• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.4
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• pp.438-444
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• 2004

The intelligent robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, robots need to recognize their position and posture in known environment as well as unknown environment. Moreover, it is necessary for their localization to occur naturally. It is desirable for a robot to estimate of his position by solving uncertainty for mobile robot navigation, as one of the best important problems. In this paper, we describe a method for the localization of a mobile robot using image information of a moving object. This method combines the observed position from dead-reckoning sensors and the estimated position from the images captured by a fixed camera to localize a mobile robot. Using the a priori known path of a moving object in the world coordinates and a perspective camera model, we derive the geometric constraint equations which represent the relation between image frame coordinates for a moving object and the estimated robot's position. Since the equations are based or the estimated position, the measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the mobile robot. The Kalman filter scheme is applied for this method. its performance is verified by the computer simulation and the experiment.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2000.05a
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• pp.465-469
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• 2000

This paper describes a single-chip full-custom implementation of pipelined adaptive decision-feedback equalizer (PADFE) using a 0.25-${\mu}{\textrm}{m}$ CMOS technology for wide-band wireless digital communication systems. To enhance the throughput rate of ADFE, two pipeline stage are inserted into the critical path of the ADFE by using delayed least-mean-square (DLMS) algorithm Redundant binary (RB) arithmetic is applied to all the data processing of the PADFE including filter taps and coefficient update blocks. When compared with conventional methods based on two's complement arithmetic, the proposed approach reduces arithmetic complexity, as well as results in a very simple complex-valued filter structure, thus suitable for VLSI implementation. The design parameters including pipeline stage, filter tap, coefficient and internal bit-width and equalization performance such as bit error rate (BER) and convergence speed are analyzed by algorithm-level simulation using COSSAP. The singl-chip PADFE contains about 205,000 transistors on an area of about 1.96$\times$1.35-$\textrm{mm}^2$. Simulation results show that it can safely operate with 200-MHz clock frequency at 2.5-V supply, and its estimated power dissipation is about 890-mW.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.36 no.2A
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• pp.114-126
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• 2011

Video streaming over wireless multi-hop networks(WMNs) contains the following challenges from channel fading and variable bandwidth of wireless channel, and it cause degradation of video streaming performance. To overcome the challenges, currently, WMNs can use Forward Error Correction (FEC) mechanism. In WMNs, traditional FEC schemes, E2E-FEC and HbH-FEC, for video streaming are applied, but it has long transmission delay, high computational complexity and inefficient usage of resource. Also, to distinguish network status in streaming path, it has limitation. In this paper, we propose monitoring-based coordination of network-adaptive hop-to-end(H2E) FEC scheme. To enable proposed scheme, we apply a centralized coordinator. The coordinator has observing overall monitoring information and coordinating H2E-FEC mechanism. Main points of H2E-FEC is distinguishing operation range as well as selecting FEC starting node and redundancy from monitored results in coordination. To verify the proposed scheme, we perform extensive experiment over the OMF(Orbit Measurement Framework) and IEEE 802.1la-based multi-hop WMN testbed, and we carry out performance improvement, 17%, from performance comparison by existing FEC scheme.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.5
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• pp.444-450
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• 2015

The accuracy of small and low cost CCD camera is insufficient to provide data for precisely tracking unmanned aerial vehicles(UAVs). This study shows how UAV can hover on a human targeted tracking object by using CCD camera rather than imprecise GPS data. To realize this, UAVs need to recognize their attitude and position in known environment as well as unknown environment. Moreover, it is necessary for their localization to occur naturally. It is desirable for an UAV to estimate of his attitude by environment recognition for UAV hovering, as one of the best important problems. In this paper, we describe a method for the attitude of an UAV using image information of a maker on the floor. This method combines the observed position from GPS sensors and the estimated attitude from the images captured by a fixed camera to estimate an UAV. Using the a priori known path of an UAV in the world coordinates and a perspective camera model, we derive the geometric constraint equations which represent the relation between image frame coordinates for a marker on the floor and the estimated UAV's attitude. Since the equations are based on the estimated position, the measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the UAV. The Kalman filter scheme is applied for this method. its performance is verified by the image processing results and the experiment.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.37 no.12
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• pp.60-69
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• 2000

This paper describes a single-chip full-custom implementation of pipelined adaptive decision-feedback equalizer(PADFE) using a 0.25-${\mu}m$ CMOS technology for wide-band wireless digital communication systems. To enhance the throughput rate of ADFE, two pipeline stages are inserted into the critical path of the ADFE by using delayed least-mean-square(DLMS) algorithm. Redundant binary (RB) arithmetic is applied to all the data processing of the PADFE including filter taps and coefficient update blocks. When compared with conventional methods based on two's complement arithmetic, the proposed approach reduces arithmetic complexity, as well as results in a very simple complex-valued filter structure, thus suitable for VLSI implementation. The design parameters including pipeline stage, filter tap, coefficient and internal bit-width, and equalization performance such as bit error rate (BER) and convergence speed are analyzed by algorithm-level simulation using COSSAP. The single-chip PADFE contains about 205,000 transistors on an area of about $1.96\times1.35-mm^2$. Simulation results show that it can safely operate with 200-MHz clock frequency at 2.5-V supply, and its estimated power dissipation is about 890-mW. Test results show that the fabricated chip works functionally well.

• Journal of IKEEE
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• v.7 no.2 s.13
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• pp.288-298
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• 2003

We consider a window-controlled selective-repeat ARQ scheme for error control between two adjacent nodes lying on a communication path. In this scheme, each packet to be transmitted is endowed with a serial number in a cyclic and sequential fashion. In turn, the transmitting node is not allowed to transmit a packet belonging to a window before every packet in the previous window is positively acknowledged. Such postponement of packet transmission incurs a degradation in throughput and delay performance. In this paper, aiming at improving packet delay performance, we employs a supplement scheme in which a serial number is duplicated within a frame. Classifying duplication rules into fixed, random and adaptive categories, we present candidate rules in each category and evaluate the packet delay performance induced by each duplication rule. From numerical examples, we observe that duplicating serial numbers, especially ADR-T2 effectively reduces mean packet delay for the forward channel characterized by a low packet error rate. We also reveal that such delay enhancement is achieved by a high probability of hitting local optimal window size.

• The Journal of the Korea institute of electronic communication sciences
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• v.16 no.3
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• pp.541-550
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• 2021

While open-air compost has value as a source of nutrients for crops in agricultural land, it acts as a pollution that adversely affects the environment during rainfall, and management is required. In this study, it was intended to analyze the accuracy of calculating open-air compost volume using fixed-wing UAV (unmanned aerial vehicle) capable of acquiring a wide range of images and automatic path flights and to identify the possibility of utilization. In order to evaluate the accuracy of calculating the three open-air compost volume, ground LiDAR surveys and precision surveys using a rotary UAV were performed. and compared with the open-air compost volume acquired through a fixed-wing UAV. As a result of comparing the calculation of open-air compost volume based on the ground LiDAR, the error rate of the rotary-wing was estimated to be ±5%, and the error rate of fixed-wing was -15 ~ -4%. one of three open-air compost volume calculated by fixed-wing was underestimated as about -15 %, but the deviation of the open-air compost volume was 2.9 m3, which was not significant. In addition, as a result of periodic monitoring of open-air compost using fixed-wing UAV, changes in the volume of open-air compost with time could be confirmed. These results suggested that efficient open-air compost monitoring and non-point pollutants in agricultural for a wide range using fixed-wing UAV is possible.

• Journal of Korean Tunnelling and Underground Space Association
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• v.24 no.2
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• pp.153-170
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• 2022

Waterjet has been comprehensively used in urban areas owing to a suitable technique for cutting concrete and rock, and low noise and vibration. Recently, the abrasive waterjet technique has been adopted and applied by the Korea Atomic Energy Research Institute to demolish concrete plugging without disturbing and damaging In-situ Demonstration of Engineered Barrier System in the disposal research tunnel. In this study, the use of abrasive waterjet in the tunnel was evaluated for practical applicability and the existing cutting model was compared with the experimental results. As a variable for waterjet cutting, multi-cutting, water flow rate, abrasive flow rate, and standoff distance were selected for the diversity of analysis. As regarding the practical application, the waterjet facilitated path selection for cutting the concrete plugging and prevented additional disturbances in the periphery. The pump's noise at idling was 64.9 dB which is satisfied with the noise regulatory standard, but it exceeded the standard at ejection to air and target concrete because the experiment was performed in the tunnel space. The experimental result showed that the error between the predicted and measured cutting volume was 12~13% for the first cut and 16% for second cut. The standoff distance had a significant influence on the cutting depth and width, and the error tended to decrease with decrement of standoff distance.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.30 no.5A
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• pp.436-444
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• 2005

Unitary matrix modulation (UMM) is investigated in multiple antennas system that is called unitary space-time modulation (USTM). In an OFDM, the diagonal components of UMM with splitting over the coherence bandwidth (UMM-S/OFDM) have been proposed. Recently LDPC code is strongly attended and studied due to simple decoding property with good error correction property. In this paper, we propose LDPC coded UMM-S/OFDM for increasing the system performance. Our proposed system can obtain frequency diversity using UMM-S/OFDM like USTM/OFDM, and large coding gain using LDPC code. The superior characteristics of the proposed UMM-S/OFDM are demonstrated by extensive computer simulations in multi-path Rayleigh fading channel.

• Journal of Satellite, Information and Communications
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• v.4 no.2
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• pp.28-33
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• 2009

In this paper, we evaluate the performance of various diversity techniques which can contribute to provide efficient multimedia broadcasting services via hybrid/integrated satellite and terrestrial network. Space-time coding can achieve the diversity gain in a multi-path environment without additional bandwidth requirement. Recent study results reported that satellite systems can achieve high diversity gains by appropriate utilization of STC and/or forward error correction. Based on these previous study results, we present various cooperative diversity techniques by combing STC and rate compatible turbo codes in order to realize the transmit diversity for the mobile satellite system. The satellite and several terrestrial repeaters operate in unison to send the encoded signals, so that receiver may realize diversity gain. The results demonstrated in this paper can be utilized in future system implementation.