• Journal of Institute of Control, Robotics and Systems
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• v.12 no.6
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• pp.561-567
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• 2006

This paper deals with a fuzzy controller using IA(Immune Algorithm) for Trajectory Tracking of 2-DOF WMR(Wheeled Mobile Robot). The global inputs to the WMR are reference position and reference velocity, which are time variables. The global output of WMR is a current position. The tracking controller makes position error to be converged 0. In order to reduce position error, a compensation velocities on the track of trajectory is necessary. Therefore, a FIAC(Fuzzy-IA controller) is proposed to give velocity compensation in this system. Input variables of fuzzy part are position errors in every sampling time. The output values of fuzzy part are compensation velocities. IA are implemented to adjust the scaling factor of fuzzy part. The computer simulation is performed to get the result of trajectory tracking and to prove efficiency of proposed controller.

• The Journal of shipping and logistics
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• v.27 no.1
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• pp.79-98
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• 2011

The volume of the world's container transportation has been increasing. To serve this transportation need, the size of the container carrier is getting larger. The global ports are required to deepen the waterways as well as to prepare infrastructure to serve these super-size container carriers. However, few ports around the world could meet the requirements. To solve these difficulties, the concept of the Mobile Harbor has been developed. An onboard Automatic Storage and Retrieval System(AS/RS) has been proposed for the B1 type Mobile Harbor to maximize the container throughput within the limited space of the Mobile Harbor. A scenario of operations and freight movements of the B1 type Mobile Harbor is prepared and the storage size of the B1 type Mobile Harbor through the computer simulation is estimated. The size of the Mobile Harbor and the size of the AS/RS has also been estimated. The optimized size of the Mobile Harbor could be proposed.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.11 no.6
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• pp.868-875
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• 2000

GPS(Global Positioning System) is widely used in the navigation system, ITS(Intelligence Transportation System), and mobile communications. Recently, it is considered to combine the GPS receiver with the CLONASS for the improvement of performance and accuracy. In this paper, a wideband aperture-coupled patch antenna with circular polarization is designed and implemented for the use of CPS/GLONASS combined receiver. The measured characteristics of the manufactured antenna shows the - l5 dB bandwidth of 220 MHz and the axial ratio less than 2.1 dB, and it satisfies the requirements of the GPS/GLONASS antenna.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.3
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• pp.33-45
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• 1997

In this paper, we propsoe a new method of th ecommunication system for cooperative behaviors and works in collective autonomous mobile robots. A communication function among the collective robots is essential to intelligent cooperative works. In genral, global communication is effective for small number of robots. However when the number of robot goes on increasing, this becomes difficult to be realized because of limited communication capacity and increasing amount of information to handle. And also the problems such as communciation interfeence and improper message transmission occur. So we propose local communication system based on infrared sensor to realize the cooperative behavior among robots as the solution of above problem. It is possible to prevent overflow of information and exchange of complex information by fusion sign board model which transmits the information to unspecified robots and message passing model which communicate a specific robot. And we formularize optimal communication range by analysis of information propagation mechanism from the proposed comunication system. At last we verify the effectiveness of the proposed communication system from example of cooperative works.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.1
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• pp.148-154
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• 2015

Reports show that global system for mobile communication (GSM) mobile phones, or two-generation (2G) mobile phones, could affect functions of pacemakers and implantable cardioverter defibrillators (ICDs). In this study, we evaluated the effects of radio frequency electromagnetic fields (RF-EMFs) emitted by wideband code division multiple access (WCDMA) mobile phones, which were third-generation (3G) mobile phones, on pacemakers and ICDs. Five pacemakers and three ICDs were subjected to in-vitro test using a ECG simulator. We used a WCDMA module (average power : 0.25 W, frequency band : 1950 MHz) instead of a real WCDMA mobile phone. To assess the effects of the WCDMA module on pacemakers and ICDs, each implantable device was placed in close proximity (within 3 mm) to the WCDMA module for 5 min. As a result, no effects were observed on the five pacemakers and three ICDs for the RF-EMFs emitted by the WCDMA module. Because WCDMA mobile phones have the higher frequency band (1800-2200 MHz) and lower power output (0.01-0.25 W) than GSM moboile phone, the RF-EMFs emitted by WCDMA mobile phones do not affect patients with pacemaker or ICD.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2009.05a
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• pp.911-914
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• 2009

멀티 네트워크는 여러 무선 접속 기술을 동시에 접속할 수 있도록 구성된 시스템으로 정의되며 Ambient Networks(ANs) 프로젝트로 연구가 진행 중에 있다. 우선 ANs은 여러 다른 무선 장치와 Multi-Radio Access(MRA) 기술이 군집된 동적 통신 환경에서의 네트워킹 개념이다. 따라서 3 세대로 불리는 Global System for Mobile communications(GSM), Universal Mobile Telecommunications System(UMTS) 그리고 무선랜(WLAN)등 다양한 네트워크 인터페이스로 구성된 mobile terminal(MT)이 다양한 무선 접속 기술을 지원하는 멀티네트워크에 접속하여 "Always Best Connected" 관점에서 효율적 접속 서비스를 제공 받아야 한다. 본 논문에서는 멀티네트워크 환경에서 단말에 high-performance를 제공하기 위한 자원관리 모델인 MRRM/RARM(Multi-Radio/Radio Access Resource Management)과 GLL(Generic Link Layer)에 대한 기술 요소를 정의하고 분석한다.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2009.05a
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• pp.481-484
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• 2009

멀티 네트워크는 여러 무선 접속 기술을 동시에 접속할 수 있도록 구성된 시스템으로 정의되며 Ambient Networks(ANs) 프로젝트로 연구가 진행 중에 있다. 우선 ANs은 여러 다른 무선 장치와 Multi-Radio Access(MRA) 기술이 군집된 동적 통신 환경에서의 네트워킹 개념이다. 따라서 3 세대로 불리는 Global System for Mobile communications(GSM), Universal Mobile Telecommunications System(UMTS) 그리고 무선랜(WLAN)등 다양한 네트워크 인터페이스로 구성된 mobile terminal(MT)이 다양한 무선 접속 기술을 지원하는 멀티네트워크에 접속하여 "Always Best Connected" 관점에서 효율적 접속 서비스를 제공 받아야 한다. 본 논문에서는 멀티네트워크 환경에서 단말에 high-performance를 제공하기 위한 자원관리 모델인 MRRM/RARM(Multi-Radio/Radio Access Resource Management)과 GLL(Generic Link Layer)에 대한 기술 요소를 정의하고 분석한다.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2301-2306
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• 2005

Even if there are lots of researches on localization using 2D range finder in static environment, very few researches have been reported for robust real-time localization of mobile robot in uncertain and dynamic environment. In this paper, we present a new localization method based on ICP(Iterative Closest Point) algorithm for navigation of mobile robot under dynamic or uncertain environment. The ICP method is widely used for geometric alignment of three-dimensional models when an initial estimate of the relative pose is known. We use the method to align global map with 2D scanned data from range finder. The proposed algorithm accelerates the processing time by uniformly sampling the line fitted data from world map of mobile robot. A data filtering method is also used for threshold of occluded data from the range finder sensor. The effectiveness of the proposed method has been demonstrated through computer simulation and experiment in an office environment.

• Journal of Communications and Networks
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• v.2 no.1
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• pp.46-57
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• 2000

Ongoing standardization effort on 3G cellular system in 3GPP (UNTS) is based on GPRS core network and promises a global standard for systems capable of offering ubiquitous access to internet for mobile users. Considered radio access systems(FDD CDMA, TDD CDMA, and EDGE) are optimized for robust mobile use. However, there are alternative relatively high-rate radio interfaces being standardized for WLAN (IEEE802.11 and HIPER-LAN/2) which are capable of delivering significantly higher data rates to static or semi-static terminals with much less overhead. Also WPANs(BLUETOOTH, IEEE802.15), which will be present in virtually every mobile handset in the near future, are offering low cast and considerable access data rate and thus are very attractive for interworking scenarios. The prospect of using these interfaces as alternative RANs inthe modular UMTS architecture is very promising. Additionally, the recent inclusion of M-IP in the UMTS R99 standard opens the way for IP-level interfacing to the core network. This article offers an overview into WLAN-Cellular interworking. A brief overview of GPRS, UMTS cellular architectures and relevant WLAN standards is given. Possible interworking architectures are presented.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.3
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• pp.180-185
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• 2005

Microstrip antennas generally have a lot of advantages that are thin profile, lightweight, low cost, and conformability to a shaped surface application with integrated circuitry. In addition to military applications, they have become attractive candidates in a variety of commercial applications such as mobile satellite communications, the direct broadcast system (DBS), global positioning system (GPS), and remote sensing. Recently, many of the researches have been achieved for improving the impedance bandwidth of microstrip antennas. The basic form of the microstrip antenna, consisting of a conducting patch printed on a grounded substrate, has an impedance bandwidth of $1\~2\%$. For improvement of narrow bandwidth of microstrip patch, we were designed U-slot microstrip patch antenna in this paper. This antenna had wide bandwidth for all personal communication services (PCS) and IMT-2000. For the design of U-slot microstrip patch antenna using a finite difference time domain(FDTD) method. This numerical method could get the frequency property of U-slot patch antenna and the electromagnetic fields of slots.