• The Journal of Korea Robotics Society
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• v.18 no.1
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• pp.72-81
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• 2023

We introduce tightly-coupled GNSS-LiDAR-Inertial state estimator, which is capable of SLAM (Simultaneously Localization and Mapping) and autonomous driving. Long term drift is one of the main sources of estimation error, and some LiDAR SLAM framework utilize loop closure to overcome this error. However, when loop closing event happens, one's current state could change abruptly and pose some safety issues on drivers. Directly utilizing GNSS (Global Navigation Satellite System) positioning information could help alleviating this problem, but accurate information is not always available and inaccurate vertical positioning issues still exist. We thus propose our method which tightly couples raw GNSS measurements into LiDAR-Inertial SLAM framework which can handle satellite positioning information regardless of its uncertainty. Also, with NLOS (Non-light-of-sight) satellite signal handling, we can estimate our states more smoothly and accurately. With several autonomous driving tests on AGV (Autonomous Ground Vehicle), we verified that our method can be applied to real-world problem.

• The Journal of Engineering Geology
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• v.21 no.1
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• pp.35-43
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• 2011

Time series analysis was applied to groundwater level, water temperature, and electrical conductivity data obtained from monitoring wells around ground-source heat pumps at Sangji University of Wonju (standing column well type) and at Jungwon University of Goesan (closed loop type), from 21 May to 12 October 2010. We found large temporal variations in the characteristics of groundwater at Wonju, but only minor variations at Goesan. These results may improve our understanding of the effects of ground-source heat pumps on the characteristics of surrounding groundwater, according to the installation method for the pumps.

• JSTS:Journal of Semiconductor Technology and Science
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• v.17 no.3
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• pp.411-424
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• 2017

An all-digital delay-locked loop (DLL) for a mobile memory interface, which runs at 0.11-2.5 GHz with a phase-shift capability of $180^{\circ}$, has two internal DLLs: a global DLL which uses a time-to-digital converter to assist fast locking, and shuts down after locking to save power; and a local DLL which uses a phase detector with an adaptive phase sampling window (WPD) to reduce jitter accumulation. The WPD in the local DLL adjusts the width of its sampling window adaptively to control the loop bandwidth, thus reducing jitter induced by UP/DN dithering, input clock jitter, and supply/ground noise. Implemented in a 65 nm CMOS process, the DLL operates over 0.11-2.5 GHz. It locks within 6 clock cycles at 0.11 GHz, and within 17 clock cycles at 2.5 GHz. At 2.5 GHz, the integrated jitter is $954fs_{rms}$, and the long-term jitter is $2.33ps_{rms}/23.10ps_{pp}$. The ratio of the RMS jitter at the output to that at the input is about 1.17 at 2.5 GHz, when the sampling window of the WPD is being adjusted adaptively. The DLL consumes 1.77 mW/GHz and occupies $0.075mm^2$.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.26 no.2
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• pp.127-134
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• 2015

In this paper, we propose 2.6 GHz single band dual polarization MIMO omni antenna for in-building applications. The proposed antenna operates at 2.6 GHz single LTE band, Up-link 2.52~2.54 GHz and Down-link 2.64~2.66 GHz. Horizontal and vertical polarizations of the antenna has been, respectively, constructed by the synthesis of four folded loop antennas and the folded monopole antenna. The height of the MIMO omni-directional antenna is minimized to be less than ${\lambda}/13.5$ from the ground. The measurement results show excellent MIMO omni antenna performance of 2.85 dBi vertical polarization gain, 2.29 dBi horizontal polarization gain, and 19.25 dB port isolation.

• Journal of Positioning, Navigation, and Timing
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• v.6 no.4
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• pp.195-203
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• 2017

A 2U cube satellite called SNUGLITE has been developed by GNSS Research Laboratory in Seoul National University. Its main mission is to perform actual operation by mounting dual-frequency global positioning system (GPS) receivers. Its scientific mission aims to observe space environments and collect data. It is essential for a cube satellite to control an Earth-oriented attitude for reliable and successful data transmission and reception. To this end, an attitude estimation and control algorithm, Attitude Determination and Control System (ADCS), has been implemented in the on-board computer (OBC) processor in real time. In this paper, the Extended Kalman Filter (EKF) was employed as the attitude estimation algorithm. For the attitude control technique, the Linear Quadratic Gaussian (LQG) was utilized. The algorithm was verified through the processor in the loop simulation (PILS) procedure. To validate the ADCS algorithm in the ground, the experimental verification via a single axis Hardware-in-the-loop simulation (HILS) was used due to the simplicity and cost effectiveness, rather than using the 3-axis HILS verification (Schwartz et al. 2003) with complex air-bearing mechanism design and high cost.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.15 no.2
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• pp.213-219
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• 2015

In this paper, we present a low-profile ultra-wide band half-wavelength loop antenna for UAV (Unmanned Aerial Vehicle) applications. The proposed antenna has an ultra-wide band using self-complementary principle. Also, the ground was located between radiators for reducing height of the antenna using image theory. Dimensions of proposed antenna have $0.20{\lambda}_L{\times}0.14{\lambda}_L{\times}0.16{\lambda}_L$ (${\lambda}_L$ is the free-space wavelength at lowest frequency). Measured -10 dB bandwidth was ultra-wide band as more than 50 : 1(over 0.3 GHz ~15 GHz). The radiation patterns of the antenna was omnidirectional like monopole antennas. Moreover, we tried the antenna mounted on under a fuselage of a scaled UAV. As a result, the proposed antenna on the UAV maintained ultra-wide band and omnidirectional radiation patterns at all frequencies.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.44 no.4
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• pp.316-323
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• 2016

A UAV(Unmanned Aerial Vehicle) flies along pre-programed navigation points(in-flight, take-off, or landing) automatically without pilot input. Even though UAVs fly differently from general piloted aircraft as the pilot controls the aircraft from a ground station through means of a data-link system. Occasionally, the data-link connection can be lost for any number of reasons, in which case, the FLCC(Flight control Computer) must automatically switch to autopilot to continue flying. Hence, the FLCC is a flight-critical component that must be throughly tested and validated. This paper discusses the development of a HILS(Hardware in the Loop Simulation) test environment designed to simulate real flight conditions to verify the FLCC satisfies flying quality requirements and maintains robustness despite any potential malfunctions or emergency situations.

• Korean Journal of Agricultural Science
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• v.47 no.3
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• pp.673-681
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• 2020

Human enteric Adenovirus 41 (HueAdV-41) is a major waterborne virus that causes human gastroenteritis and is classified as a viral group I double-strand DNA virus, Adenoviridae. HueAdV-41 has been detected with the polymerase chain reaction (PCR) in various samples such as ground water. However, the PCR-based diagnostic method has problems such as reaction time, sensitivity, and specificity. Thus, the loop-mediated isothermal amplification (LAMP) assay has emerged as an excellent method for field applications. In this study, we developed a LAMP system that can rapidly detect HueAdV-41 with high specificity and sensitivity. HueAdV-41 specific LAMP primer sets were tested through a specific, non-specific selection and sensitivity test for three prepared LAMP primer sets, of which only one primer set and optimum reaction temperature were selected. The developed LAMP primer set condition was confirmed as 63℃, and the sensitivity was 1 copy. In addition, to confirm the system, a LAMP positive reaction was developed with the restriction enzyme Taq I (T/GCC). The developed method in this study was more specific, rapid (typically within 2 - 3 hours), and highly sensitive than that of the conventional PCR method. To evaluate and verify the developed LAMP assay, an artificial infection test was done with five cDNAs from groundwater samples, and the results were compared to those of the conventional PCR method. We expect the developed LAMP primer set will be used to diagnose HueAdV-41 from various samples.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.29 no.11
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• pp.898-905
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• 2018

In this work, infrared targets for a developed hardware-in-the-loop simulation(HILS) system are proposed for a performance test of a dual-sensor imaging seeker equipped with an infrared and a visible sensor that can lock and track for ground and air targets. This integrated system is composed of 100 modules of heat and light sources to simulate various kinds of target and the trajectory of moving targets based on scenarios. It is possible to simulate not only the position, velocity, and direction for these targets but also background clutter and jamming environments. The design and measurement results of an infrared target, such as the HILS system configuration, developed for testing and evaluation of a dual-sensor imaging seeker are described. In the future, it is planned to test the lock-on and tracking performance of an imaging seeker equipped with single or dual sensors dynamically in real time based on a simulation flight scenario in the developed HILS system.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.47 no.4
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• pp.283-288
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• 2019

In this paper, there is summarized the validation of ground test results through the telemetry acquired during on-orbit initial activation on solar-array drive assembly(SDA) of GK2A launched at Dec-5, 2018. Especially, the decision logic of SDA initial position and the compensation logic are validated and confirmed. The SDA initial position is needed when GK2A enter to geostationary orbit from transfer orbit and the compensation logic is for the accumulated position error due to the open-loop control. Up to now, it is normal operating. Also the periodic offset between the geostationary orbit and Sun position is found that it is not checked on design phase, and then the proper threshold value is applied.