• Title/Summary/Keyword: heading direction

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A local path planning algorithm for free-ranging mobil robot (자율 주행로봇을 위한 국부 경로계획 알고리즘)

  • Cha, Y.Y.;Gweon, D.G.
    • Journal of the Korean Society for Precision Engineering
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    • v.11 no.4
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    • pp.88-98
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    • 1994
  • A new local path planning algorithm for free-ranging robots is proposed. Considering that a laser range finder has the excellent resolution with respect to angular and distance measurements, a simple local path planning algorithm is achieved by a directional weighting method for obtaining a heading direction of nobile robot. The directional weighting method decides the heading direction of the mobile robot by estimating the attractive resultant force which is obtained by directional weighting function times range data, and testing whether the collision-free path and the copen parthway conditions are satisfied. Also, the effectiveness of the established local path planning algorithm is estimated by computer simulation in complex environment.

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Studies on Combining Ability and Inheritance of Major Agronomic Characters in Naked Barley (과맥의 주요형질에 대한 조합능력 및 유전에 관한 연구)

  • Kyung-Soo Min
    • KOREAN JOURNAL OF CROP SCIENCE
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    • v.23 no.2
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    • pp.1-24
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    • 1978
  • To obtain basic information on the breeding of early maturing, short culm naked-barley varieties, the following 10 varieties, Ehime # 1, Shikoku #42, Yamate hadaka, Eijo hadaka, Kagawa # 1, Jangjubaeggwa, Baegdong, Cheongmaeg, Seto-hadaka and Mokpo #42 were used in diallel crosses in 1974. Heading date, culm length and grain yield per plant for the parents, $F_1's$ and $F_2's$ of the 10X10 partial diallel crosses were measured in 1976 for analysis of their combining ability, heritability and inheritance. The results obtained are summarized below; 1. Heritabilities in broad sense for heading date, culm length and grain yield per plant were 0.7831, 0.7599 and 0.6161, respectively. Narrow sense heritabilities for heading date were 0.3972 in $F_1$ and 0.7789 in $F_2$ and for culm length 0.6567 in $F_1$ and 0.6414 in $F_2.$ These values suggest that earliness and culm length could be successfully selected for in the early generations. Narrow sense heritability for grain yield was 0.3775 in $F_1$ and 0.4170 in $F_2.$ 2. GCA effects of the $F_1$ and $F_2$ generations for days to heading were high in the early direction for early-heading varieties, while for late-heading varieties the GCA effects were high in the late direction. Absolute values for GCA effects in $F_1$ were higher than in $F_2.$ SCA effects of the $F_1$ and $F_2$ generations were high in the early-heading direction for Shikoku # 42 x Mokpo # 42, Ehime # 1 x Yamate hadaka, Shikoku # 42 x Yamate hadaka and Shikoku #42 x Eijo hadaka. 3. The GCA effects for culm length in the $F_1$ and $F_2$ generations for tall varieties were high in the tall direction while short varieties were high in the short direction. Absolute values for the GCA effects in $F_1$ were higher than in $F_2.$ SCA effects were high in the short direction for the combinations of Mokpo # 42 with Ehime # 1, Yamate had aka and Eijo hadaka. 4. The GCA effects for grain yields per plant in the $F_1$ and $F_2$ generations for varieties with high yields per plant were high in the high yielding direction, while varieties with low yields per plant were high in the low yielding direction. Absolute values of the $F_1$ GCA effects were higher than the $F_2$ effects. The combinations with high SCA effects were Mokpo # 42 x Shikoku # 42, Mokpo # 42 x Seto hadaka and Mokpo # 42 x Cheongmaeg. 5. Mean heading dates of the $F_1$ and $F_2$ generations were earlier than those of mean mid-parent. Mean heading date of the $F_1$ generation was earlier than the $F_2$ generation. Crosses involving early-heading varieties showed a greater $F_1, $ mid-parent difference than crosses involving late-heading varieties. 6. Heading date was controlled by a partial dominance effect. Nine varieties excluding Mokpo # 42 showed allelic gene action. Ehime # 1, Shikoku # 42, Kagawa # 1 and Mokpo # 42 were recessive to the other tested varieties. 7. The $F_2$ segregations of the 45 crosses for days to heading showed that 33 cosses were of such complexity that they could not be explained by simple genetic inheritance. One cross showed a 3 : 1 ratio where earliness was dominant. Another cross showed a 3 : 1 ratio where lateness was dominant. Four other crosses showed a 9 : 7 ratio for earliness while six crosses showed a 9 : 7 ratio for lateness. 8. Many transgressive segregants for earliness were found in the following crosses; Eijo hadaka x Baegdong, Ehime # 1 x Seto hadaka, Yamate had aka x Kagawa # 1, Kagawa # 1 x Sato hadaka, Shikoku # 42 x Kagawa # 1, Ehime # 1 x Kagawa # 1, Ehime # 1 x Shikoku # 42, Ehime # 1 x Eijo hadaka. 9. Mean culm length of the F, and F. generations were usually taller than the mid-parent where tall parent were used. These trends were high in the short varieties, but low in the tall varieties. 10. Culm length was controlled by partial dominace which was gonverned by allelic gene(s). Culm length showed a high degree of control by additive genes. Mokpo # 42 was recessive while Baegdong was dominant. 11. The F_2 frequency for culm length was in large part normally distributed around the midparent value. However, some combinations showed transgressive segregation for either tall or short culm length. From combinations between medium tall varieties, Ehime # 1, Shikoku # 42, Eijo hadaka and Seto hadaka, many short segregants could be found. 12. Mean grain yields per plant of the F_1 and F_2 generations were 6% and 5% higher than those of mid-parents, respectively. The varieties with high yields per plant showed a low rate of yield increase in their F_1's and F_2's while the varieties with low yields per plant showed a high rate of yield increase in their F_1's and F_1's. 13. Grain yields per plant showed over-dominnee effects, governed by non-allelic genes. Mokpo # 42 showed recessive genetic control of grain yield per plant. It remains difficult to clarify the inheritance of grain yields per plant from these data.

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Studies on the Redefinition of Terrestrial Navigation's Basic Terms - mainly on course and heading - (지문항해학 학술용어 개념정립에 관한 연구 - 침로와 선수방향을 중심으로 -)

  • Moon, Serng-Bae;Jun, Seung-Hwan
    • Journal of Navigation and Port Research
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    • v.36 no.8
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    • pp.619-624
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    • 2012
  • In 1969, Y.J. Yun wrote the terrestrial navigation text book that discussed earth sciences, aides to navigation, chart and publications, tide and tidal current, piloting, rhumb-line sailing, great circle sailing grounded on the hand-on background and theory. It has still been used as a principle text book in a lot of maritime academies and schools. And many contents and definitions came from other terrestrial navigation books published in the United States of America, the United Kingdom, and Japan. But some of them have caused the misunderstanding because they had no enough explanation and explained by incorrect items. In this study, we have found out the problems in the terms course and heading which are related with the direction of the vessel movement, and proposed the amended definitions in order to prevent the misunderstanding and confusion. of them.

Development of Dynamic Fiber Optic Gyrocompass (동적방식 광섬유자이로 콤파스의 제작)

  • Lee, Seok-Jeong;Choi, Woo-Jin;Bae, Jeong-Chul;Kim, Sung-Jin;Lee, Sang-Sik;Kwon, Yong-Soo;Hong, Tchang-Hee
    • Journal of the Korean Institute of Navigation
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    • v.21 no.3
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    • pp.67-74
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    • 1997
  • This paper described the method and the result of making a dynamic fiber optic gyrocompass measuring the heading angles of ships by processing the output signal from a constant rotating fiber optic sensor and also showed the measurement to test the performance of our system. Considerig an economical view we designed and ordered a cheap medium grade fiber densors increased not fiber length but the diameter of a fiber sensing loop. The scale factor and noise was 267mV/deg/s and 2 deg/hr/$\sqrt{Hz}(1{\sigma})$, respectively. We made the dynamic fiber optic gyrocompass by this sensor. We measured the heading angles in an arbitrary direction to evaluate the accuracy of our system and the root mean square error was $0.4^\circ$. Moreover, we measured the angles ineach direction of $45^\circ$. successive rotation to know whether this system has distoritions in a specific direction or not and the root mean square error in this case was $0.5^\circ$.

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Observation and Analysis of Movement Characteristics of Drifting Ships (표류선박 거동특성 관측 및 분석)

  • Lee Moonjin;Kang Chang-gu;Yun Jong-hwui
    • Journal of the Korean Society for Marine Environment & Energy
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    • v.8 no.1
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    • pp.17-22
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    • 2005
  • The movement of drifting ships on the sea is closely related to marine environmental forces such as waves, currents, winds, etc. To develop a prediction model for trajectories oi drifting ships, an experiment on the movement of drifting ships was carried out in the Southeastern Sea of Korea. Five types of ships including a lire raft and tour ships with G/T 10tons, G/T 2o tons, G/T 50 tons, and G/T 80 tons, were considered in the experiment. The G/T 50 ton class ship was used as a base ship for obtaining the currents, winds and heading angles of ship following the trajectory. The trajectory of each ship was measured by DGPS(Differential Global Positioning System) and collected using APRS(Automatic Position Reporting System) installed on the base ship. The error range in position fix of DGPS are approximately ±1 m. The drift speed of ship in the experiment was between 3% to 5% of wind speed and drift direction of ship was deflected by ±90° from wind direction. Also, the heading of drifting ship was normal to wind direction.

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Altitude and Heading Correction of 3D Pedestrian Inertial Navigation

  • Cho, Seong Yun;Lee, Jae Hong;Park, Chan Gook
    • Journal of Positioning, Navigation, and Timing
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    • v.10 no.3
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    • pp.189-196
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    • 2021
  • In this paper, we propose techniques to correct the altitude error and heading error of 3D Pedestrian Inertial Navigation (PIN). When a PIN is used to estimate the location of a pedestrian only with an Inetrial Measurement Unit (IMU) without infrastructure, there is a problem in that the location error gradually increases due to the limitation of the observability of the filter. To solve this problem without additional sensors, we propose two techniques in this paper. First, stair walking is recognized in consideration of the altitude difference that may occur during one step. If it is recognized as stair walking, only Zero-velocity UPdaTe (ZUPT) is performed, and if it is recognized as level walking, ZUPT + Altitude Damping (AD) is performed together to correct the altitude error. Second, the straight-line movement direction is calculated through the difference of the estimated position, and the heading error is corrected by matching this information with the link information of the digital map. By applying these techniques, it is verified through real tests that accurate three-dimensional location information of pedestrians can be estimated without infrastructure.

A Study on Direction Finding Accuracy Analysis for Airborne ESM (항공용 전자전장비의 방향탐지 정확도 분석기법)

  • Lee, Young-Joong;Kim, In-Seon;Park, Joo-Rae
    • Journal of the Korea Institute of Military Science and Technology
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    • v.11 no.6
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    • pp.63-73
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    • 2008
  • The helicopter position, heading data and the direction finding data of ESM are essentially required to compensate the parallax and analyze the direction finding accuracy of heliborne ESM in flight test phase. In the case of the long test range compared with small platform like as LYNX helicopter and Jisim Island test site, the parallax compensation for direction finding accuracy calculation and GPS position error can be neglected. In this paper, the direction finding accuracy on the basis of helicopter propeller was calculated by coordinate changing between helicopter and transmitting antenna from WGS84 coordinate to navigation coordinate using helicopter position and direction finding data.

Performance Enhancement and Countermeasure for GPS Failure of GPS/INS Navigation System of UAV Through Integration of 3D Magnetic Vector

  • No, Heekwon;Song, Junesol;Kim, Jungbeom;Bae, Yonghwan;Kee, Changdon
    • Journal of Positioning, Navigation, and Timing
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    • v.7 no.3
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    • pp.155-163
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    • 2018
  • This study examined methods to enhance navigation performance and reduce the divergence of navigation solutions that may occur in the event of global positioning system (GPS) failure by integrating the GPS/inertial navigation system (INS) with the three-dimensional (3D) magnetic vector measurements of a magnetometer. A magnetic heading aiding method that employs a magnetometer has been widely used to enhance the heading performance in low-cost GPS/INS navigation systems with insufficient observability. However, in the case of GPS failure, wrong heading information may further accelerate the divergence of the navigation solution. In this study, a method of integrating the 3D magnetic vector measurements of a magnetometer is proposed as a countermeasure for the case where the GPS fails. As the proposed method does not require attitude information for integration unlike the existing magnetic heading aiding method, it is applicable even in case of GPS failure. In addition, the existing magnetic heading aiding method utilizes only one-dimensional information in the heading direction, whereas the proposed method uses the two-dimensional attitude information of the magnetic vector, thus improving the observability of the system. To confirm the effect of the proposed method, simulation was performed for the normal operation and failure situation of GPS. The result confirmed that the proposed method improved the accuracy of the navigation solution and reduced the divergence speed of the navigation solution in the case of GPS failure, as compared with that of the existing method.

Object's orientation and motion for scene understanding

  • Sakai, Y.;Kitazawa, M.;Okuno, Y.
    • 제어로봇시스템학회:학술대회논문집
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    • 1993.10b
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    • pp.271-276
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    • 1993
  • Here in the present paper. A methodology for understanding scenes which includes moving objects in it, in the framework of notion of concepts. First by conceptualizing, understanding an object which is an element of a scene will be described. Then how to know the direction to which that object is heading will be discussed. Further, the methodology proposed, for understanding conceptually the motion of an object will be described utilizing the above knowledge of direction.

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Target Tracking Control of Mobile Robots with Vision System in the Absence of Velocity Sensors (속도센서가 없는 비전시스템을 이용한 이동로봇의 목표물 추종)

  • Cho, Namsub;Kwon, Ji-Wook;Chwa, Dongkyoung
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.62 no.6
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    • pp.852-862
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    • 2013
  • This paper proposes a target tracking control method for wheeled mobile robots with nonholonomic constraints by using a backstepping-like feedback linearization. For the target tracking, we apply a vision system to mobile robots to obtain the relative posture information between the mobile robot and the target. The robots do not use the sensors to obtain the velocity information in this paper and therefore assumed the unknown velocities of both mobile robot and target. Instead, the proposed method uses only the maximum velocity information of the mobile robot and target. First, the pseudo command for the forward linear velocity and the heading direction angle are designed based on the kinematics by using the obtained image information. Then, the actual control inputs are designed to make the actual forward linear velocity and the heading direction angle follow the pseudo commands. Through simulations and experiments for the mobile robot we have confirmed that the proposed control method is able to track target even when the velocity sensors are not used at all.