• Journal of Institute of Control, Robotics and Systems
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• v.7 no.9
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• pp.774-782
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• 2001

In this paper, we propose a new approach to the autonomous and high-speed indoor navigation of wheeled mobile robots using hybrid system controller. The hierarchical structure of hybrid system presented consists of high-level reasoning process and the low-level motion control process and the environmental interaction. In a discrete event system, the discrete states are defined by the user-defined constraints and the reference motion commands are specified in the abstracted motions. The hybrid control system applied for the nonholonomic mobile robots can combine the motion planning and autonomous navigation with obstacle avoidance in the indoor navigation problem. For the evaluation of the proposed algorithm, the algorithm is implemented to the two-wheel driven mobile robot system. The experimental results show that the hybrid system approach is an effective method for the autonomous navigation in indoor environments.

• Korean Journal of Food Science and Technology
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• v.36 no.3
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• pp.518-521
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• 2004

Ginseng saponin was isolated from panax ginseng root using high-speed countercurrent chromatography (HSCCC). Preliminary studies were performed to optimize physical properties of two-phase solvent system and operating parameters including rotation speed of column, elution mode of mobile phase, and flow rate. Two-phase solvent system for isolation of ginseng saponins was composed of chloroform, water, and methanol as blending solvent. Chloroform-aqueous methanol (4:6) systems with various concentration of methanol in water were evaluated for retention of stationary phase in column. Retention of stationary phase decreased with increasing flow rate in tail-to-head elution mode using upper phase as mobile phase and head-to-tail elution mode using lower phase as mobile phase. Latter mode produced high retention at flow rate of 5 mL/min. Optimum conditions for isolation of saponin were chloroform/methanol/water (40/39/21) solvent system; mobile phase, of lower organic layer, flow rate, of 5 mL/min, head to tail elution mode, rotation speed, of 800 rpm, and sample injection, of $200{\mu}L$, Recovery yield of ginseng saponin from panax ginseng root extract by HSCCC was 63.6%, and the purity of HSCCC fractions was verified by TLC.

• JSTS:Journal of Semiconductor Technology and Science
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• v.6 no.3
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• pp.154-161
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• 2006

This paper describes the new types of ngative differential resistance (NDR) IC applications which use a monolithic quantum-effect device technology based on the RTD/HBT heterostructure design. As a digital IC, a low-power/high-speed MOBILE (MOnostable-BIstable transition Logic Element)-based D-flip flop IC operating in a non-return-to-zero (NRZ) mode is proposed and developed. The fabricated NRZ MOBILE D-flip flop shows high speed operation up to 34 Gb/s which is the highest speed to our knowledge as a MOBILE NRZ D-flip flop, implemented by the RTD/HBT technology. As an analog IC, a 14.75 GHz RTD/HBT differential-mode voltage-controlled oscillator (VCO) with extremely low power consumption and good phase noise characteristics is designed and fabricated. The VCO shows the low dc power consumption of 0.62 mW and good F.O.M of -185 dBc/Hz. Moreover, a high-speed CML-type multi-functional logic, which operates different logic function such as inverter, NAND, NOR, AND and OR in a circuit, is proposed and designed. The operation of the proposed CML-type multi-functional logic gate is simulated up to 30 Gb/s. These results indicate the potential of the RTD based ICs for high speed digital/analog applications.

• Journal of Industrial Technology
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• v.22 no.B
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• pp.175-184
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• 2002

In this paper, we proposed separate queue scheme in each hierarchical cell for effective use of wireless channel. This method reduces the blocking rata of high speed mobile station's handoff in hierarchical cellular systems. Basically for the high speed mobile stations channels are allocated in macrocell and for the low speed mobile stations channels are allocated in microcell. In order to reduce the rate of forced handoff termination, some reservation channels are employed for the fast handoff calls in the macrocells. And the queue is located in each cell to be able to store handoff requests and takeback requests. The overflowed mobile station are able to perform takeback as soon as a corresponding channel is available.

• ETRI Journal
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• v.40 no.1
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• pp.39-50
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• 2018

More people prefer using rail traffic for travel or for commuting owing to its convenience and flexibility. The railway scenario has become an important communication scenario in the fifth generation era. The communication system should be designed to support high-data-rate demands with seamless connectivity at a high mobility. In this paper, the channel characteristics are studied and modeled for the railway tunnel scenario with straight and curved route shapes. On the basis of measurements using the "Mobile Hotspot Network" system, a three-dimensional ray tracer (RT) is calibrated and validated for the target scenarios. More channel characteristics are explored via RT simulations at 25.25 GHz with a 500-MHz bandwidth. The key channel parameters are extracted, provided, and incorporated into a 3rd-Generation-Partnership-Project-like stochastic channel generator. The necessary channel information can be practically realized, which can support the link-level and system-level design of the communication system in similar scenarios.

• Journal of KIISE:Information Networking
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• v.30 no.5
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• pp.581-594
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• 2003

Recently, a location management is being more important in mobile communication systems due to an explosive increase of mobile users. Current systems have used a concept of location area. Based on this concept, a mobile user performs a location update whenever it moves into a new location area. However, this scheme can not avoid unnecessary location updates when a mobile user moves around with high movement rate as compared to call arrival rate. That results in tremendous location management cost. To overcome this drawback, our proposal divides service areas into two sets: One is a set of areas that mobile users move with high speed and another is a set of areas that they move with low speed. After establishing these two sets, this paper employs different location tracking schemes for each sets. Generally, most mobile users with high speed have a low CMR and a regular direction until they arrive at their destination. Using such the moving behavior, systems can predict a mobile user's next location area in advance. When the mobile user moves into the predicted location, our proposal does not perform a location update. Thus, it can reduce overall location management cost. The Markov model is used to analyze the performance of our proposal. Using the model, this paper compares our proposal with IS-41 and TLA. The analytic results show that as CMR grows lower, an overall cost of our proposal becomes less, particularly if a mobile user frequently moves into the specific location are predicted by mobile systems. Also, our proposal has a better performance than other two schemes when the communication cost between HLR and VLR is high.

• Journal of Advanced Marine Engineering and Technology
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• v.17 no.3
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• pp.60-69
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• 1993

The speed control associated with dc servo motors for direct-drive applications of mobile robot is considered in this study. Robot is moved by power wheeled steering of two dc servo motors mounted to it. In order to cooperate with micro-computer and to achieve the high-performance operation of dc servo motor, speed control system is composed of a digital Phase Locked Loop and H-type drive circuit. And the motor is driven by Pulse Width Modulations. In controlling PWM, it is modified to compose of H-type drive circuit with feedback diodes and switching transistor and design of control sequence so that it may show linear characteristics. As a result, speed characteristics of motor showed linear features. In order to get data on design of PLL control system, the parameters of 80[W[ motor & robot device is measured by simple software control. The PLL speed control system is schemed and designed by leaner drive circuit and measured parameters. A complete speed control system applied to 80[W] dc servo motor showed good linearity, stability and high response. Also, it is verified that the PLL speed control system has good compatibility as a mobile robot driver.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.917-922
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• 2003

In this paper, a high speed rotating arc sensor for automatic fillet welding is introduced. In order to track the welding seam, The high speed rotating arc sensor is used. The welding tip of a high speed rotating arc sensor rotates about 3000 rpm using DC motor. The rotating torch is driven by gear between welding torch body and wire guide. The welding current is measured by using the current sensor and rot at ing position sensor. To realize the welding seam tracking algorithm with accuracy, a software filter algorithm using the moving average method is applied to the measured welding current in the microprocessor. The welding mobile robot with two wheels and two sliders is developed for fillet welding. The welding mobile robot can control its traveling direction and turn itself around the corner. The effectiveness is proven through the experimental results conducted with varied fillet tracking patterns.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.5
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• pp.444-449
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• 2006

Path planning is a key element in navigation of a mobile robot. Several algorithms such as a gradient method have been successfully implemented so for. Although the gradient method can provide the global optimal path, it computes the navigation function over the whole environment at all times, which result in high computational cost. This paper proposes a high-speed path planning scheme, called a gradient method with topological information, in which the search space for computation of a navigation function can be remarkably reduced by exploiting the characteristics of the topological information reflecting the topology of the navigation path. The computing time of the gradient method with topological information can therefore be significantly decreased without losing the global optimality. This reduced path update period allows the mobile robot to find a collision-free path even in the dynamic environment.

• Journal of Communications and Networks
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• v.5 no.1
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• pp.25-32
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• 2003

4G mobile communication system requires the throughput of 10-100Mbps. Adaptive modulated OFDM system is promising technique for increasing the throughput. In the pilot symbol assisted high-speed packet transmission system, the data symbol duration is generally considered to be small compared to the coherence time. However, OFDM symbol duration is longer than the symbol duration of a single carrier system, so that the packet duration of the pilot symbol assisted high speed packet transmission system is long. In this case, the change of channel conditions is too fast to be accurately estimated by channel estimator at the receiver in high Doppler frequency, so that many errors occur during demodulation, especially with the data symbols at the end of each packet. In this paper, we consider the BER at various instantaneous $E_b/N_o$ that includes the demodulation errors in high Doppler frequency. When the coherence time is ten times longer than the duration of a single packet, the channel can be closely approximated as an AWGN channel. Otherwise, the approximation breaks down and the above-mentioned errors that occur during demodulation must be taken into consideration. In this paper, we propose the pilot symbol assisted high speed packet transmission system based on adaptive OFDM using a novel lookup table to consider the demodulated errors and evaluate the throughput performance.