• The Transactions of the Korean Institute of Electrical Engineers D
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• v.55 no.4
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• pp.173-180
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• 2006

A key component of autonomous navigation of intelligent home robot is localization and map building with recognized features from the environment. To validate this, accurate measurement of relative location between robot and features is essential. In this paper, we proposed relative localization algorithm based on 3D reconstruction of scale invariant features of two images which are captured from two parallel cameras. We captured two images from parallel cameras which are attached in front of robot and detect scale invariant features in each image using SIFT(scale invariant feature transform). Then, we performed matching for the two image's feature points and got the relative location using 3D reconstruction for the matched points. Stereo camera needs high precision of two camera's extrinsic and matching pixels in two camera image. Because we used two cameras which are different from stereo camera and scale invariant feature point and it's easy to setup the extrinsic parameter. Furthermore, 3D reconstruction does not need any other sensor. And the results can be simultaneously used by obstacle avoidance, map building and localization. We set 20cm the distance between two camera and capture the 3frames per second. The experimental results show :t6cm maximum error in the range of less than 2m and ${\pm}15cm$ maximum error in the range of between 2m and 4m.

• Archives of design research
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• v.14 no.4
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• pp.5-14
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• 2001

Among Human Sensibility-oriented products a gap between the images that designers try to express through that product and users emotional evaluation becomes an issue. The data on the correlation between image words used for design evaluation and images used in the design process are especially significant. This study based on these correlations suggests a Fuzzy retrieval system supporting styling design with images and image words. In the system, the relational data are demonstrated by Fuzzy thesaurus as correlation coefficient from the degree of similarity among image words. And the degree of similarity is produced based on image evaluation. Image retrieval is conducted by the algorithm of Fuzzy thesaurus development, 1) among image words, 2) images to image words, 3) image words to images and 4) among images: 4 different modes are provided as retrieval modes. Also transfer between modes is carried by direct operating interface, therefore divergent thinking and convergent thinking is supported well. The system consists of operation for the gap and the measurement unit of emotional evaluation, and visualization units. Under unified interface environments are set in order for consistency of the operation.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.45 no.2
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• pp.106-113
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• 2009

For the safety and cost reduction in the navigation, the automatic and intelligent system has been developed for the vessel, and the most important factor in the system is to decide the collision risk exactly. In this paper, we propose an advanced collision risk decision system for collision avoidance of the system. The conventional researches using DCPA and TCPA for calculating the collision risk have a problem to produce a same collision risk regardless of bearings for the ships, if they are located in the same distance from own ship. To solve this problem, in addition to DCPA and TCPA, we introduce the factor of VCD(variation of compass degree) and constant, CR which derived from COLREG'72(International Regulation for Preventing Collision at Sea, 1972) for evaluating the collision risk including even the burden of own ship navigator due to the encountering angle of each vessels. We decided the collision risk legally by the rule considering the relative situation of vessels. And therefore, the proposed system has two advantages, of which one is to produce more detail collision risk and another is to reflect the real underway situation in conformity with the rule.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.3
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• pp.590-598
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• 2016

It comes into the spotlight as the new Blue Ocean in which the connected car industry in which the car and mobile communication technology is convergence. All sorts of infortainments services connecting with the portable electronic device(Smart phone, tablet PC, and MP3 player) and car are rapidly grown. The Connected car emphasizes the vehicle connectivity with the concept that the car has communication with the around on a real time basis and it provides the safety and expedience to the operator and using the thing of Internet (IoT) in the car and supports the application, presently, the entertainment service including the real-time Navigation, parking assistant function, not only the remote vehicle control and management service but also Email, multimedia streaming service, SNS and with the platform. Intelligent vehicle network is studied as the kind according to MANET(Mobile Ad Hoc Network) for the safety operation of the cars of the road and improving the efficiency of the driving.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.14 no.9
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• pp.1993-1998
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• 2010

This paper presents an integrated control module for controlling transportation machine and automatic navigation using a combined technology of mobile telematics and transportation machine telematics, i.e. Mobile In Vehicle (MIV). This development includes hardware implementation and its verification of control mechanism applied to vehicle. In particular, the module is designed to be versatile in such a way that it can collect various information and facilitate various options for convenience by supporting existing networks, such as TCP/IP, Wi-Fi and 3G mobile radio networks. The study offers its versatility, intelligence and cost-effectiveness by enabling the module to support network-independent service, whereas conventional modules operate only in a certain network. Based on this module, a multiple of subsequent convenient functions for transportation machine can further be developed for safe and intelligent transportation machines.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.957-962
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• 2005

Today, the elderly is increasing gradually in the Republic of Korea society and this problem will be more serious in the near future. Therefore, engineering support for aged people is required. We are establishing a new field of healthcare engineering for elderly people and aiming to support for aged people and disabled people using adaptive control and instrument technology. In this paper, the goal is to implement the shared control of a robot mobility aid for the elderly. As using this type of assistive technology to be useful by its intended user community, it supports elderly people and handicapped people to live independently in their private homes. The interface transforms the force applied by the user into the robot's motion. Devices like buttons, joysticks, and levers already exist for relaying user input; however, they require hand displacement that would loosen or otherwise release the user's hold. Such interfaces make operation very difficult and potentially unsafe. Therefore, we propose a shared control system. It's safe more than joysticks and buttons. The shared control is a means of registering the user's intention through physical interaction. It's an important component in the development of robotic elderly assistant. The concept of shared control describes a system which is two or more independent control systems. We are using that the three component blocks consist of pressure sensor (flexible force sensor), circuit of measurement and transfer function. Experimental trials of this paper have been tested at the indoor environment. The robot is able to know the user intended direction through haptic device were logged along with the robot's force sensor.

• IEMEK Journal of Embedded Systems and Applications
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• v.5 no.3
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• pp.118-127
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• 2010

Inter-vehicle communication is one of the most important parts in Intelligent Vehicle System. Through this communication, drivers can recognize what is happening out of their sights, such as the freezing condition of the street, traffic accidents, and so on. Each car in IVS gives various services to the drivers after analyzing those received information from cars or a base station. If the message is, however, exchanged from car to car directly, the computation cost which is needed for all the car to authenticate the transmitted message between nearby cars is tremendously high. Therefore, one can naturally think that the message communication between cars is performed with the help of the base station to reduce the computation cost. In this case where the base station collects all the information transmitted from cars and broadcasts them nearby, there should be an efficient way both for the base station to authenticate the car message within its communication range and for the car to authenticate the information received from the base station. In this paper, we present a two-way authentication protocol using a hash chain to efficiently exchange GPS information between a car and a base station. This information can be used to provide a driver with the navigation which displays all the moving cars around him in real time. When a car goes into an area of a base station, the car authenticates itself to the base station using its private key of PKI, sends a commitment of a hash chain, then starts to send a message with the hash value for authentication. The message includes GPS information, driver's status and so on. The base station also authenticates itself to the nearby cars using its private key, transmits the commitment of the hash chain, and sends all the messages gathered from cars with authentication information.

• Journal of Korean Society for Geospatial Information Science
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• v.10 no.4 s.22
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• pp.69-76
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• 2002

Nowadays information is very important for Civil Engineering. This information is acquiredmostly via Surveying & Geo-spatial Information System. Also this information is close to the ITS(Intelligent Transformation System), Navigation, Facility Management, and Digital Mapping, etc and applicable to versatile fields from now on. And in surveying fields, GPS satellites are introduced newly and play a great rules. In this study, RTK(Real-Time Kinematic GPS), one of the positioning technology with GPS satellites, is used for the production of Plane Figure of Campus. The results shows that it is possible to extract the information for some part of a flowerbed and road, but not so for the buildings surrounded. Therefore this give occasion to the a lowering of work effectiveness over the total work-flow. So at such a time, it will be expected that the supplementary systems such TS(Total Station), Plane-table, and theodolite, etc have to be used.

• Journal of Information Technology Application
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• v.3 no.1
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• pp.1-21
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• 2001

The explosive growth of the Internet and the increasing popularity of the World Wide Web have generated significant interest in the development of electronic commerce in a global online marketplace. The rapid adoption of the Internet as a commercial medium is rapidly expanding the necessity of Web advertisement as a new communication channel. if proper Web advertisement could be suggested to the right user, then effectiveness of Web advertisement will be raised and it will help company to earn more profit. So, this article describes a personalized advertisement technique as a part of intelligent customer services for an electronic newspaper provide. Based on customers history of navigation on the electronic newspapers pages, which are divided into several sections such as politics, economics, sports, culture, and so on, appropriate advertisements (especially, banner ads) are chosen and displayed with the aid of machine learning techniques, when customers visit to the site. To verify feasibility of the technique, an application will be made to one of the most popular e-newspaper publishing company in Korea.

• Journal of Korea Spatial Information System Society
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• v.3 no.1 s.5
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• pp.95-108
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• 2001

The provision of spatial data is a key infrastructural requirement for the promotion of economic growth, environmental quality, social progress, etc. 4S technology integrates 4 kinds of systems that process spatial data: GIS (Geographic Information System), GNSS (Global Navigation Satellite System), ITS (Intelligent Transport System), and SIIS (Spatial Imagery Information System). Spatial data processing field is expected to get synergy effect and overcomes development limit of individual unit technology via 4S technology. This paper discusses both the development of 4S-kernel technology and the construction of 4S-based framework, In the development of 4S kernel technology, we will concentrate on the following issues: the development of 4S base components for reciprocity integration among GIS, SIIS, GNSS and ITS technologies, the development of 4S-Mobile S/W and H/W, 4S-Van components, and national LBS technologies. And in the construction of 4S-based framework, we will especially concentrate on the ISP for overall 4S technologies, the international cooperative research center, and the guide model deduction for supervision and certification of 4S projects. Finally, we examine about how the construction of 4S-baed framework affects 4S industry.