• The Journal of the Korea Contents Association
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• v.9 no.7
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• pp.76-85
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• 2009

UWB signal with high resolution capability can be used to estimate ranging and positioning in wireless personal area network. The node works on its local clock and the frequency differences of nodes have serious affects on ranging algorithms estimating locations of mobile nodes. The low rate UWB, IEEE802.15.4a, describes asynchronous two way ranging methods such as TWR and SDS-TWR working without any additional network synchronization, but the algorithms can not eliminate the effect of clock frequency differences. Therefore, the mechanisms to characterize the crystal difference is essential in typical UWB PHY implementations. In high rate UWB, characterizing of crystal offset with tracking loop is not required. But, detection of the clock frequency offset between the local clock and remote clock can be performed if there is little noise induced jitter. In this paper, we complete related ranging equations of high rate UWB based on TWR with relative frequency offset, and analyze a residual error in the ideal equations. We also evaluate the performance of the relative frequency offset algorithm by simulation and analyze the ranging errors according to the number of TWR to compensate coarse clock resolution. The results show that the relative frequency offset compensation and many times of TWR enhance the performance to converge to a limited ranging errors even with coarse clock resolutions.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.2
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• pp.245-251
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• 2017

The proposed variable pawer divider in this paper is composed of one equal power 2-way Wilkinson power divider, two variable phase shifters with 90-degree phase variation to be connected two output paths of the 2-way power divider, and one branchline coupler to combine output signals of two variable phase shifter. The proposed variable power divider can theoretically have an arbitrary power division ratio ranging from ${\infty}:1$ to ${\infty}:1$ due to 90-degrees phase variation of two phase shifter. The proposed power divider circuit fabricates on laminated TLX-9(h=20 mil, er=2.5; Taconic) with a center frequency of 1.7 GHz. The power division ratio of the fabricated prototype varies from about 1:100 to 200:1, with an input reflection characteristic(S11) of below -16 dB, an insertion loss of about -1.0 dB, and an isolation characteristic of below -17 dB between two output ports in the range 1.65-1.75 GHz.

• The Bulletin of The Korean Astronomical Society
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• v.43 no.2
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• pp.36.3-37
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• 2018

By utilizing large-scale graph analytic tools in the modern Big Data platform, Apache Spark, we investigate the topological structures of five different multiverses produced by cosmological n-body simulations with various cosmological initial conditions: (1) one standard universe, (2) two different dark energy states, and (3) two different dark matter densities. For the Big Data calculations, we use a custom build of stand-alone Spark cluster at KIAS and Dataproc Compute Engine in Google Cloud Platform with the sample sizes ranging from 7 millions to 200 millions. Among many graph statistics, we find that three simple graph measurements, denoted by (1) $n_\k$, (2) $\tau_\Delta$, and (3) $n_{S\ge5}$, can efficiently discern different topology in discrete point distributions. We denote this set of three graph diagnostics by kT5+. These kT5+ statistics provide a quick look of various orders of n-points correlation functions in a computationally cheap way: (1) $n = 2$ by $n_k$, (2) $n = 3$ by $\tau_\Delta$, and (3) $n \ge 5$ by $n_{S\ge5}$.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.5
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• pp.490-495
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• 2015

As flying robots are becoming popular, there are increased needs to use themforsuch purposes as parcel delivery, serving in restaurants, and stage performances. To control flying robots such as quad copters, localization is essential. In order to properly position flying robots, many techniques are in development, including IR (infra-red)-based systemswhich catch markers on a flying robot in order that it can position itself. However, this technique demonstrates only short coverage. Furthermore, localization from inertial sensors diverges as time passes. For this reason, this paper suggests a TWR (two-way ranging) based positioning technique. Despite the weaknesses in currently available TWR system, this paper suggests a self-positioning and outlier detection technique in order to provide reliable position information with a faster update rate. The self-positioning system sends a shorter message which reduces wireless traffic. By detecting and removing outlier measurements, a positioning result with better accuracy is acquired. Finally, this paper shows that the suggesting system detects outlierssequentially from less than half the number of anchors in localization system according to the degree of outlier in measurement and the noise level. By performing an outlier algorithm, better positioning accuracy is acquired as shown in the experimental result.

• The Journal of Korea Robotics Society
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• v.16 no.2
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• pp.94-102
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• 2021

This study addresses a method for 3D reconstruction using acoustic data with heterogeneous sonar devices: Forward-Looking Multibeam Sonar (FLMS) and Profiling Sonar (PS). The challenges in sonar image processing are perceptual ambiguity, the loss of elevation information, and low signal to noise ratio, which are caused by the ranging and intensity-based image generation mechanism of sonars. The conventional approaches utilize additional constraints such as Lambertian reflection and redundant data at various positions, but they are vulnerable to environmental conditions. Our approach is to use two sonars that have a complementary data type. Typically, the sonars provide reliable information in the horizontal but, the loss of elevation information degrades the quality of data in the vertical. To overcome the characteristic of sonar devices, we adopt the crossed installation in such a way that the PS is laid down on its side and mounted on the top of FLMS. From the installation, FLMS scans horizontal information and PS obtains a vertical profile of the front area of AUV. For the fusion of the two sonar data, we propose the probabilistic approach. A likelihood map using geometric constraints between two sonar devices is built and a monte-carlo experiment using a derived model is conducted to extract 3D points. To verify the proposed method, we conducted a simulation and field test. As a result, a consistent seabed map was obtained. This method can be utilized for 3D seabed mapping with an AUV.

• Journal of Navigation and Port Research
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• v.41 no.3
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• pp.87-92
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• 2017

To enhance the reliability and/or resilience of the PNT service included in the e-Navigation strategy of the IMO, the evaluation of the AIS-TWR method for the asynchronous R-mode for maritime service, which is available even in the absence of the GNSS, is described. For the AIS-TWR, which is capable of ranging through message exchange even without high precision synchronization, the operation scenario and the error factors according to the AIS system specifications are proposed and analyzed. Cramer-Rao Lower Bound is presented for the performance evaluation of the AIS-TWR algorithm. A simulation by AIS-TWR method of two AIS systems in a 3 km static environment shows estimation error of about 41m compared to the real value..

• The Bulletin of The Korean Astronomical Society
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• v.36 no.2
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• pp.52.2-52.2
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• 2011

We searched and studied galaxy overdensities at 0.6 < z < 4.5 in the areas of two GOODS fields. These overdensities are identified by running top-hat filters on the two dimensional spatial distribution of two galaxy samples - a K-band limited, photometric redshift sample at 0.6 < z < 4.5, and BVz-color selected sample targeting overdensities at z ~ 3.7 and z ~ 4.0. Here photometric redshifts are derived from multi-wavelength data ranging from U-band through 8 micron band of the Spitzer. We find 52 overdensities with significances of 3.5-7 ${\sigma}$. The derived masses found to be a > $10^{13}\;M_{\odot}$ with the comoving number density of a few ${\times}10^{-6}\;Mpc^{-3}$ at z ~ 3. In order to understand the high number density of massive overdensities at high redshift, we carried out an analysis of galaxy overdensities using the mock galaxy catalog based on Millennium simulation selected in the same way as the analysis of the observational data. In the simulation, we find 650 galaxy overdensities with a 3.5 ${\sigma}$ detection threshold over $2^{{\circ}2}$ sky field. The number density of the very massive overdensities (M > $10^{14}\;M_{\odot}$) in simulation shows a similar trend with the observation. We further discuss implications of our results.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.3C
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• pp.368-373
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• 2004

Extremely fine tine resolution of ultra-wideband (UWB) signal poses a new problems to the system designer. A reasonable accuracy of the system clock is necessary to process signals with such a high space resolution. A useful way of illustrating the time resolution of a signal is to evaluate the ambiguity function. The ambiguity function for carrierless UWB defined using the time mismatch and time scaling factor as its two parameters. The UWB ambiguity function is evaluated for various signaling schemes of impulse radio.

• Korean Journal of Child Studies
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• v.12 no.2
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• pp.94-110
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• 1991

This study examined the developmental aspects of sex role stereotypes among children and the impact of stereotypic and reversed stereotypic sex role content on children's sex-stereotypic thinking. In study I, subjects were 181 Korean children ranging from nursery and kindergarten to grade 1. SERLI was used to measure children's sex role stereotypes. In study II, the subjects were 62 six-year-old kindergarten children of each sex. 4 experimental stories were developed haled on Hong(1991). A test-retest design was used to study sex role stereotypes and the impact of stereotypic and reversed-stereotypic sex role content. Statistical analysis of obtained data was by an ANOVA and two-way analysis of co-variance. Results revealed that 6-year-old children's sex role stereotypes were higher than 5-and 7-year-old children. Boys were higher than girls on children's sex role stereotypes. Children exposed to reversed sex role content changed significantly in the direction of reversed stereotyping.

• Korean Journal of Child Studies
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• v.21 no.4
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• pp.51-68
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• 2000

To reveal when toddlers and children acquire the grammatical morpheme of Korean language, this study investigated the way they respond to some picture tasks. The object of this research was 174 children ranging from 18 months to 60 months, who were selected from two child-care centers located in Seoul and Gyeongi Province. Following the statistical analysis of the data, this study ascertained that 2-, and 3- year-old children acquire the most part of grammatical morphemes such as nouns, pronouns, verbs, adverbs, adjectives, and interrogation terms. The fact that the process of acquisition was significantly different among six age groups has proved the hypothesis of the gradual acquisition of grammatical morpheme.