• Journal of Institute of Control, Robotics and Systems
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• v.20 no.12
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• pp.1284-1289
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• 2014

In this Paper, outdoor position estimation system was implemented using GPS (Global Positioning System) and INS (Inertial Navigation System). GPS position information has lots of errors by interference from obstacles and weather, the surrounding environment. To reduce these errors, multiple GPS system is used. Also, the Discrete Wavelet Transforms was applied to INS data for compensation of its error. In this paper, position estimation of the mobile robot in the straight line is conducted by EKF (Extended Kalman Filter). However, curve running position estimation is less accurate than straight line due to phase change in rotation. The curve is recognized through the rate of change in heading angle and the position estimation precision of the initial curve was improved by UPF (Unscented Particle Filter). In the case of UPF, if the number of particle is so many that big memory gets size is needed and processing speed becomes late. So, it only used the position estimation in the initial curve. Thereafter, the position of mobile robot in curve is estimated through switching from UPF to EKF again. Through the experiments, we verify the superiority of the system and make a conclusion.

• Koreanishche Zeitschrift fur Deutsche Sprachwissenschaft
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• v.1
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• pp.375-400
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• 1999

Bei der maschinellen $\"{U}bersetzung(=M\"{U})\;\"{u}bernimmt$ ein Computer die Aufgabe, Texte von einer $nat\"{u}rlichen$ Sprache in eine andere automatisch zu $\"{u}bertragen$. Die meisten $M\"{U}-Systeme$ wurden bis in die 90er Jahre $haupts\"{a}chlich$ von grossen Firmen benutzt, die viele kostenaufwendige $\"{U}bersetzungsarbeiten\;zu\;bew\"{a}ltigen$ hatten. Aber die schnelle Verbreitung des Internets in den Alltag vieler Menschen hat die Situation radikal $ge\"{a}ndert$, und zwar so, $da\ss$ ein $M\"{U}-System$ viel $h\"{a}ufiger$ verwendet wird und es auch bei individuellem Bedarf Anwendung findet. Mit zunehmendem Volumen der zu $\"{u}bersetzenden$ Texte im Internet wird die Nachfrage nach einem $M\"{U}-System\;immer\;gr\"{o}sser$. Ziel der vorliegenden Arbeit ist es, ein Verfahren der maschinellen $\"{U}bersetzung$ der deutschen WWW-Texte ins Koreanische zu beschreiben. Dazu habe ich versucht, zwei unterschiedliche $M\"{U}-Systeme$ zu koppeln. Das Potential dieser Methode ist vor allem deswegen zu untersuchen, weil die sogenannte Lingware fur das Koreanische und Deutsche, wie z.B. Lexikon, Grammatik, Transfer-Lexikon, nur begrenzt zur $Verf\"{u}gung$ steht. Das erste System ist das $M\"{U}-System\;SYSTRAN\;f\"{u}r$ das Sprachpaar Deutsch-Englisch, das die deutschen WWW-Texte ins Englische $\"{u}bersetzt$. Das zweite ist em $M\"{U}-System\;f\"{u}r$ das Sprachpaar Englisch-Deutsch, das die vom Deutschen ins Englische $\"{u}bersetzten$ Texte ins Koreanische $\"{u}bersetzt$. Bei der Evaluierung der $\"{U}bersetzungen$ vom Deutschen ins Koreanische konnten etwa $30\%$ der Ausgaben als korrekt bewertet werden.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.127-132
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• 2006

The Global Positioning System (GPS), Inertial Navigation System (INS) and Pseudolite (PL) technologies all play very important roles in navigation systems. As an independent navigation system, GPS can provide high precision positioning results which are independent of time. However, the performance will become unreliable when the system experiences high dynamics, or when the receiver is exposed to jamming or RF interference. In comparison to GPS, though INS is autonomous and provides good short-term accuracy, its use as a standalone navigation system is limited due to the time-dependent growth of the inertial sensor errors. PLs are ground-based transmitters that can transmit GPS-like signals. They have some advantages in that their positions can be determined precisely, and the Signal-to-Noise Ratios (SNR) are relatively high. Because their combined performance, in principle, overcomes the shortcomings of the individual systems, the integration of GPS, INS and PL is increasingly receiving attention from researchers. Depending on the desired performance vs complexity, system integration can be carried out at different levels, namely loose, tight and ultra-tight coupling. Compared with loose and tight integration, although it is more complex in terms of system design, ultra-tight integration will be the basis of the next generation of reliable and robust navigation systems. Its main advantages include improved performance under exposure to high dynamics, and jamming and RF interference mitigation. This paper presents an overview of the ultra-tight integration developments and discusses some of the challenging issues.

• Journal of Advanced Navigation Technology
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• v.27 no.5
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• pp.674-684
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• 2023

In this paper, a real-time prediction technique for gravity disturbances is proposed using a multi-layer perceptron (MLP) model. To select a suitable MLP model, 4 models with different network sizes were designed to compare the training accuracy and execution time. The MLP models were trained using the data of vehicle moving along the surface of the sea or land, including their positions and gravity disturbance. The gravity disturbances were calculated using the 2160^th degree and order EGM2008 with SHM. Among the models, MLP4 demonstrated the highest training accuracy. After training, the weights and biases of the 4 models were stored in the embedded computer of the INS to implement the MLP network. MLP4 was found to have the shortest execution time among the 4 models. These research results are expected to contribute to improving the navigation accuracy of INS through gravity disturbance compensation in the future.

• The Korean Journal of Physiology and Pharmacology
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• v.15 no.1
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• pp.53-59
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• 2011

The secretion of insulin from pancreatic ${\beta}$-cells is triggered by the influx of $Ca^{2+}$ through voltage-dependent $Ca^{2+}$ channels. The resulting elevation of intracellular calcium ($[Ca^{2+}]_i$) triggers additional $Ca^{2+}$ release from internal stores. Less well understood are the mechanisms involved in $Ca^{2+}$ mobilization from internal stores after activation of $Ca^{2+}$ influx. The mobilization process is known as calcium-induced calcium release (CICR). In this study, our goal was to investigate the existence of and the role of caffeine-sensitive ryanodine receptors (RyRs) in a rat pancreatic ${\beta}$-cell line, INS-1 cells. To measure cytosolic and stored $Ca^{2+}$, respectively, cultured INS-1 cells were loaded with fura-2/AM or furaptra/AM. $[Ca^{2+}]_i$ was repetitively increased by caffeine stimulation in normal $Ca^{2+}$ buffer. However, peak $[Ca^{2+}]_i$ was only observed after the first caffeine stimulation in $Ca^{2+}$ free buffer and this increase was markedly blocked by ruthenium red, a RyR blocker. KCl-induced elevations in $[Ca^{2+}]_i$ were reduced by pretreatment with ruthenium red, as well as by depletion of internal $Ca^{2+}$ stores using cyclopiazonic acid (CPA) or caffeine. Caffeine-induced $Ca^{2+}$ mobilization ceased after the internal stores were depleted by carbamylcholine (CCh) or CPA. In permeabilized INS-1 cells,$Ca^{2+}$ release from internal stores was activated by caffeine, $Ca^{2+}$, or ryanodine. Furthermore, ruthenium red completely blocked the CICR response in perrneabilized cells. RyRs were widely distributed throughout the intracellular compartment of INS-1 cells. These results suggest that caffeine-sensitive RyRs exist and modulate the CICR response from internal stores in INS-1 pancreatic ${\beta}$-cells.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.23 no.4
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• pp.359-366
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• 2005

Airborne LiDAR integrated with on-board GPS/INS and scanning technology is a state-of the-art system for direct 3D geo-spatial data acquisition. In this study, LiDAR data were calibrated using ground points in calibration site for the higher system accuracy. The accuracy results are ${\pm}15{\sim}30\;cm$ in horizontal and ${\pm}15\;cm$ in vertical. The results show that LiDAR system has capability for precise DEM and contour generation, 3D urban modeling and engineering design.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.4
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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.

• The Journal of Korea Robotics Society
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• v.8 no.2
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• pp.129-135
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• 2013

In this paper, a high precision outdoor positioning system is newly proposed using multiple GPS receivers based on the Extended Kalman Filter (EKF). Typically, the GPS signal has the instantaneous errors that degrade the positioning seriously. Using the multiple GPS receivers instead of an expensive DGPS receiver, the positioning reliability and accuracy are improved in this research as a low cost solution. To incorporate the small displacement, an INS data have been tightly coupled to the GPS data, which has the inherit disadvantage of the cumulative error occurring over time. To achieve a stabilized and accurate positioning system, the multiple GPS receiver data are fused with the INS data through the EKF process. Through real navigation experiments of an outdoor mobile robot, the performance of the proposed system has been verified to be accurate comparable to DGPS system with a lower cost.

• Korean Journal of Remote Sensing
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• v.19 no.1
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• pp.91-97
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• 2003

The design of Graphic Information System(GIS) in various applications is suffering from the difficulty of data acquisition, which is labor-intensive and time consuming. In order to provide the spatial data rapidly and accurately, 4S-Van, a prototype mobile mapping system, has been developed. The 4S-Van consists of 1)Global Positioning System(GPS), Inertial Navigation System(INS) for estimating the geographic position and attitude of the moving van, i.e.,(x, y, z) and the direction of the Van, 2) Charge Coupled Device(CCD) camera and laser scanner for capturing images and for measuring depth from geographic objects, and 3) External Synchronization Device(ESD) and industrial PC for synchronizing data from GPS/INS/CCD camera and for storing the data. In this paper, we present the design and implementation of the proto-Dpe 4S-Van system for spatial data acquisition for various GIS applications.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.8
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• pp.774-778
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• 2008

The inaccuracy of inertial sensors used in low cost IMU's limits the usage to ARS, at best. Sensor fusion technologies are widely used to overcome this problem. GPS is the most popular secondary sensor, but GPS alone cannot fully compensate the IMU errors in the initial alignment process and rectilinear flights. This paper presents a new concept of aiding the low cost IMU with the sun line of sight vector. The simulation and experimental results in this paper proves that aiding of INS/GPS with the sun line of sight vector increases the observability and improves accuracy remarkably.