퍼지 추론 시스템을 이용한 아날로그형 자기위치 장치의 위치 정밀도 향상

김정민(Jungmin Kim),정경훈(Kyunghoon Jung),정은국(Eunkook Jung),조현학(Hyunhak Cho),김성신(Sungshin Kim) 한국지능시스템학회 2012 한국지능시스템학회논문지 Vol.22 No.3

본 논문은 아날로그형 자기위치 장치(magnetic positioning system)의 개발과 퍼지 추론 시스템(FIS: fuzzy inference system)을 통한 정밀도 향상에 관한 것이다. 자기위치 장치는 무인운반차(AGV: automatic guided vehicle)의 자기-자이로 유도장치(magnet-gyro guidance system)에 사용되는 장치로, 바닥에 매설된 자석의 위치를 계측하는 장치이다. 기존의 판매되고 있는 자기-자이로 유도 장치는 외국에서 독점 판매되고 있어, 국내에서는 가격이 매우 비싸다. 또한, 자기위치 장치에 디지털 타입의 단극성 홀센서를 이용하기 때문에 위치측정 정밀도가 낮다. 이에, 본 논문에서는 자기위치 장치를 직접 개발하였고 퍼지 추론 시스템을 통해 자기위치 장치의 정밀도 향상시켰다. 실험은 직접 개발한 아날로그형 자기위치 장치를 이용하였으며, 기존의 위치측정 방법과 제안된 방법의 성능을 비교하였다. 실험 결과, 제안된 방법이 자기위치 장치의 정밀도를 향상시킴을 확인하였다. This paper presents a development of an analog type magnetic positioning system and its positioning accuracy improvement using fuzzy inference system. As the magnetic positioning system used on a magnet-gyro guidance system for AGV(automatic guided vehicle), it measures a position of magnet embedded in floor of the work place. The existing product of the magnetic positioning system is very expensive in Korea because it is being sold in a foreign country exclusively. Moreover, the positioning accuracy of the product is low because it uses digital type unipolar hall sensors. Hence, we developed the magnetic positioning system by ourselves and improved the positioning accuracy of the developed magnetic positioning system using fuzzy inference system. For experiment, we used the analog type magnetic positioning system which we have developed, and compared the performance of the proposed method with the performance of the existing positioning method for the magnetic positioning system. In experimental results, we verified that the proposed method improved the positioning accuracy of the magnetic positioning system.

실내 위치추적 시스템의 비즈니스 모델 사례 연구

박상혁,박영식,김진영 사단법인 한국위성정보통신학회 2013 한국위성정보통신학회논문지 Vol.8 No.4

Recently, users who are interested in the service at indoor spaces is increasing. An indoor positioning system can minimizea range of positioning error using a variety of wireless communication infrastructure. Also, the system improves an indoorpositioning accuracy by combining a mobile communication network. However, flexible positioning technologies regardlessof an environment are insufficient. Therefore, this is time for a systematic study on an indoor positioning system businessmodel. This paper classify differences between an indoor positioning system technology and outdoor positioning systemtechnology. And we research a construction and application of the indoor positioning system that is adapted a wirelesscommunication system (Wi-Fi, Bluetooth, RFID, UWE, Fingerprint, etc.) in domestic and foreign. We present a successfulmodel of indoor positioning system and the development for future systems. 최근 실내 공간 사용자들을 대상으로 한 서비스의 관심이 증가하고 있다. 실내 위치추적 시스템은 다양한 무선통신 인프라를 활용하여 측위 오차의 범위를 최소화 할 수 있고 이동통신망과 결합하여 실내 측위 정확도를 향상시킬 수 있다. 하지만 환경에 상관없이유연하게 동작하는 위치추적 시스템의 기술은 미흡한 실정이다. 따라서 체계화된 실내 위치추적 비즈니스 모델에 관한 연구가 더욱필요한 시점이다. 본 논문의 목적은 실내·외 위치추적 시스템의 측위기술 차이점을 분류하고 실내 위치추적 시스템에 적용되는 무선통신 방식(Wi-Fi, Bluetooth, RFID, UWB, Fingerprint 등)의 기술방식과 다양한 국내·외 구축사례 및 활용사례를 연구하고 이를통해 성공적인 실내 위치추적 시스템 모델 설정과 향후 시스템 발전방향을 제시한다.

Dynamic Positioning System의 IMO Class 변경 요건에 관한 연구

채종주,Chong-Ju Chae 한국항해항만학회 2015 한국항해항만학회지 Vol.39 No.3

Dynamic Positioning System(DPS)은 그 신뢰성 및 redundancy(대체) 시스템에 따라 IMO 및 각 선급에서 3개의 class(등급)로 나 누고 있다. IMO MSC/Circ 645에 의하면 DPS는 Class 1, 2, 및 3로 나누고 있으며 등급이 높을수록 좀 더 신뢰성 있고 안전하게 DP 선박을 운용할 수 있다. 국내에서 많은 DP Class 선박들이 건조되고 있는 상황에서 DP Class 1선박의 개조를 통해서 DP Class 2로 변경하거나 DP Class 2선박을 신조 또는 중고선으로 구입하는 경우 무엇을 검토하고 확인해야 하는지에 대한 구체적인 실무 자료가 부족하고, DP Class 1 선박을 Class 2로 변경하여 다시 매도하는 새로운 산업분야의 개척에 있어 국내 사례를 바탕으로 한 연구가 필요할 것으로 판단된다. 이에 본 연구에서는 DP Class 1선박을 DP Class 2 선박으로 변경하기 위해서는 어떠한 IMO 및 선급의 DP class 요건의 충족이 필요하며 이를 위해 서 어떠한 설비의 변경 및 추가가 필요한지를 국내에서 있었던 실제 사례를 통해서 연구해 보았다. DP 선박 Class 변경을 위해서는 FMEA를 통해서 파악되는 DP 선박의 동력 시스템, thruster 시스템 및 제어 시스템 3가지의 주요 시스템에 대체(redundancy)기능을 갖추어야 한다. 동 력 시스템은 단일의 발전기, 배전반등에 문제가 발생해도 DP 기능을 유지할 수 있어야 하며, 더불어 PMS기능을 갖추고 있어야 한다. thruster 시스템은 단일의 고장이 발생하더라도 선박의 Surge, Sway 및 Yaw를 남은 thruster 시스템으로 자동 제어 할 수 있어야 한다. 각종 제어 시스템, PRS 및 센서는 여러개를 설치하여 단일의 장비고장에도 DP 기능을 유지 할 수 있어야 한다. The class of Dynamic Positioning System is divided in 3 classes depending on its redundancy and reliability according to IMO and classification society. There are 3 DP classes such as DP Class 1, 2 and 3 according to IMO MSC/Circ. 645. Higher DP class vessel has higher reliability, since redundancy concept is applied to the DP vessel depending on its DP class and can operate more safely. There are not enough information about DP class notation, which are needed when a company builds a new or buys second hand DP vessel or modifies DP classes, even the Korean shipyard is building a lot of DP vessels now. Also, the practical case of DP vessel modification, which had been done in Korea, to meet DP notation of IMO and classification society, will be helpful for DP vessel modification and sales industry development in Korea as a new business. As such this research identified what kind of requirements need to be taken into account to be from DP class 1 to DP class 2. The real DP class modification case is used to identify the requirements of DP class upgrade. Through the FMEA the redundancy concept on power system, thruster system and DP control system need to apply for DP class upgrade. The power system have to keep its DP function even if just a single fault happens on the generator or switchboard. Also, the PMS is required to monitor and control power system. Ship's Surge, Sway and Yaw movements can be controlled by the remaining thruster system after a single thruster fails. Lastly, multiple installation of PRS, sensors and DP control system are required to keep DP ability after a single fault on the DP control systems.

고려전기 본품행두제(本品行頭制)의 성격

김대식(Kim Dae-sik) 한국역사연구회 2010 역사와 현실 Vol.- No.76

Most concurrent positions in the early Goryeo Dynasty are related with Bonpumhaengdu's Post. Bonpumhaengdu's System was not only for Primary Post(Bonpum)'s First line(Haengdu), but also used as General Provisions to operate concurrent position's system in the early Goryeo Dynasty. Accordingly, Bonpumhaengdu’s System is an important clue to understand operation of Concurrent Position's System in the early Goryeo Dynasty together with Pansa system and Jisa system. In order to understand Bonpumhangdu’s System, understanding of relationships and concepts such as Primary Post(Bonpum) should go ahead. However, in Goryeosa-Baekgwanji, concepts for general official rank and regulations about official item regarding individual government offices and positions were not recorded clearly. In addition, regulations about Primary Position(Bonjik) and concurrent position as well as Primary Post(Bonpum) were not recorded in it. Official Rank(Gwangye) was the only standard to express the public system of the Goryeo Dynasty. Anyone who began working in Sangye and officialdom was granted. Sangye was the order of rank that was applied to everyone once they entered officialdom regardless of Entrance(Choipsa), leave of absence and retirement as well as the present post. Accordingly, although the government system of the Goryeo Dynasty didn't prescribe ranks for all positions, Primary Post(Bonpum) meaning Sangye possessed by all officials was the standard for their status and treatment including Nokbong(stipend). Primary Position(Bonjik), the subordinate concept, has Primary Post(Bonpum) naturally. As reviewed in actual cases, government post having Primary Post(Bonpum) is a concept that is used by distinguishing Primary Position(Bonjik) and concurrent position. Primary Position(Bonjik) was used as a contrary concept of concurrent position. With respect to Primary Position(Bonjik) and concurrent position during the Goryeo Dynasty, it is the most reasonable to use Jeonsigwa and Nokbong during the King Munjong, that is, Primary Position(Bonjik) received both Jeonsigwa and Nokbong, and concurrent position received Nokbong only. Bonpumhaengdu’s Post is 18 kinds of government posts that were concurrent positions since it was made in the 11th year of the King Yejong. In the early Goryeo Dynasty, major central posts also could have Bonpumhaengdu’s Post, and Bonpumhaengdu’s System was general provisions including most concurrent position’s system, therefore, most major posts are Primary Positions(Bonjik) of Bonpumhaengdu.

옥내외 겸용 측위 방법

임재걸(Jae-Geol Yim),이계영(Gye-Young Lee),심규박(Kyu-Bark Shim) 한국멀티미디어학회 2006 멀티미디어학회논문지 Vol.9 No.9

위치기반 서비스는 사용자의 지리적인 현재 위치를 기반으로 사용자에게 제공되는 서비스를 일컫는다. 위치기반 서비스는 고부가가치를 제공하기 때문에 기업, 산업, 그리고 개인 생활에까지 널리 적용되고 있다. 사용자의 위치 판단(측위)은 위치기반 서비스 시스템 구축에 반드시 필요한 요소 기술이다. GPS로 인하여 건물 외부에서의 측위는 성공적으로 실용되고 있으나, 옥내 측위는 많은 전략이 발표되었음에도 불구하고 일반적인 해법이 아직도 존재하지 않는다. 성공적인 옥내 측위 해법이 존재하지 않는 이유 중 하나는 현존하는 대부분의 측위 전략이 전적으로 측위에만 사용되는 특수 장치를 사용하기 때문이다. 본 논문에서는 부가적인 장비를 사용하지 않는 옥내 측위 전략을 소개한다. 또한, 제안하는 옥내 측위 전략과 GPS 기반의 옥외 측위 방법을 통합하여 옥내외 겸용 측위 시스템을 구축하고, 이 시스템의 실험 결과를 소개한다. Location-Based Service (LBS) is a service provided to the user based on the user's current geographic location. Since LBS provides a higher value-added service, LBS has been applied on various businesses, industries and even on personal lives. Positioning users is the essential technology in building an LBS system. Thanks to GPS (Global Positioning System), positioning outdoor is successfully used in practice. However, there is not a general solution for indoor positioning yet, even though many strategies for indoor positioning have been introduced. One of the reasons for the lack of successful indoor positioning is that most of the existing indoor positioning strategies require special equipments dedicated for positioning. This paper introduces an indoor positioning strategy that does not require any additional equipments. Integrating our indoor positioning strategy with GPS-based outdoor positioning, we have implemented an indoor-outdoor positioning system. Experimental results of the system is also introduced.

Vibration Reduction for Positioning-System Base Subjected to Moving Stage Using Command Shaping

Gyu-Hyun Bae,Ah-Young Park,Seong-Wook Hong 제어로봇시스템학회 2012 제어로봇시스템학회 국제학술대회 논문집 Vol.2012 No.10

Positioning stages are widely used for a variety of machinery. They are usually mounted on a heavy base, which is supported by soft springs for vibration isolation. Then motion of a positioning stage induces vibration into the whole system, including the positioning stage and the base structure, due to the inertial-reactive force effect, as well as the vertical moving-load effect. This paper investigates the vibration behavior and a vibration suppression method for a positioning-system base caused by the stage motion. A vibration suppression method is applied to reduce the residual vibrations in the base structure by modifying the velocity command for positioning stage using command shaping. Simulations are performed to find a command shaper appropriate for this problem. Experiments show that the proposed command shaping technique effectively removes the residual vibrations from the positioning-stage base and that command shaping can enhance the positioning accuracy of stage.

Electric-field Resonance Coupling between Human and Transmitter for Human Position Estimation System

Sousuke Nakamura,Shimon Ajisaka,Kiyoaki Takiguchi,Akira Hirose,Hideki Hashimoto 제어로봇시스템학회 2010 제어로봇시스템학회 국제학술대회 논문집 Vol.2010 No.10

In this paper, a novel human position estimation system using electric-field resonance coupling is proposed. There are various advantages of using electric-field for human position estimation system. The system is robust to illumination change, body-worn tags are not required and sensors could be hidden since electric-field can path through an insulator. Tags are not required because the system estimates the position by measuring the electric field transmitted along the human body which acts as an electric-field coupler. Moreover, the proposed system has wider sensing range and higher expandability to position estimation of multiple humans compared to the current system. Unlike the current system which only measures the electric-field coupled between human and transmitter, the proposed system measures the electric-field amplified by the resonance occurring inside the human (equivalent to giant antenna) to achieve wider sensing range. Meanwhile, the proposed system is also designed carefully to maintain the expandability to multiple humans position estimation. Based on the simulation results, it is verified that the sensing range could be up to 50[cm] with less than 5[cm] error. In the future, the proposed system could be a powerful alternative for the current system.

스마트폰과 Double-Stacked 파티클 필터를 이용한 실외 보행자 위치 추정 정확도 개선에 관한 연구

성광제 한국반도체디스플레이기술학회 2023 반도체디스플레이기술학회지 Vol.22 No.2

In urban environments, signals of Global Positioning System (GPS) can be blocked and reflected by tall buildings, large vehicles, and complex components of road network. Therefore, the performance of the positioning system using the GPS module in urban areas can be degraded due to the loss of GPS signals necessary for the position estimation. To deal with this issue, various localization schemes using inertial measurement unit (IMU) sensors, such as gyroscope and accelerometer, and Bayesian filters, such as Kalman filter (KF) and particle filter (PF), have been designed to enhance the performance of the GPS-based positioning system. Among Bayesian filters, the PF has been widely used for the target tracking and vehicle navigation, since it can provide superior performance in estimating the state of a dynamic system under nonlinear/non-Gaussian circumstance. This paper presents a positioning system that uses the double-stacked particle filter (DSPF) as well as the accelerometer, gyroscope, and GPS receiver on the smartphone to provide higher pedestrian positioning accuracy in urban environments. The DSPF employs a non-parametric technique (Parzen-window) to create the multimodal target distribution that approximates the posterior distribution. Experimental results show that the DSPF-based positioning system can provide the significant improvement of the pedestrian position estimation in urban environments.

GPS/GLONASS의 반송파 위상을 이용한 차량항법

이인수(In-Su Lee),이용희(Yong-Hee Lee),문두열(Du-Youl Moon),손영동(Young-Dong Son) 한국항해항만학회 2002 한국항해항만학회지 Vol.26 No.3

현재 범세계위치결정체계(GPS)와 추측항법(DR), 기타 장치를 결합한 육상차량항법시스템이 사용되고 있다. 그리고 GPS는 육상항법시스템으로 널리 이용되고 있지만, 도심지 등에서 가시위성의 부족으로 차량의 동적 위치결정에 적절하지 못하다. 따라서 본 연구에서는 GPS의 단점을 보완하기 위해 GPS/GLONASS 결합항법시스템을 이용하여 차량의 동적위치를 결정하였다. 실험결과 도심지에서 많은 장애물과 가시위성에도 불구하고 GLONASS 위성의 부가로 높은 자료획득률을 보여 GPS/GLONASS의 결합항법시스템으로 차량의 동적 위치를 연속적으로 획득할 수 있었다. 그러므로 GPS/GLONASS 결합항법시스템은 도로의 교통흐름의 통제와 효율적 관리에 응용할 수 있을 것으로 사료된다. Nowadays, the combined land navigation system using GPS(Global Positioning System) and DR(Deduced Reckoning), etc has been used. Although GPS is popular with the land navigation system, this is not useful for the kinematic positioning of the vehicles in the urban canyon because of its few satellites. Thus, this study deals with the kinematic positioning of the vehicles with the combined GPS/GLONASS(GLObal NAvigation Satellite System) to compliment the drawbacks of GPS. So the kinematic positioning of the vehicles can be performed constantly by the combined GPS/GLONASS based on the high acquisition rate of data with the help of GLONASS despite of many obstacles and few satellites tracked in the test sites. Consequently, the combined GPS/GLONASS can be applicable to the control of traffic flow and the effective management of road system.

실습선 나라호의 추진력 상실에 따른 동적위치제어시스템의 성능 분석

이준호 ( Jun-ho Lee ),공경주 ( Kyeong-ju Kong ),정봉규 ( Bong-kyu Jung ) 한국어업기술학회 2018 수산해양기술연구 Vol.54 No.2

In order for the probe to perform ocean exploration and survey research, it is necessary to adjust the position of the ship as desired by dynamic positioning system. The dynamic positioning system of T/S NARA is applied to K-POS dynamic positioning system of Kongsberg, which makes maintaining the ship's position, changing position and heading control possible. T/S NARA is not capable of dynamic positioning if one or more propulsive forces are lost with DP Level One. However, it is predicted that dynamic positioning can be achieved even at the time of missing one thrust in a good sea condition. Therefore, we want to analyze the effect of each propulsion on the performance of dynamic position system. When one of the bow thruster and azimuth thrusters lost their propulsion, maintaining the ship's position, changing position and heading control performance were compared and analyzed. If the situation occurred disable from using the bow thruster, they can not maintain ship's position. Azimuth thruster was influential for the ship's position control and bow thruster was influential in heading control. The excellent dynamic positioning performance can be achieved, considering the propulsion power that will have a impact on each situation in the future.