• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.12
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• pp.5785-5804
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• 2019

The information of localization is a fundamental requirement in wireless sensor network (WSN). The method of distance vector-hop (DV-Hop), a range-free localization algorithm, can locate the ordinary nodes by utilizing the connectivity and multi-hop transmission. However, the error of the estimated distance between the beacon nodes and ordinary nodes is too large. In order to enhance the positioning precision of DV-Hop, fast triangle flip bat algorithm, which is based on curve strategy and rank transformation (FTBA-TCR) is proposed. The rank is introduced to directly select individuals in the population of each generation, which arranges all individuals according to their merits and a threshold is set to get the better solution. To test the algorithm performance, the CEC2013 test suite is used to check out the algorithm's performance. Meanwhile, there are four other algorithms are compared with the proposed algorithm. The results show that our algorithm is greater than other algorithms. And this algorithm is used to enhance the performance of DV-Hop algorithm. The results show that the proposed algorithm receives the lower average localization error and the best performance by comparing with the other algorithms.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.853-858
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• 2016

Cooperation and collaboration with robots are key functions of robotic utility that are currently developing. Thus, robots should be safe and resemble human beings to cope with these needs. In particular, dual-arm robots that mimic human kinetics are becoming the focus of recent industrial robotics research. Their size is similar to the size of a human adult; however, they lack natural, human-like motion. One of the critical reasons for this is the shoulder complex. Most recent dual-arm robots have only 2 degrees of freedoms (DOFs), which significantly limits the workspace and mobility of the shoulders and arms. Therefore, a redundant shoulder complex could be very important in new developments that enable new capabilities. However, constructing a kinematically redundant shoulder complex is difficult because of spatial constraints. Therefore, we propose a novel, redundant shoulder complex for a human-like robot that is driven by flexible wire tendons. This kinematically redundant shoulder complex allows human-like robots to move more naturally because of redundant DOFs. To control the proposed shoulder complex, a hybrid control scheme is used. The positioning precision has also been considered, and the ability of the shoulder complex to perform several human-like motions has been verified.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.10 s.241
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• pp.1416-1429
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• 2005

In order to meet the increasing competitive pressures coupled with higher demands for component quality, whirling machines have been at the cutting edge of the automobile industry for more than 25 years. The hard whirling process can save on machining time and operation elimination. Hard whirling is done dry, without coolant. The chips carry away nearly all of the heat during cutting, leaving the workpiece cool and minimizing any thermal geometry variations. The surface finish and profile accuracy are close to grinding quality. Whirling machines usually consist of four major parts; 1) loading system that requires the necessary axial speeds, 2) head stock that needs high precision clamping and positioning system at the chuck and tailstock, 3) whirling unit that demands the high cutting speeds and cutting power fer cutting deep thread profiles and 4) unloading system that requires an easy workpiece unloading. Also, capabilities of the whirling machine can be improved by attaching a vision system to the machine. Most of whirling machines in Korean automobile industry are imported from the Leistritz company, Germany and the Hasegawa company, Japan. Tn this paper, a basic research will be performed to improve and enhance the existing whirling machines. Finally, a new Korean whirling machine will be proposed and developed.

• Journal of Digital Convergence
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• v.17 no.12
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• pp.211-217
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• 2019

Location positioning systems are available in applications such as mobile, robotic tracking systems and Wireless location-based service (LBS) applications. The GPS system is the most well-known location tracking system, but it is not easy to use indoors. The method of radio frequency identification (RFID) location tracking was studied in terms of cost-effectiveness for indoor location tracking systems. Most RFID systems use active RFID tags using expendable batteries, but in this paper, an inexpensive indoor location tracking system using passive RFID tags has been developed. A pattern matching method and a system for tracing location by generating regression curves were studied to use precision tracking algorithms. The system was tested by verifying the level of error caused by noise. The three-dimensional curves are produced by the regression equation estimated the statistically meaningful coordinates by the differential equation. The proposed system could also be applied to mobile robot systems, AGVs and mobile phone LBSs.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.19 no.2
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• pp.155-161
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• 2001

When determining a three dimensional position for engineering purposes, we can use the GPS survey to find position. According to the enhancement of precision for domestic Geoid model, the positional accuracy of GPS about precise method of vertical position has been also increased. But by considering Geoid undulation, it is difficult to measure GPS-derived elevations. Because Geoid undulation has changed little in local sites, GPS-derived elevations are similar to orthometric height. By ignoring Geoid undulation, it is possible to measure GLT-derived elevations at the local. small construction sites. GLT(GPS Leveling Technique) provides a method for computing orthometric heights. GLT processes the data more rapidly than conventional measurement devices. We only considered the weight factors affecting accuracy between the points. That is, the GPS procedures to produce satisfactory elevation accuracy depends on the method of observations, receivers and conditions of the local environment. A comparison was performed between the GPS survey using Geoid model and GLT at a part within Pusan National University and construction model sites in South Korea. And the writers proved the GPS surveying is efficient in positioning accuracy, time, and cost on a construction sites.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38C no.1
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• pp.97-108
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• 2013

Recently, mobile devices were increased and there was a sharp rise in demand. To exploit the location information of each device, many researcher was studying locating systems. The favorite locating or positioning systems were a GPS using satellites and a RTLS using wireless communication between devices. If some obstacle existed nearby the target device, The system have difference of performance. The obstacles near targets were caused signal disconnection and reflection because of NLOS condition. As the result, the NLOS condition degrade the locating performance. In this paper, we propose a locating system which is cooperated two systems using information reliability estimates from LOS/NLOS condition. We developed proposed system. In addition, we performed fields test and simulation tests at various environment for performance evaluation. As the result, the test showed 97% success rate to estimate NLOS condition. Furthermore, the simulation result of our locating system was increased to 89% compared with a single system.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.179-184
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• 2006

Rapid and high-precision positioning with a Global Navigation Satellite System (GNSS) is feasible only when very precise carrier-phase observations can be used. There are two kinds of mathematical models for ambiguity resolution. The first one is based on both pseudorange and carrier phase measurements, and the observation equations are of full rank. The second one is only based on carrier phase measurement, which is a rank-defect model. Though the former is more commonly used, the latter has its own advantage, that is, ambiguity resolution will be freed from the effects of pseudorange multipath. Galileo will be operational. One of the important differences between Galileo and current GPS is that Galileo will provide signals in four frequency bands. With more carrier-phase data available, frequency combinations with long equivalent wavelength can be formed, so Galileo will provide more opportunities for fast and reliable ambiguity resolution than current GPS. This paper tries to investigate phase only fast ambiguity resolution performance with four Galileo frequencies for short baseline. Cascading Ambiguity Resolution (CAR) method with selected optimal frequency combinations and LAMBDA method are used and compared. To validate the resolution, two tests are used and compared. The first one is a ratio test. The second one is lower bound success-rate test. The simulation test results show that, with LAMBDA method, whether with ratio test or lower bound success rate validation criteria, ambiguity can be fixed in several seconds, 8 seconds at most even when 1 sigma of carrier phase noise is 12 mm. While with CAR method, at least about half minute is required even when 1 sigma of carrier phase noise is 3 mm. It shows that LAMBDA method performs obviously better than CAR method.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.10 no.7
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• pp.1520-1525
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• 2009

In this paper, we study and simulate the suggested position control system using GPS and USN to replace the existing control system of a crane. For the correct approach, the position control system of a crane is divided into the control system of the ground station and the mobile station The hardware is comprised of GPS receiving module to receive the position control data of a crane from GPS satellites, bluetooth communication module for the data communication between the ground station and the mobile station, supersonic sensor module for a precise position control of a crane, motor to replace a crane roller, embedded MCU(ATmega128L) and so on. In here, an embedded MCU controls GPS receiving module, bluetooth communication module and supersonic sensor module. The Software is comprised of three programs. Three programs are the program to filter GGA output part in a receiving data of GPS receiving module, the driving program for supersonic sensor module, the digital map program to monitor a crane location. From the simulation results, it is demonstrated that the proposed system has the capability of crane position control with 1cm precision.

• Journal of Advanced Navigation Technology
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• v.23 no.5
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• pp.386-391
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• 2019

This paper presents analysis results for the effect of the directional group delay of the antenna to implement a precision radio navigation system. The analysis was conducted through antenna simulation and test, and the test was performed in an anechoic chamber. The directional group delay of the antenna was calculated in phase-based analysis method. The results showed that a variation of up to 7.7ns in group delay occurred per antenna direction. The group delay variation from the analysis is 2.31 meters when converted into distance. It was tested using a real radio navigation system based on the time of arrival (TOA). The test verified the distance variation of 2.1 meters, and this value is similar to those obtained from the simulation and chamber test analysis.

• Journal of Advanced Navigation Technology
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• v.26 no.2
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• pp.85-90
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• 2022

In this study, in order to test the performance of the aircraft system, a threat signal simulator that can transmit a signal similar to the actual threat to the aircraft under test with high power was designed. The high-power threat signal simulator should be able to transmit broadband (UHF band, L band, S band, X band) communication signals and radar signals, and control to transmit signals accurately directed to the aircraft through interfacing tracking radar. The signal strength of the developed equipment is 63 dBm to 93 dBm or more depending on type of signal, and the tracking precision is less than 0.1 degree, which satisfies the required performance. And it was confirmed that the antenna of the high-power threat signal simulator can accurately direct the signal to the aircraft position through the tracking radar interfacing.