• 한국통신학회논문지
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• 제37권8C호
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• pp.731-740
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• 2012

최근 실내 위치인식 서비스를 제공하기 위해 효율적이면서도 정밀한 실내 위치인식 시스템에 대한 요구가 증가하고 있다. 이러한 요구를 만족하기 위해 본 연구팀은 센서네트워크 기반의 위치인식 방법인 BLIDx(Bidirectional Location ID exchange) 프로토콜을 제안하였다. 하지만 BLIDx 프로토콜은 동시에 수많은 이동노드에 대해 신속한 위치인식을 할 수 있으나 셀 기반 위치인식을 사용하기 때문에 위치 정밀도가 낮은 단점이 있었다. 본 논문은 이러한 단점을 보완하기 위해 WLAN의 fingerprinting 방법을 변형한 fingerprint 중첩 방법을 제안하고, 제안한 방법을 사용한 위치인식 시스템을 설계 및 구현하였다. 성능평가 결과 제안된 위치인식 방법은 기존 fingerprinting 방법보다 정확도 및 오차 견고성이 높게 나타났다. 이러한 방법을 통해 BLIDx의 낮은 위치 정밀도를 개선하였다.

• 디지털융복합연구
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• 제10권9호
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• pp.89-100
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• 2012

본 연구는 제품개발과 품질경영의 통합이 무기체계 국산화의 성공에 어떤 관계를 갖고 있는지 110개 체계방산 대기업 및 체계방산 대기업의 협력업체 그리고 일반 방산협력업체를 대상으로 실증적으로 분석한 결과 다음과 같은 결과를 도출하였다. 품질경영역량요소인 인적자원개발역량, 조직역량 그리고 프로세스역량과 연구개발역량 요소인 인적자원역량, 기술축적역량, 내외부와의 협업역량은 모두 무기체계 국산화 성공의 원가는 물론 시간과 품질 등 모든 요인에 유의한 것으로 나타났다. 이러한 연구결과는 무기체계 핵심부품 국산화 뿐 아니라 일반기업의 신제품개발 활동에 있어서도 품질경영과 신제품개발을 통합할 때 지속가능한 경쟁우위를 확보할 수 있음을 시사하고 있다.

• Journal of Communications and Networks
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• 제7권4호
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• pp.429-437
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• 2005

Sensor localization has become an essential requirement for realistic applications over wireless sensor networks (WSN). In this paper we propose an ad hoc localization algorithm that is infrastructure-free, anchor-free, and computationally efficient with reduced communication. A novel combination of distance and direction estimation technique is introduced to detect and estimate ranges between neighbors. Using this information we construct unidirectional coordinate systems to avoid the reflection ambiguity. We then compute node positions using a transformation matrix [T], which reduces the computational complexity of the localization algorithm while computing positions relative to the fixed coordinate system. Simulation results have shown that at a node degree of 9 we get $90\%$ localization with $20\%$ average localization error without using any error refining schemes.

• 한국군사과학기술학회지
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• 제13권4호
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• pp.551-560
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• 2010

In this paper, we suggest a localization method of factors affecting the accuracy of Air-to-Ground weapon delivery. The proposed method, called FBEL(Factor-Based Error Localization), is based on the fault localization technique widely utilized in the realm of software engineering field. FBEL localizes the major factors affecting the performance of weapon delivery. To analyze the effectiveness and the applicability of FBEL, we applied FBEL to real firing data and got the major factors caused the errors. We expect that the method could contribute to improve the quality of weapon delivery system. We also expect that it may aid improvement of pilot capability greatly, if it is applied to pilot firing training.

• Journal of Mechanical Science and Technology
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• 제19권7호
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• pp.1405-1413
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• 2005

Malfunctions or critical fatigue problems often occur in mistuned periodic structural systems since their vibration responses may become much larger than those of perfectly tuned periodic systems. These are called vibration localization phenomena and it is of great importance to accurately predict the localization phenomena for safe and reliable designs of the periodic structural systems. In this study, a simple discrete system which represents periodic structural systems is employed to analyze the vibration localization phenomena. The statistical effects of mistuning, stiffness coupling, and damping on the vibration localization phenomena are investigated through Monte Carlo simulation. It is found that the probability of vibration localization was significantly influenced by the statistical properties except the standard deviation of coupling stiffness.

• 로봇학회논문지
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• 제9권4호
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• pp.232-241
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• 2014

This paper proposes an underwater localization algorithm using probabilistic object recognition. It is organized as follows; 1) recognizing artificial objects using imaging sonar, and 2) localizing the recognized objects and the vehicle using EKF(Extended Kalman Filter) based SLAM. For this purpose, we develop artificial landmarks to be recognized even under the unstable sonar images induced by noise. Moreover, a probabilistic recognition framework is proposed. In this way, the distance and bearing of the recognized artificial landmarks are acquired to perform the localization of the underwater vehicle. Using the recognized objects, EKF-based SLAM is carried out and results in a path of the underwater vehicle and the location of landmarks. The proposed localization algorithm is verified by experiments in a basin.

• 한국정밀공학회지
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• 제29권7호
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• pp.762-769
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• 2012

The localization system for tour guide robot was developed which is inevitable and important for the guide robot in order to guide the tourists and explain the history or contents of the site. The localization system is based on the non-inertial sensors such as a DGPS, Dead-Reckoning. The information of the DGPS is used to update the estimated positions from Dead Reckoning. The extended Kalman filter was used for the fusion of the measured information from the sensors and estimated positions by Dead Reckoning. The simulation results show that it is very reliable and the position error is bounded within a certain extend.

• 로봇학회논문지
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• 제14권4호
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• pp.293-300
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• 2019

In this paper, an Embedded solution for fast navigation and precise positioning of mobile robots by floor features is introduced. Most of navigation systems tend to require high-performance computing unit and high quality sensor data. They can produce high accuracy navigation systems but have limited application due to their high cost. The introduced navigation system is designed to be a low cost solution for a wide range of applications such as toys, mobile service robots and education. The key design idea of the system is a simple localization approach using line features of the floor and delayed localization strategy using topological map. It differs from typical navigation approaches which usually use Simultaneous Localization and Mapping (SLAM) technique with high latency localization. This navigation system is implemented on single board Raspberry Pi B+ computer which has 1.4 GHz processor and Redone mobile robot which has maximum speed of 1.1 m/s.

• 제어로봇시스템학회논문지
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• 제17권12호
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• pp.1240-1247
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• 2011

The localization of mobile robot in environment is a major concern in mobile robot navigation. So, many kinds of localization techniques have been researched for several years. Among them, the positioning system using ultrasound has received attention. Most of these ultrasonic positioning systems to synchronize the transmitters and receivers are used for RF (Radio Frequencies). However, due to the use of RF, the interference problems can not be avoided and the performance of radio frequencies directly affects the positioning performance. So we proposed the ultrasonic positioning system without synchronizing RF. The proposed system is based on existing USAT (Ultrasonic Satellite System) adopted infrastructure transmitting type, and consists of transmitter and receiver synchronizing modules instead of the radio frequency transmitters and receiver. The ultrasonic transmitters and receivers are synchronized individually by the transmitter and receiver synchronizing modules. In order to calculate the bias between the transmitter and receiver synchronizing modules, new positioning algorithm similar to GPS was proposed. The positioning performance of the improved USAT without synchronizing RF and the validity of the proposed positioning algorithm are verified and evaluated by experiments.

• 항공우주시스템공학회지
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• 제8권2호
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• pp.40-48
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• 2014

In this paper, a prototype of GPS jammer localization system for precise landing is developed. The jammer localization system consists of the four jamming signal receivers for collecting RF signal, one central tracking station for estimating jammer position, and one monitoring station for displaying estimated position on the map. In order to estimate jammer location TDOA and AOA algorithm are introduced, and the function and design parameters of the developed prototype are proposed. CW, DSSS, Swept CW jamming signals were generated and used. From the results, it can be confirmed that developed system meets the performance goal.