• Journal of Institute of Control, Robotics and Systems
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• v.13 no.5
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• pp.434-443
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• 2007

Presently, the exploration of an unknown environment is an important task for thee new generation of mobile service robots and mobile robots are navigated by means of a number of methods, using navigating systems such as the sonar-sensing system or the visual-sensing system. To fully utilize the strengths of both the sonar and visual sensing systems. This paper presents a technique for localization of a mobile robot using fusion data of multi-ultrasonic sensors and vision system. The mobile robot is designed for operating in a well-structured environment that can be represented by planes, edges, comers and cylinders in the view of structural features. In the case of ultrasonic sensors, these features have the range information in the form of the arc of a circle that is generally named as RCD(Region of Constant Depth). Localization is the continual provision of a knowledge of position which is deduced from it's a priori position estimation. The environment of a robot is modeled into a two dimensional grid map. we defines a vision-based environment recognition, phisically-based sonar sensor model and employs an extended Kalman filter to estimate position of the robot. The performance and simplicity of the approach is demonstrated with the results produced by sets of experiments using a mobile robot.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.1984-1986
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• 2001

In order to provided continuous solutions, latest developing navigation systems tend to integrate GPS receiver with INS or DR. Using the GPS carrier-phase measurements, an attitude GPS receiver with three antennas obtain the 3-dimensional attitude such as roll, pitch, and heading as well as position and velocity. With these angle measurements, in the attitude GPS/INS integrated system, attitude or gyro errors can be directly compensated. In this paper, we develop an integrated navigation system that combines attitude GPS receiver with INS. The performance of real-time integrated navigation system is determined by not only the implements of integration filter but also the synchronization of measurements. To meet these real-time requirements, the navigation software is implemented in multi-tasking structure in this paper. We also employ time-synchronization technique in the multi-sensor fusion. Experimental results show that the performance of the attitude GPS/INS integrated system is consistent even when cycle-slip occurs in carrier-phase measurements.

• Journal of Electrical Engineering and Technology
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• v.3 no.3
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• pp.430-435
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• 2008

In the paper, an algorithm called a Constraint algorithm is proposed to solve the fan-in problem occurred in ADC encoding circuits. The Flash ADC architecture uses a double-base number system (DBNS). The DBNS has known to represent the multi-dimensional logarithmic number system (MDLNS) used for implementing the multiplier accumulator architecture of FIR filter in digital signal processing (DSP) applications. The authors use the DBNS with the base 2 and 3 to represent binary output of ADC. A symmetric map is analyzed first, and then asymmetric map is followed to provide addition read DBNS to DSP circuitry. The simulation results are shown for the Double-Base Integer Encoder (DBIE) of the 6-bit ADC to demonstrate an effectiveness of the Constraint algorithm, using $0.18{\mu}\;m$ CMOS technology. The DBIE’s processing speed of the ADC is fast compared to the FAT tree encoder circuit by 0.95 GHz.

• Journal of Biomedical Engineering Research
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• v.7 no.2
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• pp.169-182
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• 1986

Pulsed ultrasonic Doppler system is a useful diagnostic instrument to measure blood-flow-velocity, velocity profile, and volume-blood-flow. This system is more powerful compare with 2-dimensional B-scan tissue image. A system has been deve- loped and ii being evaluated using TMS 32010 DSP. We use this DSP for the purpose of real-time spectrum analyzer to obtain spectrogram in singlegate pulsed Doppler system and for the serial comb filter to cancel clutter and zero crossing counter to estimate Doppler mean frequency in multigate pulsed Doppler system. The Doppler shift of the backscattered signals is sensed in a phase detector. This Doppler signal corresponds to the mean velocity over a some region in space defined by the ultrasonic beam dimensions, transmitted pulse duration, and transducer ban(iwidth. Multi- gate pulsed Doppler system enable the transcutaneous and simultaneous assessment of the velocities in a number of adjacent sample volumes as a continuous function of time. A multigate pulsed Doppler system processing the information originating from presented.

• The Transactions of the Korean Institute of Electrical Engineers C
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• v.51 no.12
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• pp.597-600
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• 2002

Film Bulk Acoustic wave Resonator (FBAR) using thin piezoelectric films can be made as monolithic integrated devices with compatibility to semiconductor process, leading to small size and low cost, high Q RF circuit elements with wide applications in communications area. This paper presents a MMIC compatible suspended FBAR using surface micromachining. Membrane is composed $Si_3N_4SiO_2Si _3N_4$ multi layer and air gap is about 50${\mu}{\textrm}{m}$. Firstly, We perform one dimensional simulation applying transmission line theorem to verify resonance characteristic of the FBAR. Process of the FBAR is used MEMS technology. Fabricated FBAR resonate at 2.4GHz, $K^2_{eff}$ and Q are 4.1% and 1100.

• 한국전산유체공학회:학술대회논문집
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• 2006.10a
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• pp.47-50
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• 2006

In the aeroacoustic application of computational fluid dynamics, the physical phenomena like the crackle in the unsteady compressible jets should be based on very time-accurate numerical solution. The accuracy of the present numerical scheme is extended to the fifth order, using the WENO filter to the sixth-order central difference computation. However, the computational capacity is very restricted by the environment of computational power, so therefore the quadrilateral adaptive grids technique is introduced for this high-order accuracy scheme. The first problem is the multi-dimensional interpolation between fine and coarse grids. Some general benchmark problems are solved to show the effectiveness of this method.

• Journal of KIISE:Information Networking
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• v.37 no.3
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• pp.175-186
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• 2010

Due to the emergence of new application programs and the fast growth of Internet users, Internet routers are required to provide the quality of services according to the class of input packets, which is identified by wire-speed packet classification. For a pre-defined rule set, by performing multi-dimensional search using various header fields of an input packet, packet classification determines the highest priority rule matching to the input packet. Efficient packet classification algorithms have been widely studied. Tuple pruning algorithm provides fast classification performance using hash-based search against the candidate tuples that may include matching rules. Bloom filter is an efficient data structure composed of a bit vector which represents the membership information of each element included in a given set. It is used as a pre-filter determining whether a specific input is a member of a set or not. This paper proposes new tuple pruning algorithms using Bloom filters, which effectively remove unnecessary tuples which do not include matching rules. Using the database known to be similar to actual rule sets used in Internet routers, simulation results show that the proposed tuple pruning algorithm provides faster packet classification as well as consumes smaller memory amount compared with the previous tuple pruning algorithm.

• Journal of computational fluids engineering
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• v.21 no.2
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• pp.112-119
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• 2016

NEXTSat-1 is the next-generation small-size artificial satellite system planed by the Satellite Technology Research Center(SatTReC) in Korea Advanced Institute of Science and Technology(KAIST). For the control of attitude and transition of the orbit, the system has adopted a RHM(Resisto-jet Head Module), which has a very simple geometry with a reasonable efficiency. An axisymmetric model is devised with two coil-resistance heaters using xenon(Xe) gas, and the minimum required specific impulse is 60 seconds under the thrust more than 30 milli-Newton. To design the module, seven basic parameters should be decided: the nozzle shape, the power distribution of heater, the pressure drop of filter, the diameter of nozzle throat, the slant length and the angle of nozzle, and the size of reservoir, etc. After quasi one-dimensional analysis, a theoretical value of specific impulse is calculated, and the optima of parameters are found out from the baseline with a series of multi-physical numerical simulations based on the compressible Navier-Stokes equations for gas and the heat conduction energy equation for solid. A commercial code, COMSOL Multiphysics is used for the computation with a FEM (finite element method) based numerical scheme. The final values of design parameters indicate 5.8% better performance than those of baseline design after the verification with all the tuned parameters. The present method should be effective to reduce the time cost of trial and error in the development of RHM, the thruster of NEXTSat-1.

• The Journal of the Korea institute of electronic communication sciences
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• v.8 no.6
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• pp.899-905
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• 2013

In this paper, we focus on how to calibrate multi-cameras easily and how to efficiently detect quad-copters with small-numbered particles. Each particle is a six dimensional vector that is composed of 3D position and 3D orientation of a quad-copter in the space. Due to curse of dimensionality, that leads to explosive computational costs with a large amount of high-dimensioned particles. To detect efficiently, we need to put more particles in very promising spaces and few particles in other spaces. Though computational cost is lowered by minimizing particles, in order to track a quad-copter with multiple cameras in real-time, multiple images from the cameras should be synchronized and analyzed. Therefore, lots of the computations still need to be done. Because of this, GPGPU(General-Purpose computing on Graphics Processing Units) is implemented for parallel computing. This method has been successfully tested and gives accurate results in practical situations.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.39 no.11
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• pp.21-27
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• 2002

When decision-directed channel estimation is used for QAM-OFDM systems, the optimal shape of the two-dimensional filter depends on the amplitudes of the modulated symbols as well as the channel characteristics such as delay spread, Doppler frequency, and signal-to-noise ratio. While most conventional channel estimation methods did not consider the amplitudes of the modulated symbols because of the large computational complexity, we propose a simple channel estimation method for multi-level-amplitude-modulated systems. The proposed method can effectively reduce the noise variance of the estimates with small-sized filtering and there is a possibility of reducing the implementation cost and producing better results by avoiding the bias due to large filter sizes.