• The Journal of Korean Institute of Communications and Information Sciences
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• v.41 no.8
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• pp.859-867
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• 2016

The Global Positioning System is a navigation system that has been developed by the United States for military use. Currently, many countries, including the Republic of Korea, use GPS for civilian and military uses. However, as useful as it is, GPS is vulnerable to its Jamming signal, as the strength of the signal from satellites is very weak. In this paper, a novel jamming signal detection and cancellation method is proposed when a narrow-band jamming signal is included in the GPS received signal. At the GPS receiver, the received signal is transformed to a frequency domain sample by Fast Fourier Transform. In order to suppress the Spectral Leakage, the Blackman-Harris window is used. The proposed jamming signal cancellation algorithm will find the frequency sample with maximum power and null the maximum sample in addition to some lateral samples. If the GPS receiver is designed with FFT of size 128 to 512, it is shown that 42 samples are optimal to cancel the narrow-band jamming signal.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.34 no.6C
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• pp.561-570
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• 2009

Ultra-wideband communication systems based on impulse radio have merits that are possible for the high data rate transmission, high resolution ranging are positioning system. Conventionally, in order to accomplish these features, the high-speed ADC (Analog to Digital Convertor) is necessary to apply radio determination system operating in time domain. However, considering low rate - wireless personal area network (LR-WPAN) aims to low-cost hardware implementation, the expensive ADC converting GHz sampling per second is not appropriate. So, this paper introduces a low complex AR (Auto Regressive) model based non-coherent ranging scheme operating in frequency domain with using low-speed ADC utilizing analog Voltage Control Oscillator (VCO) mode for the frequency domain transformation. To verify the superiority of the proposed ranging and location algorithm working in frequency domain, the suggested IEEE 802.15.4a TG channel model is used to exploit affirmative features of the proposed algorithm with conducting the simulation results.

• Transactions of the Korean Society of Automotive Engineers
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• v.19 no.4
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• pp.8-15
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• 2011

This paper proposes a real-time navigation algorithm which integrates the artificial potential field (APF) for an unmanned vehicle in the unknown environment. This approach uses repulsive potential function around the obstacles to force the vehicle away and an attractive potential function around the goal to attract the vehicle. In this research, laser range finder is used as range sensor. An obstacle detected by the sensor creates repulsive vector. Differential global positioning system (DGPS) and digital compass are used to measure the current vehicle position and orientation. The measured vehicle position is also used to create attractive vector. This paper proposes a new concept of potential field based navigation which controls unmanned vehicle's speed and steering. The magnitude of repulsive force based on the proposed algorithm is designed not to be over the magnitude of attractive force while the magnitude is increased linearly as being closer to obstacle. Consequently, the vehicle experiences a generalized force toward the negative gradient of the total potential. This force drives the vehicle downhill towards its goal configuration until the vehicle reaches minimum potential and it stops. The effectiveness of the proposed APF for unmanned vehicle is verified through simulation and experiment.

• Journal of the Korean Society for Precision Engineering
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• v.28 no.9
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• pp.1025-1031
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• 2011

Take-out robots used for handling of the plastic parts manufactured with the injection mold are usually the gantry type that consists of long and thin links, The performance of the take-out robot is determined by the speed of the motion and the positioning accuracy to grab the part out of the mold, As the speed of the robot increases the flexure in the links of the take-out robot becomes more significant and it results in more residual vibration, The residual vibration deteriorates the positioning accuracy and compels the operator to slow down the motion of the robot. The typical method to reduce the vibration in the robot requires stiffening the links and/or slowing down the robot, Vibration control could achieve the desired performance without increasing the manufacturing cost or the operation cost that would be incurred otherwise, Considering the point-to-point nature of the task to be performed by the take-out robot the time-delay command (or input) shaping filter approach would be the most effective control method to be adopted among a few available control schemes. In this paper a direct adaptive command shaping filter (ACSF) algorithm has been modified and applied to design the optimal command shaping filters for various configuration of the take-out robot. Optimal filters designed by ACSF algorithm have been implemented on a take-out robot and the effectiveness of the designed filters in terms of vibration suppression has been verified for multiple positions of the robot.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.40 no.6
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• pp.1130-1141
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• 2015

Conventionally, a pulse radar is used for middle-sized or large-sized ships to detect other ships or obstacles located at a long distance. However, it is hardly equipped for most of the small-sized ships due to mounting and maintenance costs. Therefore, FMCW(frequency modulated continuous wave) radar is suggested as an alternative for the small-sized ships. Since it operates with low power and has good range resolution for relatively close objects, it is eligible for the small-sized ships. In previously proposed FMCW radar system, it only estimates distance and velocity of a target ship placed in the direction of main beam and is hard to detect several ships simultaneously. Thus, we suggest the method for detecting several ships at the same time by applying MUSIC(multiple signal classification) algorithm to FMCW radar signal received by a phased array antenna. In addition, by combining digital beam forming with the MUSIC algorithm, better angle resolution is achievable.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.40 no.8
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• pp.1655-1666
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• 2015

In this paper, user-position estimation method is proposed by using a single camera for both indoor and outdoor environments. Conventionally, the GPS of RF-based estimation methods have been widely studied in the literature for outdoor and indoor environments, respectively. Each method is useful only for indoor or outdoor environment. In this context, this study adopts a vision-based approach which can be commonly applicable to both environments. Since the distance or position cannot be extracted from a single still image, the reference images pro-stored in image database are used to identify the current position from the single still image captured by a single camera. The reference image is tagged with its captured position. To find the reference image which is the most similar to the current image, the SURF algorithm is used for feature extraction. The outliers in extracted features are discarded by using RANSAC algorithm. The performance of the proposed method is evaluated for two buildings and their outsides for both indoor and outdoor environments, respectively.

• International Journal of Aeronautical and Space Sciences
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• v.9 no.2
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• pp.121-128
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• 2008

Modularized GPS software defined radio (SDR) has many advantages of applying and modifying algorithm. Hardware based GPS receiver uses many hardware parts (such as RF front, correlators, CPU and other peripherals) that process tracked signal and navigation data to calculate user position, while SDR uses software modules, which run on general purpose CPU platform or embedded DSP. SDR does not have to change hardware part and is not limited by hardware capability when new processing algorithm is applied. The weakness of SDR is that software correlation takes lots of processing time. However, in these days the evolution of processing power of MPU and DSP leads the competitiveness of SDR against the hardware GPS receiver. This paper shows a study of modulization of GPS software platform and it presents development of the GNSS software platform using MATLAB Simulink™. We focus on post processing SDR platform which is usually adapted in research area. The main functions of SDR are GPS signal acquisition, signal tracking, decoding navigation data and calculating stand alone user position from stored data that was down converted and sampled intermediate frequency (IF) data. Each module of SDR platform is categorized by function for applicability for applying for other frequency and GPS signal easily. The developed software platform is tested using stored data which is down-converted and sampled IF data file. The test results present that the software platform calculates user position properly.

• Journal of Advanced Navigation Technology
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• v.23 no.5
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• pp.392-399
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• 2019

In this paper, we have studied wireless time division duplex(TDD) time synchronization technique considering the propagation delay between mobile vehicles. The existing IEEE 1588 precision time protocol(IEEE 1588 PTP) algorithm was applied and the time synchronization between the two nodes was achieved through the propagation delay and clock offset time correction calculated between master slave nodes during wireless TDD communication. The time synchronization process and procedure of IEEE 1588 PTP algorithm were optimized, thereby reducing the propagation delay error sensitivity for real-time moving vehicles. The sync flag signal generated through the time correction has a time synchronization accuracy of max +252.5 ns within 1-symbol(1.74 M symbol/sec, ${\pm}287.35ns$) through test and measurement, and it was confirmed that the time synchronization between master slave nodes can be achieved through sync flag signal generated during GPS disturbance.

• Journal of Ocean Engineering and Technology
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• v.33 no.2
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• pp.99-105
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• 2019

Unlike typical a dynamic positioning (DP) system, a DP-assisted mooring system must determine a set point (SP) that can ensure a mooring tension safety range to prevent an excessive increase in mooring tension. In this paper, a new algorithm for determining the SP is suggested in order to reduce the tension on all the mooring lines. To determine the SP, a working area around the vessel is represented by a rectangular grid. Thus, the size of the grid area is limited considering the offset of a vessel with a mooring system. At each grid's nodes, the resultant tension from all the mooring lines is estimated using the time history of the tension and vessel's position. The results of static analyses for each grid position are used to estimate the global tension. Consequently, the SP is automatically selected as a position satisfying criterion for minimizing the total tension. In order to validate the suggested algorithm, a motion simulation with the control system in the time domain and a discussion of the results are presented.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.3
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• pp.770-776
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• 2021

Positioning systems have been actively researched and developed over the past few years and have been used in many applications. This paper presents a method to determine a location in a large space using a sensor system consisting of an accelerometer and a single-axis gyroscope. In particular, to consider usability, a sensor device was loosely worn on the waist so that the experimental data could be used in practical applications. Based on the experimental results of circular tracks with radiuses of 1m and 3m, in this paper, an algorithm using the threshold of rotation angle was proposed and applied to the experimental results. A tracking experiment was performed on the grid-pattern track model. For raw sensor data, the average deviation between the final tracking point and the target point was approximately 15.2 m, which could be reduced to approximately 4.0 m using an algorithm applying the rotation angle threshold.