration in rough terrain effectively, the slide-spring system and tubed type tire are adopted to each leg and each wheel. The control system of robot consists of several imbedded boards for management of lots of diverse devices such as sensors designed for rough terrain, motor controllers, camera, micro controller and so on. And the base system of the robot is designed to operate in real time and to surveille in the vicinity of the robot, and the robot system is controlled by wireless LAN connected to GUI-based remote control system, while CAN communication connects the control board and the device controllers for sensors and motor controllers. For operating this robot system efficiently, we propose the control algorithms for autonomous navigation using GPS, stabilization maintenance by posture control, obstacle-avoidance by impedance control, and obstacle-overcoming with interference-avoidance between wheels. The performance of the robot and the proposed algorithms are tested and proved by a set of experiments in outdoor rough terrain.

• Journal of Electrical Engineering and Technology
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• v.8 no.3
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• pp.638-648
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• 2013

Together with the GPS-based approach, geo-location through mobile communication networks is a key technology for location-based service. To save the cost, most geo-location system is implemented on the existed network service, which has a cellular structure. Still, multilateration is limited in cellular structure because it is difficult for the mobile terminal to acquire distance measurements from multiple base stations. This low hearability in the receiver is caused by co-channel interference and multipath environment. Therefore, hearability enhancement is necessary for multilateration under multipath and interference environment. Former time domain based hearability methods were designed for real signals. However, orthogonal frequency division multiplexing (OFDM) signal, which its usage has been increased in digital wireless communication, is a complex signal. Thus, different hearability enhancement method is needed for OFDM signals. This paper proposes a hearability enhancement method for forward-link multilateration using OFDM signals, which employ interference cancellation and multipath mitigation. A novel interference cancellation and multipath mitigation strategy for complex-valued OFDM signals is presented that has an iterative structure. Simulation results show that the proposed multilateration method provides the user's position with an accuracy of less than 80m through the mobile WiMAX cellular network in multipath environment.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2013.05a
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• pp.1000-1003
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• 2013

The monitoring system using a surveillance camera, has the advantage that can be observed in real time the blind spot of the crime, case to be mounted is increasing. However, surveillance camera, is used for the purpose of verification of the crime later than risk detection of crime before advance. Therefore, in this paper, in order to supplement the weak information collection monitoring system using the monitoring camera, by using the position information of the smartphone, infers the person monitoring region, the movement path of the image information other event occurs it is a fusion iT monitoring system that provides information of the user who judged. Result of the experiment, the proposed system confirmed the improved efficiency and usability than conventional systems.

• Journal of Korea Society of Industrial Information Systems
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• v.11 no.1
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• pp.69-76
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• 2006

Telematics, which is a compound word of a telecommunication and informatics, provides drivers with useful driving information such as driving path guidance, accident or robbery detection, traffic conditions and other valuable data at real time. This paper proposes and implements how to build a telematics terminal equipped with CDMA and GPS running embedded Linux, to check a vehicle's state through communication between telematics server and vehicle terminals using a cellular phone and to control a vehicle using SMS as shown in Figure 1. In order to do this, we use the SK-VM platform which is mobile terminal platform based on JAVA to design, implement and evaluate it.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.18 no.3
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• pp.279-285
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• 2000

Men's desire for the human interface, due to the development of voice processing technology of computer, and the development of intelligent MMI (Man-Machine Interface) computer technology enabled us to operate computers with our voice without using keyboards or other input systems. Especially, by obtaining field data and layout from the complicated surveying environment and applying the voice recognition technology to the actual surveying work, we can save a lot of working hours and costs. According to the result of this study, the real time Geo-Coding and graphic data-coding were possible with only 25 words by connecting the software engine which recognizes 50,000 different words and the voice recognition technology based on the super IC which recognizes 60 different words with the Total-station and the RTK-GPS.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2013.10a
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• pp.470-473
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• 2013

지금 우리가 살고 있는 대한민국은 공정한 사회를 지향하고 있고, 사회 각 분야에서는 이를 위한 다양한 대책과 방안을 수립하는 중이다. 경제적 비용이 발생하는 분야의 업무에서는 다른 분야 보다 더 완고하게 공정한 비용 지급을 위한 방안 대책을 수립하고 있다. 대표적 사례로 정부기관의 관용차량의 유류비 지급부분이다. 기존의 유류비 지급 시스템에서 유류사용을 올바르게 사용하였는지 근거가 되는 정보가 없어 유류비를 청구하는 사람의 양심에 의존해야 한다. 본 논문에서는 ICT(Information and Communication Technology)기술을 활용하여 자동차 유류비 및 유지보수비용을 공정하게 지급 할 수 있도록 돕는 목적을 가진 시스템을 설계하였다. 본 논문의 시스템은 주행중 자동차의 주행정보(주행위치 및 자동차 내부정보)를 전용단말기(Android 기반)에서 수집하고 인터넷을 이용해 실시간으로 서버로 전송하고, 인터넷 웹사이트를 통해 해당단체 및 개인에게 실시간 및 이전 주행정보 데이터를 제공한다. 수집된 주행정보 데이터를 분석하여 자동차 유류비 및 유지보수비용을 올바르게 지급할 수 있게 도와주는 시스템을 설계하기 위한 내용을 다룬다.

• Proceedings of the Korean Society of Computer Information Conference
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• 2017.07a
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• pp.127-128
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• 2017

해마다 대포차로 인한 사건 사고가 많이 일어나고 있으며, 피해율이 점점 더 증가하는 시점에서 검거율은 현저히 낮다. 이러한 문제를 줄이기 위해 대포차 검거 애플리케이션을 개발하고자 한다. 본 연구는 GPS와 사진으로부터 텍스트를 추출하는 기능을 활용하여 대포차를 검거하는 데 도움을 주는 애플리케이션이다. 사용자가 정차 및 주차되어 있는 차의 번호판을 사진 촬영 기능을 활용하여 자동으로 사진을 분석을 통해 차량의 번호를 인식하고, GPS를 활용하여 촬영한 장소의 위치 값을 추출하고 대포차 여부를 확인한다. 촬영한 차량이 대포차로 식별되면 관리 서버에 등록되고 대응 절차에 의해 대포차 검거 절차를 진행한다. 대포차의 실시간 검거를 위해 대포차 대응서버에서는 관리자에게 실시간으로 정보를 전송하고 알림 기능을 통해 검거 절차가 진행된다. 또한 실시간 대응에 어려움이 있는 상황에서는 자주 신고가 접수되는 출몰지역 정보를 관리자가 유추할 수 있도록 통계정보를 제공하여 추후 잠복에 의한 검거 정보를 제공한다.

• Journal of electromagnetic engineering and science
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• v.11 no.3
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• pp.213-219
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• 2011

Simulative target generators are needed for testing and calibrating various radar systems. The generator in this study discriminates the transmitting frequency from a radar and simulates parameters like target range, range rate, and atmospheric attenuation using the digital RF memory technique. The simulative target echo is then sent to the radar for testing and evaluation. This paper proposes a novel architecture for controlling the digital RF memory so it continually writes ADC data to the memory and reads it for the DAC with increasing one step address in order to control the delay of target range in a simple way. The target echo is programmed according to various preprogrammed scenarios and is generated in real time using a wireless local area network (LAN). To analyze the detected and generated target information easily, the system times for the radar and simulative target generator are synchronized using a global positioning system (GPS).

• Proceedings of the Korean Association of Geographic Inforamtion Studies Conference
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• 2008.06a
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• pp.322-324
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• 2008

재난재해 등 긴급 상황이 발생했을 때 신속한 대응 체계 수립을 위해 비 접근 및 난접근 지대, 목표물 감시대상지역에 대한 공간정보를 신속하게 취득할 수 있는 실시간 공중모니터링 체계의 구축이 시급한 실정이다. 이에 본 연구에서는 긴급한 재난 상황과 혹은 이와 유사한 여러 상황에 신속하고 유연하게 운용될 수 있는 무인헬기 기반의 실시간 공중 모니터링 체계에 적용할 멀티 센서 시스템의 설계를 목표로 한다. 이를 위해 먼저 실시간 공중모니터링 임무 및 운용 시나리오를 크게 4가지로 설정하고 이에 적합한 디지털 카메라, 레이저 스캐너, GPS/IMU 및 무인헬기 플랫폼의 요구사항을 각각 도출하였다. 또한, 기술 동향 및 규격 조사결과를 바탕으로 도출된 요구사항에 가장 적합한 각각의 센서 및 플랫폼을 선정하였다. 마지막으로 시스템 설계의 최적화를 위하여 시뮬레이션을 통해 설정된 임무에 부합하는 품질의 공간정보 성과물이 선정된 멀티센서 시스템으로부터 취득 가능한가를 검증하였다. 본 연구를 통해 소형무인헬기기반의 멀티 센서시스템에 대한 최적 설계의 방법론을 정립할 수 있었고, 향후 설계의 결과는 임무로부터 도출된 요구사항에 최적화된 맞춤형 시스템 구축에 적용들 예정이다.

• Journal of Positioning, Navigation, and Timing
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• v.3 no.4
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• pp.155-161
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• 2014

The purpose of this study is to develop precise point positioning (PPP) algorithms based on GLONASS code-pseudorange, verify their performance and present their utility. As the basic correction models of PPP, we applied Inter Frequency Bias (IFB), relativistic effect, satellite antenna phase center offset, and satellite orbit and satellite clock errors, ionospheric errors, and tropospheric errors that must be provided on a real-time basis. The satellite orbit and satellite clock errors provided by Information-Analytical Centre (IAC) are interpolated at each observation epoch by applying the Lagrange polynomial method and linear interpolation method. We applied Global Ionosphere Maps (GIM) provided by International GNSS Service (IGS) for ionospheric errors, and increased the positioning accuracy by applying the true value calculated with GIPSY for tropospheric errors. As a result of testing the developed GLONASS PPP algorithms for four days, the horizontal error was approximately 1.4 ~ 1.5 m and the vertical error was approximately 2.5 ~ 2.8 m, showing that the accuracy is similar to that of GPS PPP.