• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.9 no.5
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• pp.458-464
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• 2016

This paper proposes the compensation method which decreases the radiation pattern distortion caused by the mutual coupling in an array antenna. If the element distance of an array antenna decreases, the radiation pattern could be distorted by the strong mutual coupling, which changes the magnitude and phase of input signals and causes an unwanted radiation pattern. To remove the pattern distortion, compensated input signals are inserted in an array antenna. The magnitude and phase of input signals are determined by Particle Swarm Optimization (PSO) algorithm. A $4{\times}1$ dipole array antenna with omnidirectional elements is used to confirm the validity of the algorithm, where each element is placed in 0.2 wavelength to evoke the strong coupling. After input signals are optimized by PSO, it is found that the compensated radiation results in the same as the ideal case.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.7
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• pp.799-807
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• 2014

This paper describes the development of an indoor locomotion assistive robot, Ball-Chair, comprising a novel drive system. This robot facilitates locomotion assistive operation in narrow spaces, in which common wheelchairs cannot move easily. The Ball-Chair has two main features: its structural feature and driving mechanism. The exoskeleton frames of the Ball-Chair have been designed with octagonal shapes resembling a circle, for minimizing its volume and weight. Additionally, all its driving parts (including the ball) are mounted within of the robot to enhance its safety. The Ball-Chair features a reverse ball-mouse driving mechanism comprising two driving omni-wheels in the x- and y-axes. By controlling the speed of each omni-wheel, a holonomic driving system that can facilitate omnidirectional locomotion has been achieved using only two wheels. The effective movement of the Ball-Chair in any direction within narrow indoor spaces was experimentally verified. The paper outlines the development procedure in detail.

• Journal of Satellite, Information and Communications
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• v.12 no.1
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• pp.94-100
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• 2017

In this paper, we suggest a design method of a metamaterial-based low-profile antenna working at 425 MHz for LEO/Cube satellites. Satellites play an important role in linking th remote nodes in a wireless communication network and covering wide areas of the globe. Especially, an increasing number of universities or individuals aspire having their own satellites and build low-budget structures such as cube satellites in LEO and the ways to reduce the sizes of their satellites. Since the antenna occupies a major portion of the satellite surface, the antenna should be miniaturized for lighter weight. The proposed metamaterial low-profile antenna, unlike the conventional patch antenna, produces such a zeroth-order resonance to create an omnidirectional radiation pattern. Also, it is connected to a UHF waveguide bandpass filter as the feeding system to examine the possible change in the situation that the antenna is combined with the system. The performances of the monopole and proposed metamaterial antennas are compared to one another.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.868-874
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• 2014

This paper proposes a novel mapping algorithm in Omni-directional Vision SLAM based on an obstacle's feature extraction using Lucas-Kanade Optical Flow motion detection and images obtained through fish-eye lenses mounted on robots. Omni-directional image sensors have distortion problems because they use a fish-eye lens or mirror, but it is possible in real time image processing for mobile robots because it measured all information around the robot at one time. In previous Omni-Directional Vision SLAM research, feature points in corrected fisheye images were used but the proposed algorithm corrected only the feature point of the obstacle. We obtained faster processing than previous systems through this process. The core of the proposed algorithm may be summarized as follows: First, we capture instantaneous $360^{\circ}$ panoramic images around a robot through fish-eye lenses which are mounted in the bottom direction. Second, we remove the feature points of the floor surface using a histogram filter, and label the candidates of the obstacle extracted. Third, we estimate the location of obstacles based on motion vectors using LKOF. Finally, it estimates the robot position using an Extended Kalman Filter based on the obstacle position obtained by LKOF and creates a map. We will confirm the reliability of the mapping algorithm using motion estimation based on fisheye images through the comparison between maps obtained using the proposed algorithm and real maps.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.2
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• pp.75-79
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• 2015

In this paper, a dual band antenna with the operating frequency in HF and UHF band was proposed. The antenna structure consists of three spiral turns coil in the bottom side to generate the HF frequency of 13.56 MHz. In the top of the antenna, an inverted-spiral dipole structure is used to create the UHF frequency of 922 MHz. The dual band antenna was optimized to reduce size with $80mm{\times}40mm{\times}0.8mm$ dimension. The antenna presents the omnidirectional characteristic with high gain. To validate the theoretical design, the antenna was simulated using FR-4 substrate and verified the simulation results.

• The Journal of the Korea institute of electronic communication sciences
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• v.15 no.3
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• pp.397-404
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• 2020

In this paper, the propagating-wave attenuation characteristics at 1, 3, and 6 GHz in the open environment roadway where the ground-reflected wave dominates are analyzed through a propagation model simulation using a ray-tracing method and propagation measurements. Simulations has been performed by varying the ground material, the transmitting antenna height, and the receiving antenna height. The measurements were conducted using a directional transmission antenna installed at 10 m mast and a omnidirectional receiving antenna installed at 1.5 m mast in an open environment. Comparison of simulation and measurement results confirms that the null points having the weak signal strength depend on those parameters. Although this research has been investigated for the wide road, the derived result could be useful for installing the transmitter and receiver in the roadway open environment.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.16 no.1 s.92
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• pp.84-91
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• 2005

In this papers, we study the characteristics of dual band PIFA(Planar Inverted F antenna) for handy phones using H-type silt in the antenna radiators. Slit types on the antenna radiator vary resonance mechanism of the antenna and affect reactance component of impedance for the antenna. Therefore the antennas resonate at the dual band(cellular -band, Korea-PCS band), the bandwidth, input impedance and radiation patterns of the proposed antenna is affected by the silt length on the radiators. In order to demonstrate the validity of the proposed theory, it is implementation the antenna of the 4 types. From results for the experiment of the implementation antenna, -5 dB bandwidth of return loss is content with the allocated bandwidth of Cellular and Korea-PCS system the gains of the antenna is about -8$\~$ - 1 dB, the radiation patterns for x-polarized or y-polarized are omnidirectional pattern. From above the results of this papers, it is conclude mobile phones antenna for handy phones using this papers results.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.48 no.6
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• pp.97-108
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• 2011

Systems for underwater environment monitoring and natural resources can be considered as a part of digital convergence where real-time data transmission is possible with the help of underwater wireless sensor network (UWSN). One of key technologies required for the deployment of the systems is underwater acoustic micro modem. In this work, we design and implement an acoustic modem equipped with a commercial omnidirectional transducer. We also make experiments at the northern Han river for the verification of the developed modem. According to the experiments, the modem supports the working distance of 250 m and the data rate of 200 bps with a negligible bit error rate. It is expected that the acoustic modem can be used for various applications based on UWSN in a near future.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.3
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• pp.210-216
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• 2016

This paper presents a novel collision avoidance technique for mobile robots based on omni-directional vision simultaneous localization and mapping (SLAM). This method estimates the avoidance path and speed of a robot from the location of an obstacle, which can be detected using the Lucas-Kanade Optical Flow in images obtained through fish-eye cameras mounted on the robots. The conventional methods suggest avoidance paths by constructing an arbitrary force field around the obstacle found in the complete map obtained through the SLAM. Robots can also avoid obstacles by using the speed command based on the robot modeling and curved movement path of the robot. The recent research has been improved by optimizing the algorithm for the actual robot. However, research related to a robot using omni-directional vision SLAM to acquire around information at once has been comparatively less studied. The robot with the proposed algorithm avoids obstacles according to the estimated avoidance path based on the map obtained through an omni-directional vision SLAM using a fisheye image, and returns to the original path. In particular, it avoids the obstacles with various speed and direction using acceleration components based on motion information obtained by analyzing around the obstacles. The experimental results confirm the reliability of an avoidance algorithm through comparison between position obtained by the proposed algorithm and the real position collected while avoiding the obstacles.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.18 no.10
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• pp.1189-1195
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• 2007

We design and fabricate, in this parer, a triple band folded monopole antenna for the folder type mobile phone handset that can be served GSM/DCS/USPCS mobile phone system. Antenna structure is modified meander shape which is obtained both extension of antenna physical length for GSM band and same directional multi-currents flowing on the antenna conductor surface for DCS/USPCS band. This antenna has as good performances as high radiation resistance and gain increment, and would be applied to mobile phone handset that is not able to be performed by internal antenna. By measurement, fabricated antenna by the press process shows under VSWR 3:1 at closed folder state and 2:1 at opened folder state over whole GSM/DCS/USPCS band, and has maximum gain as -0.02 dBi for GSM, +0.2 dBi for DCS, +0.78 dBi for USPCS band with almost omnidirectional H-plane radiation pattern.