• 한국정보통신학회논문지
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• 제11권7호
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• pp.1305-1310
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• 2007

이포지션(eposition)은 유무선 인터넷을 통하여 지구상의 특정 위치를 고유한 위치식별 ID로 정보를 서비스할 수 있는 기술이다. 현재 ePosition 기술을 이용하여, 인터넷 기반의 육상위치정보 서비스를 제공하고 있으나, 해양자료 및 해양위치정보 서비스를 위한 기술은 아직까지 부족한 실정이다. 특히 해양 위치정보 서비스를 위해서는 국제수로기구(IHO)의 디지털 수로데이터 전송표준인 S-57 기반의 전자해도(ENC) 연계기술이 절실히 필요하다. 따라서 본 논문에서는 ePosition 기술의 해양관련 분야 응용을 위한 기반기술을 확보하고, 전자해도에 적용 및 활용하기 위한 상호 연계기술을 개발하고자 한다. 구체적인 연구방법으로는, 먼저 전자해도(ENC) 데이터 모델과 구조를 분석하고, 전자해도 파일을 ePosition 데이터로 처리 하기 위해서 변환한다. 그리고 ePosition 데이터베이스와 연계할 수 있는 방법을 도출하여, 연계된 데이터를 기반으로 하는 ePosition 서비스의 활용과 그 효용성을 살펴본다.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2007년도 춘계학술대회 학술발표 논문집 제17권 제1호
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• pp.201-205
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• 2007

This paper proposes a link model that can provide the spacial position along the surface of the earth as an information or data using ePosition ID through the Internet. Moreover, to support the information service of maritime position, it needs the ENC linked technique based on S-57 that is an IHO transfer standard for digital hydrographic data. Therefore, it designs the linked model for applying and utilizing the ePosition technology with ENC data, as well as supplementing the base technology in applying them to marine related fields. As a study method, this paper first analyses ENC data model and structure, and converses for processing of ENC file to ePosition data. Finally, it derives the interconnection method with ePosition database and shows the ePosition service application based on the linked ENC data and its validity.

• 한국항해항만학회지
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• 제47권4호
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• pp.231-238
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• 2023

등부표는 조류, 바람 등 외력에 영향을 받아 위치가 항상 유동적이고 위치는 항로표지용 AIS 또는 RTU를 통해 확인할 수 있다. 위치 확인이 가능한 등부표의 최근 5년간(2017~2021년) 위치 데이터 분석 결과 위치 오류 데이터는 평균 15.4%로 나타났으며 항해 안전사고예방 및 관리를 위해서는 위치 오류 데이터를 검출하고 정제된 위치 데이터 획득이 필요하다. 본 연구에서는 항로표지용 AIS 또는 RTU를 통해 획득한 위치 데이터를 DBSCAN Clustering하여 위치 오류 데이터를 검출하고 정제된 위치 데이터를 획득하고자 한다. 이를 위하여 위치 오류가 가장 많은 서해 해역 중 RTU가 설치된 군산항 1호 등부표의 21년도 위치 데이터를 Python library를 사용하여 DBSCAN Clustering 하였다. DBSCAN Clustering에 필요한 minPts는 2차원 데이터에 일반적으로 사용하는 값을 적용하였고 epsilon은 k-NN(최근접 이웃)알고리즘을 사용하여 값을 산출 및 적용하였다. DBSCAN Clustering 결과 minPts와 epsilon을 만족하지 못하는 위치 오류 데이터를 검출하였고 정제된 위치 데이터를 획득할 수 있었다. 본 연구는 항로표지용 AIS 또는 RTU가 설치된 등부표의 신뢰성 있는 위치 데이터를 획득할 수 있는 기초 자료로 활용할 수 있으며 항해 안전사고 예방에도 큰 도움이 될 것으로 판단된다.

• 한국정보처리학회논문지
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• 제7권7호
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• pp.2050-2059
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• 2000

In a video-on-Demand(VOD) service, a server has to return to he normal playback quickly at a certain new frame position after interactive operations such as jump or last playback. In this paper, we propose an efficient scheme to write a transmission schedule for a playback restart of a video stream at a new frame position after interactive operations. The proposed scheme is based on convergence characteristics, that is transmission schedules with different playback startup frame position in a video stream meet each other at some frame position. The scheme applies a bandwidth smoothing from a new frame position to a convergence position without considering all remaining frames of a video stream. And then the scheme transmits video dta according to the new schedule from the new frame position to the convergence position, and then transmits the remaining video data according to the reference schedule from the convergence position, and then transmits the remaining video data according to the reference schedule from the convergence position to the last frame position. In this paper, we showed that there existed the convergence position corresponding to nay frame position in a video stream through many experiments based on MPEG-1 bit trace data. With the convergence we reduced the computational overhead of a bandwidth smoothing, which was applied to find a new transmission schedule after interactive operations. Also, storage overhead is greatly reduced by storing pre-calculated schedule information up to the convergence position for each I frame position of a video stream with video data off-line. By saving information on a transmission schedule off-line along with the video data and searching the schedule corresponding to the specified restarting frame position, we expect the possibility of normal playback of a video stream with small tolerable playback startup delay.

• 제어로봇시스템학회논문지
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• 제12권9호
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• pp.883-890
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• 2006

Nowadays, CPS is used widely, especially in cases which need more precise position information, such as car navigation systems and even in the mobile robot for position measuring in the outdoor environment. RTK (Real-Time Kinematics) and DGPS (Differential Global Positioning System) have more precise accuracy than the general-purposed GPS. However can't easily use them because of high prices and large size of equipments. In order fur the mobile robot to obtain precise position information it is important that CPS receiver has portability and low price. In this study, we introduce a new GPS data acquisition system that offers the precise position data using the DGPS mechanism and satisfying low cost and portability. In addition to this, we propose an improved data compensation algorithm that offers more accurate position information to the outdoor mobile robot by compensating the error rate of CPS data measured from the three points with geometrical rotation and distance formula. Proposed method is verified by comparing with the precise real position data obtained by RTK. Proposed method has more than 70% performance enhancement.

• Journal of Mechanical Science and Technology
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• 제15권2호
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• pp.217-224
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• 2001

In this paper, the relocation of a mobile robot is considered such that it enables the robot to determine its position with respect to a global reference frame without any $\alpha$ priori position information. The robot acquires sonar range data from a two-dimensional model composed of planes, corners, edges, and cylinders. Considering individual range as data features, the robot searches the best position where the data features of a position matches the environmental model using a constraint-based search method. To increase the search efficiency, a hypothesize and-verify technique is employed in which the position of the robot is calculated from all possible combinations of two range returns that satisfy the sonar sensing model. Accurate relocation is demonstrated with the results from sets of experiments using sparse sonar data in the presence of unmodeled objects.

• 로봇학회논문지
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• 제2권3호
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• pp.255-261
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• 2007

We propose a optimal fusion method for localization of multiple robots utilizing correlation between GPS on each robot in common workspace. Each mobile robot in group collects position data from each odometer and GPS receiver and shares the position data with other robots. Then each robot utilizes position data of other robot for obtaining more precise estimation of own position. Because GPS data errors in common workspace have a close correlation, they contribute to improve localization accuracy of all robots in group. In this paper, we simulate proposed optimal fusion method of odometer and GPS through virtual robots and position data.

• 제어로봇시스템학회논문지
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• 제19권4호
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• pp.341-348
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• 2013

A location estimation algorithm based on the sea-surface beacon is proposed in this paper. The beacon is utilized to provide ultrasonic signals to the underwater vehicles around the beacon to estimate precise position of underwater vehicles (ROV, AUV, Diver robot), which is named as USBL (Ultra Short Baseline) system. It utilizes GPS and INS data for estimating its position and adopts DWT (Discrete Wavelet Transform) de-noising filter and UKF (Unscented KALMAN Filter) elaborating the position estimation. The beacon system aims at estimating the precise position of underwater vehicle by using USBL to receive the tracking signals. The most important one for the precise position estimation of underwater vehicle is estimating the position of the beacon system precisely. Since the beacon is on the sea-waves, the received GPS signals are noisy and unstable most of times. Therefore, the INS data (gyroscope sensor, accelerometer, magnetic compass) are obtained at the beacon on the sea-surface to compensate for the inaccuracy of the GPS data. The noises in the acceleration data from INS data are reduced by using DWT de-noising filter in this research. Finally the UKF localization system is proposed in this paper and the system performance is verified by real experiments.

• 한국정보기술학회 영문논문지
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• 제8권2호
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• pp.27-39
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• 2018

In this paper, we describe the algorithms, EEG classification methods, and position data analysis methods using EEG and ADS1299 sensors. In addition, it is necessary to manage the amount of real-time data of location data and EEG data and to extract data efficiently. To do this, we explain the process of extracting important information from a vast amount of data through a cloud server. The electrical signals extracted from the brain are measured to determine the psychological state and health status, and the measured positions can be collected using the position sensor and triangulation method.

• 한국항해항만학회지
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• 제46권4호
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• pp.313-320
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• 2022

해상에 설치된 등부표는 기상, 통항선박에 의해 생성된 외력 등에 영향을 받아 위치가 항상 유동적이다. 등부표의 위치는 항로표지용 AIS와 RTU를 통해 확인 가능하다. 본 연구는 최근 5년간(2017-2021년) 등부표의 위치데이터를 분석하여 등부표의 최대 이출위치를 분석하였다. 연구결과 등부표의 위치데이터는 기본오류가 17.9%가 존재하였다. 또한 분석대상 등부표 197기의 이출위치 오류는 70.64%이고, 장비별로는 항로표지용 AIS 보다는 RTU가 심하였다. 한편, 등부표의 위치데이터를 플로팅한 결과 4가지 유형으로 구분되었다. 가장 일반적인 침추중심형, 침추를 중심으로 위치가 2개 구역으로 구분되는 침추중심 2분형, 중심이 변동된 중심 이동형 그리고 일정기간 위치가 중심을 벗어나는끌림형이다. 침추중심형(유형-1)을 제외하고는 등부표가 설치된 위치에 따라 유형이 결정되었다. 본 연구는 등부표의 위치데이터를 분석한 첫번째 연구로서 본 연구가 등부표 위치데이터의 품질 향상에 기여하기를 기대한다.