• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.4
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• pp.759-764
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• 2011

This paper deals with the method of using the amended virtual force field technique to avoidance the front environment(wall, obstacles etc.) in navigating by using the environmental informations recognized by a ultrasonic-ring and pan/tilt CCD camera equipped on a mobile robot. we will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, since there exist several recent thorough books and review paper on this paper. It is proposed the rusult from the experimental run based on a virtual force field(VFF) method to support the validity of the aforementioned architecture of mobile service robot for local navigation and obstacle avoidance for autonomous mobile robots. We will conclude by discussing some possible future extensions of the project. The results show that the proposed algorithm is apt to identify obstacles in an indoor environments to guide the robot to the goal location safely.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.1
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• pp.654-659
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• 2018

In this study, continuous long-term observation is implemented with an ocean radar. Ocean radar conducts remote observation (combined) with ground-based radars, which enable a series of simultaneous observations of an extensive range of the coast with high frequency. An ocean radar for continuous long-term observation is operated at Samcheok on the east coast of Korea. Samcheok experienced tsunami damage in recent years and is the location of a nuclear power plant. In order to examine the reliability of the ocean radar, a pressure-type wave gauge, ultrasonic wave gauge, and ocean buoy are installed for the purpose of data comparison and verification. The ocean radar used in this study is an array-type HF-RADAR named WERA (WavE RAdar). The analysis of the data obtained from continuous long-term observations showed that the radar observations were in agreement with more than 90% of the wave data collected within a 25 km range from the center of two sites. Less than 1% of the entire observation data was unmeasured by the time series analysis. As a result of comparing the radar data with the direct observations made by the wave gauge, it was inferred that the RMS deviation is less than 20cm and the correlation coefficient was in the range of 0.84 ~ 0.87. Moreover, supported by such observations, a comprehensive monitoring system is being developed to provide the public with real-time reports on waves and currents via the internet.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.37 no.1
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• pp.18-23
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• 2001

In this paper, the several indexes represented by swimming characteristics of aquarcultured red seabream, Dchrysophrys majors in a farming water raft(10L×10W×5H) were measured by ultrasonic telemetry. The fishes tagged by pingers were tracked by the LBL method(Shin etc., 1994). The location of fishes were calculated by the hyperbolic method and the indexes were estimated by the least square method. The similarity was confirmed by the comparision between experiment and simulation on the swimming trajectory of fishes, the mean distance of individual from wall, the mean swimming speed and the mean distance between the nearest individuals. The obtained results are summerized as follows ; 1. The swimming trajectory of fishes tagged by the pingers and the swimming trajectory by the simulation for 120 minutes showed a simularity. 2. The mean swimming speed by the experiment and the simulation showed 39.2 ㎝/sec (1.4BL ㎝/sec) and 44.4 ㎝/sec (1.6BL ㎝/sec), respectively. 3. The mean swimming depth by the experiment and the simulation showed 238㎝ and 248 ㎝, respectively. 4. The mean distance of individuals from wall of the farming water raft by the experiment and the simulation showed 132 cm and 129 cm, respectively. 5. The mean distance between the nearest individuals by the experiment and the simulation showed 83 ㎝ and 61 ㎝, respectively.