• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.5
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• pp.1627-1632
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• 2010

The performance characteristics and the disadvantages in the compensation algorithm based on the Measured Error Patterns of Distance that is already developed are analyzed, and the localization compensation algorithm(DCA2) based on measured error patterns of distance in WPAN that is the enhanced version of DCA1 is supposed in this paper. From the experimental results, it is confirmed that the localization performance of DCA1 and DCA2 is superior than SDS-TWR as each average above 60% and 75% of the total localizing measurement points in 2 experimental regions, and the localization performance of DCA2 is especially better than SDS-TWR as 91% of the points in $15m{\times}15m$ experimental region. In addition to this, it is confirmed that DCA2 is better than DCA1 as each 16% and 22% of the total localizing measurement points in $10m{\times}10m$ and $15m{\times}15m$ scaled experimental regions, and the average localization errors of DCA1 and DCA2 are lower than SDS-TWR to each 7~12% and 20%. Thus, it can be inferred that DCA2 is the best localization algorithm among 3 localization algorithms SDS-TWR, and DCA2.

• The Journal of Korea Robotics Society
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• v.11 no.3
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• pp.127-132
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• 2016

For a practical mobile robot team such as carrying out a search and rescue mission in a disaster area, the localization have to be guaranteed even in an environment where the network infrastructure is destroyed or a global positioning system (GPS) is unavailable. The proposed architecture supports localizing robots seamlessly by finding their relative locations while moving from a global outdoor environment to a local indoor position. The proposed schemes use a cooperative positioning system (CPS) based on the two-way ranging (TWR) technique. In the proposed TWR-based CPS, each non-localized mobile robot act as tag, and finds its position using bilateral range measurements of all localized mobile robots. The localized mobile robots act as anchors, and support the localization of mobile robots in the GPS-shadow region such as an indoor environment. As a tag localizes its position with anchors, the position error of the anchor propagates to the tag, and the position error of the tag accumulates the position errors of the anchor. To minimize the effect of error propagation, this paper suggests the new scheme of full-mesh based CPS for improving the position accuracy. The proposed schemes assuring localization were validated through experiment results.

• Nuclear Engineering and Technology
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• v.45 no.6
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• pp.731-744
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• 2013

Energy security is a topic of high importance to many countries throughout the world. Countries with access to vast energy supplies enjoy all of the economic and political benefits that come with controlling a highly sought after commodity. Given the desire to diversify away from fossil fuels due to rising environmental and economic concerns, there are limited technology options available for baseload electricity generation. Further complicating this issue is the desire for energy sources to be sustainable and globally scalable in addition to being economic and environmentally benign. Nuclear energy in its current form meets many but not all of these attributes. In order to address these limitations, TerraPower, LLC has developed the Traveling Wave Reactor (TWR) which is a near-term deployable and truly sustainable energy solution that is globally scalable for the indefinite future. The fast neutron spectrum allows up to a ~30-fold gain in fuel utilization efficiency when compared to conventional light water reactors utilizing enriched fuel. When compared to other fast reactors, TWRs represent the lowest cost alternative to enjoy the energy security benefits of an advanced nuclear fuel cycle without the associated proliferation concerns of chemical reprocessing. On a country level, this represents a significant savings in the energy generation infrastructure for several reasons 1) no reprocessing plants need to be built, 2) a reduced number of enrichment plants need to be built, 3) reduced waste production results in a lower repository capacity requirement and reduced waste transportation costs and 4) less uranium ore needs to be mined or purchased since natural or depleted uranium can be used directly as fuel. With advanced technological development and added cost, TWRs are also capable of reusing both their own used fuel and used fuel from LWRs, thereby eliminating the need for enrichment in the longer term and reducing the overall societal waste burden. This paper describes the origins and current status of the TWR development program at TerraPower, LLC. Some of the areas covered include the key TWR design challenges and brief descriptions of TWR-Prototype (TWR-P) reactor. Selected information on the TWR-P core designs are also provided in the areas of neutronic, thermal hydraulic and fuel performance. The TWR-P plant design is also described in such areas as; system design descriptions, mechanical design, and safety performance.

• IEMEK Journal of Embedded Systems and Applications
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• v.5 no.4
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• pp.234-242
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• 2010

Two-way ranging methods such as TWR and SDS-TWR have been considered for many ranging systems because these methods are useful in the absence of synchronization. To estimate the location of a mobile node, complicated ranging procedures consisting of ranging frames between an anchor node and the mobile node are performed. Supporting multiple mobile nodes such as a few hundreds or thousands and several anchor nodes, the ranging procedures have the fatal disadvantage of processing delay and inefficient traffic bandwidth. On the other hand, the one-way ranging method is simple and fast, but susceptible to network synchronization. In this paper, we propose a method to modify asynchronous ranging equations to establish exact frequency or frequency offset, a method to estimate frequencies or frequency offsets, and a method to establish post-facto synchronization with anchor nodes. The synchronization for a node pair is adapted using instantaneous time information and corresponding difference of distances can be determined. We evaluate the performance of TWR, SDS-TWR and proposed ranging algorithms.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.47 no.7
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• pp.18-22
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• 2010

In this paper, we propose and analyze the two way ranging (TWR) positioning technique using ultra wideband (UWB) for indoor environment. We employed IEEE 802.15.3a channel as a simulation environment and used to time of arrival (TOA) algorithm. UWB technology in a low transmission power the less the effect of interfering with the existing system, the frequency can be shared so that it can improve the spectral efficiency. And, positioning technique based on UWB with a very narrow pulse width has high accuracy in indoor environment. From the simulation results, it is analyzed the probability of error and positioning performance for channel effects and confirmed usefulness of the proposed scheme.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.39B no.9
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• pp.570-577
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• 2014

Range-based real time localization systems require superior localization techniques as well as accurate ranging algorithms for better performance. To evaluate the ranging accuracy between two nodes in practical environments, this paper does not only present a qualitative analysis by computing a distance equation under SDS-TWR measurement model of no symmetry assumption, but also executes a quantitative evaluation by doing experiments after building up a test network employing the developed sensor node. Experimental results show that the ranging accuracy of the proposed implementation of IEEE 802.15.4a software stack is superior with smaller average error rate by 60% to one of the commercial Nanotron's reference development kit.

• The Journal of Korea Robotics Society
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• v.12 no.3
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• pp.350-355
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• 2017

UWB (Ultra Wide Band) refers to a system with a bandwidth of over 500 MHz or a bandwidth of 20% of the center frequency. It is robust against channel fading and has a wide signal bandwidth. Using the IR-UWB based ranging system, it is possible to obtain decimeter-level ranging accuracy. Furthermore, IR-UWB system enables acquisition over glass or cement with high resolution. In recent years, IR-UWB-based ranging chipsets have become cheap and popular, and it has become possible to implement positioning systems of several tens of centimeters. The system can be configured as one-way ranging (OWR) positioning system for fast ranging and TWR (two-way ranging) positioning system for cheap and robust ranging. On the other hand, the ranging based positioning system has a limitation on the number of terminals for localization because it takes time to perform a communication procedure to perform ranging. To overcome this problem, code multiplexing and channel multiplexing are performed. However, errors occur in measurement due to interference between channels and code, multipath, and so on. The measurement filtering is used to reduce the measurement error, but more fundamentally, techniques for removing these measurements should be studied. First, the TWR based positioning was analyzed from a stochastic point of view and the effects of outlier measurements were summarized. The positioning algorithm for analytically identifying and removing single outlier is summarized and extended to three dimensions. Through the simulation, we have verified the algorithm to detect and remove single outliers.

• Journal of Korea Society of Industrial Information Systems
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• v.18 no.6
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• pp.17-24
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• 2013

The localization accuracy in wireless sensor networks using ranging-based localization algorithms is greatly influenced by the ranging accuracy. Software implementation of HAL(Hardware Abstraction Layer) and MAC(Medium Access Layer) should seamlessly deliver the raw performance of ranging-based localization provided by hardware capability fully to the applications without degrading the raw performance. This paper presents the design and implementation of the software stack for IEEE 802.15.4a which supports normal ranging mode of the Nanotron's NA5TR1 RF chip. The experiment results shows that average ranging error rate with our implementation is 24.5% for the normal mode of the SDS-TWR ranging scheme.

• Journal of Communications and Networks
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• v.13 no.3
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• pp.250-256
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• 2011

A two-way relaying (TWR) system is analyzed, where two source terminals with unequal numbers of antennas exchange data via an amplify-and-forward relay terminal with a single antenna. In the system considered herein, the link quality between the sources and relay can generally be asymmetric due to the nonidentical antenna configuration, power allocation, and relay location. In such a general setup, accurate bounds on the average sum rate (ASR) are derived when beamforming or orthogonal space time block coding is employed at the sources. We show that the proposed bounds are almost indistinguishable from the exact ASR under various system configurations. It is also observed that the ASR performance of the TWR system with unequal numbers of source antennas is more sensitive to the relay location than to the power allocation.

• Journal of Communications and Networks
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• v.18 no.4
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• pp.629-638
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• 2016

In this paper, we investigate an energy-efficient resource allocation problem in a two-way relay (TWR) network consisting of multiple user pairs and an amplify-and-forward (AF) relay. As the users and relay have individual energy efficiencies (EE), we formulate a multi-objective optimization problem (MOOP). A single-objective optimization problem (SOOP) of the MOOP is introduced using a weighted-sum method, which achieves a single Pareto optimal point of the MOOP. To derive the algorithm for the SOOP, we propose a more tractable equivalent problem using the Karush-Kuhn-Tucker conditions of the SOOP, which guarantees convergence at the local optimal points. The proposed equivalent problem can be efficiently solved by the proposed iterative algorithm. Numerical results demonstrate the effectiveness of the proposed algorithm in achieving the optimal EE in multi-user AF TWR networks.