• ETRI Journal
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• v.40 no.4
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• pp.511-521
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• 2018

The ability to realize human-motion imitation using robots is closely related to developments in the field of artificial intelligence. However, it is not easy to imitate human motions entirely owing to the physical differences between the human body and robots. In this paper, we propose a work chain-based inverse kinematics to enable a robot to imitate the human motion of upper limbs in real time. Two work chains are built on each arm to ensure that there is motion similarity, such as the end effector trajectory and the joint-angle configuration. In addition, a two-phase filter is used to remove the interference and noise, together with a self-collision avoidance scheme to maintain the stability of the robot during the imitation. Experimental results verify the effectiveness of our solution on the humanoid robot Nao-H25 in terms of accuracy and real-time performance.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.51 no.2
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• pp.257-264
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• 2015

This study is intended to provide navigator with specific information necessary to assist the avoidance of collision and the operation of ships to evaluate the maneuverability of dead weight tonnage 8,000 tons Oil/Chemical tanker. The actual maneuvering characteristics of ship can be adequately judged from the results of typical ship trials. Author carried out sea trials based full scale for turning test, Z" maneuvering test, man overboard rescue maneuver test, inertia stopping test. Consequently, $2^{st}$ Overshoot yaw angle of the semi balanced rudder and flap rudder in ${\pm}20^{\circ}$ zig-zag test showed $22.2^{\circ}$ and $18.0^{\circ}$, respectively. The maneuverability of the vessel was good in the flap rudder. The man overboard rescue maneuver maneuverability test was most favorable in the flap rudder and the full load condition. The results from tests could be compared directly with the standards of maneuverability of IMO and consequently the maneuvering qualities of the ship is full satisfied with its.

• Transactions of the Korean Society of Automotive Engineers
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• v.19 no.3
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• pp.113-121
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• 2011

Rollover accident is one of the serious traffic accident and rollover accident takes high portion of all accident. The most common type of rollover is a tripped rollover which occupy 95% of all type of single-vehicle rollover. Tripped rollover occurs when a vehicle leaves normal road way and tripped by loose gravel, soil of fixed object such as guard rail, curbs and ditches. And the rest of the type of rollover is un-tripped rollover. An un-tripped rollovers that occurs during high-speed collision avoidance maneuvers. In this paper, presents the explanation of the un-tripped rollover test method and procedure, additionally this paper deals with various occurrence in the un-tripped test such as occurring excessive tire camber in the un-tripped test, tire side-wall contact with road surface and roll oscillation. And this paper analyzes the analysis of the roll rate amplitude in specific frequency through the FFT (Fast Fourier Transform) and the roll angle at the steering reverse timing which is the Fishhook test roll rate feedback time. Finally, this paper analyzes the relations between the estimated steady state roll gain and rollover stability.

• ETRI Journal
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• v.44 no.4
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• pp.543-559
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• 2022

To determine a suitable waveform for Internet of Things (IoT) transmission over low-Earth orbit (LEO) satellites, this paper reports the results of a performance comparison between chirp spread spectrum (CSS)-based LoRa and direct sequence spread spectrum (DSSS)-based Ingenu. The performance of both waveforms was measured in terms of the packet error rate, throughput, and packet loss rate, considering the Doppler effect caused by the high speed of LEO satellites and the interference among multiple terminals. Simulation results indicate that the DSSS scheme is more suitable than the CSS scheme for high-traffic IoT services because of its robustness against interference among multiple terminals. However, the CSS scheme is more suitable than the DSSS scheme for high-mobility IoT services because of its robustness against the Doppler effect. We discuss various solutions, such as the preprocessing of Doppler effect and avoidance of packet collision, to enhance the performance of the DSSS and CSS schemes. The simulation results of the proposed solution show that the enhanced DSSS scheme can be a proper waveform in IoT transmission over LEO satellites for both the high-traffic and high-mobility services.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.39 no.2
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• pp.21-34
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• 2002

Different from ordinary mobile robots used in a well-structured industrial workspace, a guide mobile robot for the visually impaired should be designed in consideration of a moving obstacle, which mostly refers to pedestrians in intentional motions. Thus, the navigation of the guide robot can be facilitated if the intention of each detected obstacle can be known in advance. In this paper, we propose an inference method to understand an intention of a detected obstacle. In order to represent the environment with ultrasonic sensors, the fuzzy grid-type map is first constructed. Then, we detect the obstacle and infer the intention for collision avoidance with the CLA(Centroid of Largest Area) point of the fuzzy grid-type map. To verify the proposed method, some experiments are performed.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.51 no.2
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• pp.245-256
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• 2015

This study is intended to provide navigator with specific information necessary to assist the avoidance of collision and the operation of ships to evaluate the maneuverability of dead weight tonnage 8,000 tons Oil/Chemical tanker. The actual maneuvering characteristics of ship can be adequately judged from the results of typical ship trials. Author carried out sea trials based full scale for turning test in ballast condition and full load condition, semi balanced rudder and flap rudder. The turning circle maneuvering were performed on the starboard and port sides with $35^{\circ}$ rudder angle at the normal continuous rating. The results from tests could be compared directly with the standards of maneuverability of IMO and consequently the maneuvering qualities of the ship is full satisfied with its.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.14 no.4
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• pp.288-294
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• 2014

Understanding a ship's present position has been one of the most important tasks during a ship's voyage, in both ancient and modern times. Particularly, a ship's dead reckoning (DR) has been used for predicting traffic situations and collision avoidance actions. However, the current system that uses the traditional method of calculating DR employs the received position and speed data only. Therefore, it is not applicable for predicting navigation within the harbor limits, owing to the frequent changes in the ship's course and speed in this region. In this study, planned routes were applied for improving the reliability of the proposed system and predicting the traffic patterns in advance. The proposed method of determining the dead reckoning position (DRP) uses not only the ships' received data but also the navigational patterns and tracking data in harbor limits. The Mercator sailing formulas were used for calculating the ships' DRPs and planned routes. The data on the traffic patterns were collected from the automatic identification system and analyzed using MATLAB. Two randomly chosen ships were analyzed for simulating their tracks and comparing the DR method during the timeframes of the ships' movement. The proposed method of calculating DR, combined with the information on planned routes and DRPs, is expected to contribute towards improving the decision-making abilities of operators.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.5
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• pp.442-449
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• 2013

In this paper, a simulation system based on X-Plane and MATLAB/Simulink for multiple UAVs is presented. For the conceptual design of this proposed system, a hierarchical system architecture for multiple UAVs is presented. This architecture has object-oriented data structure which consists of three objects (UAV status, mission and task, and environment) and a hierarchy consisting of four layers (decision making layer, task assignment layer, path and motion planning layer, and collision avoidance layer) is also proposed. In addition, this paper shows a implementation of simulation system based on the proposed system architecture using X-Plane and MATLAB/Simulink. The result of simulation from the developed system in this paper validate capability of application for multiple UAVs in real environment.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.9
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• pp.818-826
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• 2015

This paper presents a novel methodology for estimating vehicle ego-motion, i.e. tri-axis linear velocities and angular velocities by using stereo vision sensor and 2G1Y sensor (longitudinal acceleration, lateral acceleration, and yaw rate). The estimated ego-motion information can be utilized to predict future ego-path and improve the accuracy of 3D coordinate of obstacle by compensating for disturbance from vehicle movement representatively for collision avoidance system. For the purpose of incorporating vehicle dynamic characteristics into ego-motion estimation, the state evolution model of Kalman filter has been augmented with lateral vehicle dynamics and the vanishing point estimation has been also taken into account because the optical flow radiates from a vanishing point which might be varied due to vehicle pitch motion. Experimental results based on real-world data have shown the effectiveness of the proposed methodology in view of accuracy.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.25 no.1B
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• pp.62-70
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• 2000

Intelligent vehicles are equipped with radar sensors for collision avoidance. We present a method of suppressing mutual interference among pulse-type radars, where all the radars are standardized. We developed a method of separating the true self-reflection from the false one by controlling the pulse emission of a radar in anorhogonal ON, OFF pattern. Interference signal identified in OFF-intervals is recorded to indicate the positions of the expected ghosts in ON-intervals. PFA and PM are derived for a radar system with I-Q demodulation scheme, where Gaussian noise alone is Rayleigh-distributed and Gaussian noise plus reflected radar pulse are Rician-distributed. The value of the threshold adaptively updated in order to prevent the deterioration of PM. In the experimental result, PFA decreases by an order of 10,000, when compared with the conventional M of N majority voting method.