• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.2
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• pp.21-32
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• 1997

This paper proposes an elliptical world-modeling mehtrod in order to secure the safety of the mobile robot from the unreliability of ultrasonic sensors and to estimate the lateral orientation of the detected objects. This method is advnatageous because the total amount of data that the robot utilizes is reduced when historical and new data are clusterd during each sensing period and also because the objects in the environment can be almost exactly recognized. This paper also proposes a new local path planning algorithm which is divided into four different situations and gudies the robot through the safe local path using dat acollected in elliptical form. This algorithm can help the AMR navigate by allowing it to sum up the virtual vector forces made form the ellipses in order to select a safe subgoal. This local path plannin gmehtod using the elliptical world model has been proved by several navigation experiments.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.8
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• pp.482-491
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• 2003

In this paper are presented kinematic and dynamic modeling and path-tracking of four-wheeled mobile robots with 2 d.o.f haying the limited drive-torques. Controllability of wheeled-mobile robots is revealed by the kinematic model. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to drive the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.

• Journal of computational fluids engineering
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• v.20 no.1
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• pp.77-83
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• 2015

Flow characteristics of synthetic jet based flow supplying devices have been computationally investigated for different device shapes. Jet momentum was produced by the volume change of a cavity by two piezoelectric-driven diaphragms. The devices have additional flow path compared with the original synthetic jet actuator, and these flow path changes the flow characteristics of synthetic jet actuator. Four non-dimensional parameters, which were functions of the shapes of the additional flow path, were considered as the most critical parameters in jet performance. Comparative studies were conducted to compare volume flow rate and jet velocity. Computed results were solved by 2-D incompressible Navier-Stokes solver with k-w SST turbulence model. Detailed computations revealed that the additional flow path diminishes suction strength of the synthetic jet actuator. In addition, the cross section area of the flow path has more influence over the jet performances than the length of the flow path. Based on the computational results, the synthetic jet based flow supplying devices could be improved by applying suitable shape of the flow path.

• Journal of Positioning, Navigation, and Timing
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• v.10 no.4
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• pp.371-377
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• 2021

This research proposes the best combination of tropospheric delay models for Korean Positioning System (KPS). The overall results are based on real observation data of Japanese Quasi-Zenith satellite system (QZSS), whose constellation is similar to the proposed constellation of KPS. The tropospheric delay models are constructed as the combinations of three types of zenith path delay (ZPD) models and four types of mapping functions (MFs). Two sets of International GNSS Service (IGS) stations with the same receiver are considered. Comparison of observation residuals reveals that the ZPD models are more influential to the measurement model rather than MFs, and that the best tropospheric delay model is the combination of GPT3 with 5 degrees grid and Vienna Mapping Function 1 (VMF1). While the bias of observation residual depends on the receivers, it still remains to be further analyzed.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2013.10a
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• pp.271-272
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• 2013

• Journal of The Korean Association For Science Education
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• v.33 no.5
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• pp.981-994
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• 2013

This study aims to examine two hypothetical models for the variables of students' environmental perspective. First hypothetical model is the mediating role of recognition and familiarity between aesthetic and negativistic perspectives. Second hypothetical model is the separate path from humanistic to dominionistic perspectives. One hundred four tenth grade students participated in this study. We used Pearson correlation, partial correlation, and path analysis to examine the fitness of hypothetical models. The findings showed that the mediating role of recognition and familiarity between aesthetic and negativistic perspectives were statistically accepted. To prevent students' bias for fancy or gross animals, the learning (for instance, recognition and familiarity) may play role in reducing the bias. Second, there were two differential paths from humanistic to dominionistic perspectives (ecologistic-naturalistic path and scientistic-utilitarian path). While ecologistic-naturalistic path does not reach dominionistic perspective, scientistic-utilitarian path does reach dominionistic perspective. To prevent students' dominionistic perspective for nature, they need to understand ecologistic-naturalistic minds for the nature.

• ETRI Journal
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• v.42 no.1
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• pp.7-16
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• 2020

Assuming omnidirectional antenna reception, the ITU-R recently developed a new propagation model on building entry loss (BEL) for 5G millimeter-wave frequency sharing and compatibility studies, which is a simplified outdoor-to-indoor path loss model. Considering the utilization of high-gain narrow-beamwidth beamforming, the omnidirectional-based ITU-R BEL model may not be appropriate to predict propagation characteristics for directional beamforming scenarios. This paper studies the effects of beamwidth on the ITU-R BEL model. This study is based on field measurements collected with four different beamwidth antennas: omnidirectional, 10° horn, 30° horn, and 60° horn. The measurement campaigns were conducted at two types of building sites: traditional and thermally efficient buildings. These sites, as well as the measurement scenarios, were carefully chosen to comply with the ITU-R BEL measurement guidelines and the ITU-R building types. We observed the importance of accurate beam alignment from the BEL variation range. We were able to quantify the beamwidth dependency by fitting to a model that is inversely proportional to the beamwidth.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.4
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• pp.1-10
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• 1996

In this paper are presented kinematic and dynamic modeling and path-tracking of fourwhelled mobile robot with 2 d.o.f. having the limited drivetorques. Controllability of wheeled-mobile robot is revealed by using the kinematic model. Instantaneously coincident coordinate cystem, force/torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robot follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.

• Journal of Korean Society of Transportation
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• v.14 no.3
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• pp.45-59
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• 1996

The shortest path algorithm for route guidance is implicitly required not only to support geometrical variations of transportation network such as U-TURN or P-TURN but to efficiency search reasonable routes in searching mechanism. The purpose of this paper is to integrate such two requirements ; that is, to allow U-TURN and P-TURN possibilities and to cut down searching time in locating routes between two points (origin and destination) in networks. We also propose a new type of link searching algorithm which can solve the limitation of vine building algorithm at consecutively left-turn prohibited intersections. The test site is a block of Gangnam road network that has some left-turn prohibited and allowed U-TURN intersections. Four models have been identified to be comparatively analyzed in terms of searching efficiency. The Models are as follows : (i) Model 1 - Link Searching Dijkstra Algorithm without Searching Area Extraction (SAE) ; (ii) Model 2 - Link Searching Dijkstra Algorithm with SAE ; (iii) Model 3 - Link Searching Bidirectional Dijkstra Algorithm without SAE ; and (iv) Model 4 - Link Searching Bidirectional Dijkstra Algorithm with SAE. The results of comparative evaluation show that Model 4 can effectively find optimum path faster than any other models as expected. Some discussions and future research agenda have been presented in the light of dynamic route guidance application of the urban ATIS.

• Journal of the Korea Computer Industry Society
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• v.5 no.9
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• pp.993-1004
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• 2004

We propose the method for kinematic and dynamic modeling and Path-tracking of four-wheeled mobile robots with 2 d.o.f having the limited drive-torques. Controllability of wheeled-mobile robots is revealed by using the kinematic model. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to induce the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that the method proposed by this paper is efficient.