• Journal of Auto-vehicle Safety Association
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• v.10 no.1
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• pp.27-31
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• 2018

This paper reports an analysis of cyclist accident cases with respect to passenger vehicles on Korean roads. A typology based on Initiative for the Global Harmonization of Accident Data (iGLAD) code book is applied to a traffic accident analysis system(TAAS), which has the real-world crash data on Korea roads, to understand the accident scenarios in more detail and efficiently. Similarly this typology has been used for Germany In-Depth Accidents Study (GIDAS) as well. The accident data analysis with consideration of the typology of Korean road conditions may prioritize traffic safety issues regarding cyclists and is aimed to develop an Automatic Emergency Braking (AEB) system for cyclist. In summary, this paper characterizes and analyzes the scenarios of cyclist crashes with passenger car. The most common accident scenarios on Korean roads are Car-to-Bicyclist Nearside Adult (CBNA) and Car-to-Bicyclist Longitudinal Adult (CBLA), which are more than 86% of total accidents cases. Therefore, it is inferred that AEB cyclist system should include these accident types in the operational design domain to reduce more fatality in Korea.

• Journal of Sensor Science and Technology
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• v.14 no.6
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• pp.409-414
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• 2005

For an intelligent vehicle driving which uses magnetic markers and magnetic sensors, we can get every kind of road information while moving the vehicle if we use the code that is encoded with N, S pole direction of markers. If we make it an only aim to move the vehicle, it becomes easy to control the vehicle the more we put markers close. By the way, to recognize the direction of a marker pole it is much better that the markers have no effect each other. To get road informations and move the vehicle autonomously we propose the methods of arranging magnetic sensors and algorithm of recognizing the position of the vehicle with those sensors. We verified the effectiveness of the methods with computer simulation.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.48 no.10
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• pp.765-772
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• 2020

A lot of studies to overcome the limitation of flight time have been studied, since the requirement of complicated mission achievement of aircraft including Unmanned Aerial Vehicles(UAVs) has been increased. The fuel limitation could bring about not enough flight time to accomplish missions. For this reason, the rendezvous maneuver is required to accomplish aerial refueling missions. The rendezvous guidance law based on variable pursuit guidance is designed using Lyapunov stability theory in this study. Numerical simulation is performed to demonstrate the performance of the proposed rendezvous guidance.

• The Journal of Korea Robotics Society
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• v.11 no.3
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• pp.172-182
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• 2016

Lane-level vehicle positioning is an important task for enhancing the accuracy of in-vehicle navigation systems and the safety of autonomous vehicles. GPS (Global Positioning System) and DGPS (Differential GPS) are generally used in navigation service systems, which however only provide an accuracy level up to 2~3 m. In this paper, we propose a 3D vision based lane-level positioning technique which can provides accurate vehicle position. The proposed method determines the current driving lane of a vehicle by tracking the 3D position of traffic signs which stand at the side of the road. Using a stereo camera, the 3D tracking paths of traffic signs are computed and their projections to the 2D road plane are used to determine the distance from the vehicle to the signs. Several experiments are performed to analyze the feasibility of the proposed method in many real roads. According to the experimental results, the proposed method can achieve 90.9% accuracy in lane-level positioning.

• The Journal of Korea Robotics Society
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• v.12 no.4
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• pp.402-410
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• 2017

Acoustic based localization is essential to operate autonomous robotic systems in underwater environment where the use of sensorial data is limited. This paper proposes a localization method using artificial underwater acoustic sources. The proposed method acquires directional angles of acoustic sources using time difference of arrivals of two hydrophones. For this purpose, a probabilistic approach is used for accurate estimation of the time delay. Then, Gaussian sum filter based SLAM technique is used to localize both acoustic sources and underwater vehicle. It is performed by using bearing of acoustic sources as measurement and inertial sensors as prediction model. The proposed method can handle directional ambiguity of time difference based source localization by generating Gaussian models corresponding to possible locations of both front and back sides. Through these processes, the proposed method can provide reliable localization method for underwater vehicles without any prior information of source locations. The performance of the proposed method is verified by experimental results conducted in a real sea environment.

• Proceedings of the IEEK Conference
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• summer
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• pp.421-426
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• 2004

Analyzing adaptive possibilities of agents in multi-agents system, we have discovered new aspects of ambient intelligence in distributed modular systems using intelligent building blocks (I-BLOCKS) [1]. This paper describes early scientific researches related to technical design, applicable experiments and evaluation of adaptive processing and information interaction among I-BLOCKS allowing users to easily develop ambient intelligence applications. The processing technology presented in this paper is embedded inside each DUPLO1 brick by microprocessor as well as selected sensors and actuators in addition. Behaviors of an I-BLOCKS modular structure are defined by the internal processing functionality of each I-Blocks in such structure and communication capacities between I-BLOCKS. Users of the I-BLOCKS system can do 'programming by building' and thereby create specific functionalities of a modular structure of intelligent artefacts without the need to learn and use traditional programming language. From investigating different effects of modem artificial intelligence, I-BLOCKS we have developed might possibly contain potential possibilities for developing applications in ambient intelligence (AmI) environments. To illustrate these possibilities, the paper presents a range of different experimental scenarios in which I-BLOCKS have been used to set-up reconfigurable modular systems. The paper also reports briefly about earlier experiments of I-BLOCKS in different research fields, allowing users to construct AmI applications by a just defined concept of modular artefacts [3].

• Journal of the Economic Geographical Society of Korea
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• v.18 no.2
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• pp.152-167
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• 2015

This paper analyzes the effects of globalization on growth gaps between regions. Using openness and FDI as measures of globalzation in Korean 16 broad autonomous territories the study estimates the effects of the variables on growth gaps between regions. Estimation results show that FDI is significant in explaining the regional gaps while openness is not. The results of the study reveal that attracting FDI to weaker regions, especially the investment in New Industries, is inevitable to resolve growth gaps and for balanced growth among regions. Also, policy makers should use FDI as an important tool for correcting regional gaps as well as the vehicles for regional development.

• Journal of Digital Contents Society
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• v.18 no.5
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• pp.943-948
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• 2017

Currently, embedded systems designed for specific applications are used extensively in consumer electronics, smart phones, autonomous vehicles, robots, and plant control, etc. In addition, the importance of DRAM, which has a great influence on the performance of an embedded processor constituting an embedded system, has been increasing day by day, and research on DRAM has been actively conducted in industry and academia. Therefore, it is important to have a more accurate DRAM model in order to obtain reliable results when evaluating the performance of an embedded processor through simulation. In this paper, we developed an embedded processor simulator capable of interworking with a DRAM simulator. We also analyzed the influence of the DRAM model, which operates correctly on a cycle-by-cycle basis, on the performance of the embedded processor by using the MiBench embedded benchmark.

• Journal of Ocean Engineering and Technology
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• v.20 no.3 s.70
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• pp.7-14
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• 2006

This paper discusses the structural design and analysis of a 6,000 meters depth-rated capable deep-sea unmanned underwater vehicle (UUV) system. The UUV system is currently under development by Maritime and Ocean Engineering Research Institute(MOERI), Korea Ocean Research and Development Institute (KORDI). The UUV system is composed of three vehicles - a Remotely Operated Vehicle (ROV), an Autonomous Underwater Vehicle (AUV) and a Launcher - which include underwater equipment. The dry weight of the system exceeds 3 tons hence it is necessary to carry out the optimal design of structural system to ensure the minimum weight and sufficient space within the frame for the convenient use of the embedded equipments. In this paper, therefore, the structural design and analysis of the ROV and launcher frame system were carried out, using the optimizing process. The cylindrical pressure vessels for the ROV were designed to resist the extreme pressure of 600 bars, based on the finite element analysis. The collapse pressure for the cylindrical pressure vessels was also checked through a theoretical analysis.

• The Journal of Korea Robotics Society
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• v.11 no.2
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• pp.51-59
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• 2016

In this paper we present (1) analysis of imaging sonar measurement for two-view relative pose estimation of an autonomous vehicle and (2) bundle adjustment and 3D reconstruction method using imaging sonar. Sonar has been a popular sensor for underwater application due to its robustness to water turbidity and visibility in water medium. While vision based motion estimation has been applied to many ground vehicles for motion estimation and 3D reconstruction, imaging sonar addresses challenges in relative sensor frame motion. We focus on the fact that the sonar measurement inherently poses ambiguity in its measurement. This paper illustrates the source of the ambiguity in sonar measurements and summarizes assumptions for sonar based robot navigation. For validation, we synthetically generated underwater seafloor with varying complexity to analyze the error in the motion estimation.