• Journal of Positioning, Navigation, and Timing
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• 제6권2호
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• pp.59-70
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• 2017

Since GPS signals are vulnerable to interference and obstruction, many alternate aiding systems have been proposed to integrate with an inertial navigation system. Among these alternate systems, the vision-aided method has become more attractive due to its benefits in weight, cost and power consumption. This paper proposes a loosely-coupled vision/INS integrated navigation method which can work in GPS-denied environments. The proposed method improves the navigation accuracy by correcting INS navigation and sensor errors using position and attitude outputs of a landmark based vision navigation system. Furthermore, it has advantage to provide redundant navigation output regardless of INS output. Computer simulations and the van tests have been carried out in order to show validity of the proposed method. The results show that the proposed method works well and gives reliable navigation outputs with better performance.

• 로봇학회논문지
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• 제17권4호
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• pp.397-406
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• 2022

This paper presents an autonomous mobile robot (AMR) system and operation algorithms for logistic and factory facilities without magnet-lines installation. Unlike widely used AMR systems, we propose an EKF-based loosely coupled fusion of LiDAR measurements and visual markers. Our method first constructs occupancy grid and visual marker map in the mapping process and utilizes prebuilt maps for precise localization. Also, we developed a waypoint-based navigation pipeline for robust autonomous operation in unconstrained environments. The proposed system estimates the robot pose using by updating the state with the fusion of visual marker and LiDAR measurements. Finally, we tested the proposed method in indoor environments and existing factory facilities for evaluation. In experimental results, this paper represents the performance of our system compared to the well-known LiDAR-based localization and navigation system.

• Journal of Communications and Networks
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• 제11권3호
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• pp.306-317
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• 2009

We consider the problem of architecting a reliable content delivery system across an overlay network using TCP connections as the transport primitive. We first argue that natural designs based on store-and-forward principles that tightly couple TCP connections at intermediate end-systems impose fundamental performance limitations, such as dragging down all transfer rates in the system to the rate of the slowest receiver. In contrast, the ROMA architecture we propose incorporates the use of loosely coupled TCP connections together with fast forward error correction techniques to deliver a scalable solution that better accommodates a set of heterogeneous receivers. The methods we develop establish chains of TCP connections, whose expected performance we analyze through equation-based methods. We validate our analytical findings and evaluate the performance of our ROMA architecture using a prototype implementation via extensive Internet experimentation across the PlanetLab distributed testbed.

• 한국군사과학기술학회지
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• 제11권4호
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• pp.116-123
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• 2008

In this paper we study the performance of the measurement time-delay estimation of tightly-coupled GPS/INS(Global positioning system/Inertial Navigation system) system. Generally, the heading error estimation performance of loosely-coupled GPS/INS system using GPS's Navigation Solution is poor. In the case of tightly-coupled GPS/INS system using pseudo-range and pseudo-range rate, the heading error estimation performance is better. However, the time-delay error on the measurement(pseudo-range rate) make the heading error estimation performance degraded. So that, we propose the time-delay model on the measurement and compose the time-delay estimator. And we confirm that the heading error estimation performance in the case of measurement time-delay existence is similar with the case of no-delay by Monte-Carlo simulation.

• 전력전자학회논문지
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• 제26권6호
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• pp.437-445
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• 2021

This paper proposes an operating frequency design method that limits the voltage applied to aload-side converter during the initial operation of a loosely coupled resonant dual-active bridge (LCR-DAB) converter and an initial operating strategy that applies it. The LCR-DAB converter uses two wireless power transfer coils instead of the high-frequency transformer of the general DAB converter. The wireless power coil has a physical distance of several tens of millimeter or more between the two coils; thus, the LCR-DAB converter is a bidirectional isolated power conversion system that can easily achieve high insulation performance. However, for the initial operation of the LCR-DAB, if the power-side converter is operated at the resonance frequency while the load-side converter is not operating, then a very high voltage due to resonance is applied to the load-side converter, thereby causing damage to the converter. Therefore, a method that can stably charge the DC link voltage of the secondary-side converter during the initial operation is needed. This paper proposes a method to initially charge the secondary-side DC link by operating the primary-side converter at a frequency with limited voltage gain rather than at a steady-state operating frequency. The validity of the proposed frequency design method and initial operating sequence is verified through simulation and experimentation of the 1 KW LCR-DAB converter.

• Journal of Electrical Engineering and Technology
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• 제9권2호
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• pp.569-575
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• 2014

A highly efficient class E power amplifier is demonstrated for application to wireless power transfer system. The amplifier is designed with an L-type matching at the output for harmonic rejection and output matching. The power loss and the effect of each component in the amplifier with the matching circuit are analyzed with the current ratio transmitted to the output load. Inductors with a quality factor of more than 120 are used in a dc feed and the matching circuit to improve transmission efficiency. The single-ended amplifier with 20 V supply voltage shows 7.7 W output power and 90.8% power added efficiency at 6.78 MHz. The wireless power transfer (WPT) system with the amplifier shows 5.4 W transmitted power and 82.3% overall efficiency. The analysis and measurements show that high-Q inductors are required for the amplifier design to realize highly efficient WPT system.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2009년도 학술대회
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• pp.654-659
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• 2009

최근 웹을 기반으로 하는 소프트웨어가 발전하면서, 웹을 통한 서비스가 점차 증가하고 있다. 이것 때문에 많은 연구기관과 보고서들이 웹을 소프트웨어의 플랫폼이라고 부르고 있다. 이렇게 웹 기술이 발전하는 동안 Wireless Sensor Network(WSN)의 미들웨어와 응용 서비스는 데스크탑의 운영체제 기반에서 개발되었다. 그래서 WSN의 기술은 데스크탑 어플리케이션의 한계점을 가지고 있다. 그리고 센서 노드의 하드웨어와 밀접한 관련이 있는 강 결합(Tightly-Coupled) 구조 때문에 WSN의 통합, 응용 서비스 배포, 유지보수 관리 등에 어려움이 있다. 이와 다르게 Web 은 약 결합(Loosely-Coupled)이고 개방된 시스템이기 때문에 Web Service 나 Rich Internet Application(RIA)는 이러한 한계점을 해결할 수 있도록 도와준다. 특히 RIA는 웹 어플리케이션이지만 데스크탑 어플리케이션과 비슷한 사용자환경과 다양한 통신방법을 제공하기 때문에 WSN 응용서비스의 플랫폼이 될 수 있다. 본 연구에서 WSN의 연결성과 접근성을 인터넷으로 확장시키고 RIA를 적용하여 실시간 메시지 시스템을 제안한다.

• 한국통신학회논문지
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• 제18권12호
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• pp.1902-1918
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• 1993

노이만 계산 모델의 병렬처리 구조는 구조 속성상의 취약성으로 인해 대량 병렬처리 구조로서는 한계가 있다. 데이터 플로우 계상 모델은 소프트웨어적 고 프로그램성과 하드웨어적 높은 개발 가능성을 갖고 있다. 그러나 실제 데이터 플로우 구조에서는 프로그래밍과 실험을 행하고자 할때, 노이만 방식의 기계는 많지만 실제 데이터 플로우 컴퓨터가 없으므로 대단히 어렵다. 본 논문에서는 일반적 재래 병렬처리기계중 하나인 이완결합 다중프로세서 시스템위에서 데이터 플로우 방식의 계산을 수행시킬 수 있는 프로그래밍 환경을 제시하였다. 에뮬레이터는 iPSC/2 하이퍼 큐프를 이용하여 Tagged Token 데이터 플로우 구조를 구축하였다. 본 에뮬레이터는 iPSC/2시스템에서 소프트웨어적 박층 실험으로 프로그래머의 입장에서는 iPSC/2 시스템이 데이터 플로우 주고로서 농작하는 것으로 간주한다. 여러 가지 수치 혹은 비수치 알고리즘을 데이터 플로우 어셈블리어로 구현하여 재래식 C 언어에 의한 것과 프로그램의 성능을 비교하였다. 이로써, 재래식 병렬처리 기계상의 에뮬레이터를 통한 실험적 데이터 플로우 계산을 행할 때 이 프로그래밍 환경의 효율성에 대하여도 검정하였다.

• Journal of electromagnetic engineering and science
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• 제16권4호
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• pp.210-213
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• 2016

This paper presents a wireless power charging system for rechargeable batteries. Recently, misalignment between transmitting coil and receiving coils has been a significant factor to wireless power charging systems, which are prone to lateral and angular misalignment. Unfortunately, the batteries can be easily rolled because of the shape, and coils are often misaligned while charging devices, in practical situations. This paper presents the wireless power battery charging system. In order to solve the angular misalignment, two perpendicular coil having structure of 'plus (+)' shape was proposed. To validate the results, the proposed wireless power charging system was implemented at 6.78 MHz using loosely coupled resonant coils, and the system was verified as being robust to misalignment.

• 전자공학회논문지
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• 제50권6호
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• pp.267-275
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• 2013

GPS가 가지는 특징과 비선형, 비가우시안의 시스템에서도 강인한 특성을 지닌 파티클 필터(PF, Particle Filter)를 이용하여 위치 추정 성능을 향상시키는 방법에 대해 제안한다. 그리고 제안한 알고리즘으로 보정한 GPS 데이터와 관성센서를 저가형 시스템에 적합한 약결합 방식을 이용하여 결합하였으며 정확도 향상을 위해 자세에 관한 칼만필터를 추가시켜 구현하였다. 구현된 시스템의 성능확인을 위해 NovAtel사의 고정밀 GPS와 비교 분석하였다.