• 한국컴퓨터정보학회논문지
• /
• 제21권9호
• /
• pp.65-72
• /
• 2016

Vehicle and marine navigation which are currently being commercialized provide route guidance service by specifying a fixed position as a destination. In the route guidance service of existing navigation, if the destination has to be changed in the middle, a new destination must be designated again to obtain the navigation service. However, if the destination can't be designated, it is difficult to clearly use it. In this paper, in order to overcome the difficulties of directions in the existing navigation, a new navigation specifying moving targets as the destination has been developed to get the directions. A proposed system is that a group is made and a group manager is appointed as a destination and then a user can get the route guidance based on location of the group manager. In the service way, relationship between the group manager and user is one-to-many and relationship between the user and group manager is one-to-one. The proposed technology is able to provide services that the user can easily find the moving targets such as the positioning surrogate drivers, tracking routes and location among travelers and finding children.

• 한국군사과학기술학회지
• /
• 제16권6호
• /
• pp.719-725
• /
• 2013

In this paper, we propose a local path planning method based on RANGER algorithm and autonomy manager for autonomous navigation of UGV in urban environment. LPP method is designed to generate the local path in sensing area by using lane and curb of pavement and autonomy manager is designed to make a decision which transit the status of LPP component to a proper status for current navigation environment. A field test is conducted with scenarios in real urban environment in which crossroad, crosswalk and pavement are included and the performance of proposed method is validated.

• 한국군사과학기술학회지
• /
• 제13권6호
• /
• pp.990-997
• /
• 2010

The Mission environment of UGV(Unmanned Ground Vehicle) has a complexity and variety, and the status of system and sensor is dependent on the environment factors such as operation time, the weather and road type. It is necessary for UGV to cope adaptively with the various mission types, operation modes and operation environment as human operators do. To satisfy this necessity, we present an autonomy manager based on the autonomous architecture. In this paper, we design a path planning software architecture and LPP manager by using open autonomous architecture which is previously designed by ADD. Field test is conducted with UGV in order to verify the performance of LPP Manager based on the Autonomous Architecture with scenarios.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2005년도 ICCAS
• /
• pp.2211-2216
• /
• 2005

This paper describes a novel navigation algorithm using a locomotion interface with two 6-DOF parallel robotic manipulators. The suggested novel navigation system can induce user's real walking and generate realistic visual feedback during navigation, using robotic manipulators. For realistic visual feedback, the virtual environment is designed with three components; 3D object modeler for buildings and terrains, scene manager and communication manager component. The walking velocity of the user is directly translated to VR actions for navigation. Finally, the functions of the RPC interface are utilized for each interaction mode. The suggested navigation system can allow a user to explore into various virtual terrains with real walking and realistic visual feedback.

• Journal of Positioning, Navigation, and Timing
• /
• 제1권1호
• /
• pp.35-43
• /
• 2012

The UGV is one of the special field robot developed for mine detection, surveillance and transportation. To achieve successfully the missions of the UGV, the accurate and reliable navigation data should be provided. This paper presents design and implementation of multi-sensor-based open architecture integrated navigation for localization of UGV. The presented architecture hierarchically classifies the integrated system into four layers and data communications between layers are based on the distributed object oriented middleware. The navigation manager determines the navigation mode with the QoS information of each navigation sensor and the integrated filter performs the navigation mode-based data fusion in the filtering process. Also, all navigation variables including the filter parameters and QoS of navigation data can be modified in GUI and consequently, the user can operate the integrated navigation system more usefully. The conventional GPS/INS integrated system does not guarantee the long-term reliability of localization when GPS solution is not available by signal blockage and intentional jamming in outdoor environment. The presented integration algorithm, however, based on the adaptive federated filter structure with FDI algorithm can integrate effectively the output of multi-sensor such as 3D LADAR, vision, odometer, magnetic compass and zero velocity to enhance the accuracy of localization result in the case that GPS is unavailable. The field test was carried out with the UGV and the test results show that the presented integrated navigation system can provide more robust and accurate localization performance than the conventional GPS/INS integrated system in outdoor environments.

• 한국항해항만학회:학술대회논문집
• /
• 한국항해항만학회 2017년도 추계학술대회
• /
• pp.177-179
• /
• 2017

한국해양대학교는 IALA WWA에서 인증 받은 Level 1 (AtoN Manager) 교육기관으로 개도국 훈련을 분담하고 있다. "항로표지 전문가 및 글로벌 리더 양성"이라는 교육목표를 가지고 개도국을 위한 교육프로그램을 구성하였으며, IALA WWA 모델코스를 바탕으로 초청연수 교재를 개발하였다. 2017년 7월 한 달 간 아시아 태평양 지역의 항로표지 관리자 공무원을 대상으로 초청연수(역량강화)을 시행하였으며 초청 연수 종료 후 연수생을 대상으로 설문조사를 시행하고 분석한 결과 항로표지에 관한 전문지식이 향상되었고 연수에 대한 만족도도 높게 나타났다. 한국해양대학교는 지속적인 항로표지교육을 실시하여 주변 개도국의 해양안전과 해양경쟁력을 발전시키는데 이바지할 계획이다.

• 한국정보과학회논문지:컴퓨팅의 실제 및 레터
• /
• 제12권6호
• /
• pp.358-366
• /
• 2006

본 논문은 2개의 6자유도 제어가능 발판타입 플랫폼으로 이뤄진 이동인터페이스를 이용한 새로운 네비게이션 알고리즘을 제시하고 있다. 제안된 이동인터페이스는 2개의 플랫폼 위에 사람이 위치한 상태에서 사람의 걸음 모션을 센서시스템으로 예측하여 플랫폼 위에서 지속적인 걸음이 가능하도록 플랫폼을 제어하고 사용자 걸음 모션 정보를 가상환경에서의 네비게이션 입력정보로 사용한다. 따라서, 제안된 이동인터페이스는 사용자의 실제 걸음을 유도하고 걸음 동안 사용자에게 실감의 시각 피드백 제공으로 몰입감을 가지고 가상환경과 전신 운동의 상호작용을 할 수 있도록 허락한다. 이때, 가상환경 상에서 자연스런 네비게이션이 가능하도록 보행 분석에 사용되는 걸음 조건들을 사용하여 플랫폼 위에서의 자연스런 걸음 및 가상환경시스템에서의 자연스런 네비게이션이 가능토록 알고리즘을 제시하였다. 제안된 네비게이션 알고리즘 평가를 위해 3차원 객체모델러, 화면 매니져, 통신 매니져로 구성된 가상도시를 구축하여 발판타입 이동인터페이스에 네비게이션 알고리즘을 적용하였다. 실험 결과 평지 및 경사에서 사용자의 자연스런 걸음 및 시각 피드백이 가능함을 알 수 있었고, 제안된 이동인터페이스 및 네비게이션 알고리즘을 통해 다양한 형상의 가상지면에서 실감의 네비게이션이 가능함을 확인하였다.

• 한국항해항만학회:학술대회논문집
• /
• 한국항해항만학회 2000년도 제 25회 정기총회 및 추계학술발표회
• /
• pp.187-193
• /
• 2000

An expert system for a ship medical manager is presented in this paper where it si planned to improve the medical environment of the crew. The proposed system includes a information retrieval system that is based on the knowledge database organizing important experiences of first-aiders and is intended to be used effectively by the inexpert member. Moreover, this system of which the purpose is to computerize the medical work of each ship medical manager that the third officer give an affirmative guide for the execution of their duty from the medical treatment database of the disease occurring frequently on many crews.

• 한국항해항만학회:학술대회논문집
• /
• 한국항해항만학회 1999년도 추계학술대회논문집
• /
• pp.163-175
• /
• 1999

As the size and complexity of network increase, Distributed Systems Management (DSM) will be significant issue within information network in order to increase the high reliability and to improve the flexibility of network management. The OSI management model has several problems. The key problems are that it does not fully address the problems of how to develop communication protocol in support of DSM, and how to classify the management connection criteria. In this paper, to solve first problem described above, this paper propose the connectionless CMIP(Common Management Information Protocol) to accomplish for effectively managing the distributed management system, and indicate its efficiency; this protocol is available to negotiate among the managing systems, handle the dynamic information. To work out second problem, we introduce the connection criteria in the hierarchy of management systems, and finally evaluate the efficiency of a suggested protocol during cooperative negotiation among the managing systems.

• 해양환경안전학회:학술대회논문집
• /
• 해양환경안전학회 2018년도 공동국제학술발표회
• /
• pp.13-13
• /
• 2018