• Journal of Space Technology and Applications
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• v.3 no.1
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• pp.58-71
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• 2023

This paper describes a navigation system design for horizontal position estimation using inertial measurement sensors and celestial navigation. In space, stars are widely spread objects in the celestial sphere and have been used mainly to obtain attitude information through star observation. However, it is also possible to obtain information about the horizontal position with the altitude of the star. It is called celestial navigation which is the same principle that former navigators used to locate themselves while sailing on the sea. In particular, in deep space where GPS is not available, it is important to obtain information on the location by making use of stars that are relatively easy to observe. Therefore, we introduce a navigation system that can estimate horizontal position and design two types of systems, loosely coupled and tightly coupled depending on how the measurements are utilized. It is intended to help in the future design of navigation system using celestial navigation by simulation studies that not only verify whether the system correctly estimates horizontal position but also comparing the performance of loosely and tightly coupled methods.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.556-559
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• 1997

In this paper, we propose a cooperative multi-robot control algorithm. Specifically, the cooperative task is that two mobile robots should transfer a long rigid object along a predefined path. To resolve the problem, we introduce the master-slave concept for two mobile robots, which have the same structure. According to the velocity of the master robot and the positions of two robots on the path, the velocity of the slave robot is determined. In case that the robots can't move further, the role of the robot is interchanged. The effectiveness of this decentralized algorithm is proved by computer simulations.

• Proceedings of the Korean Information Science Society Conference
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• 2004.10c
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• pp.52-54
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• 2004

B3G(Beyond 3 Generation) 망의 구조는 글로벌 로ald환경 구축을 위해서 3세대망인 UMTS와 WLAN의 각각의 장단점을 보완하여 통합한 것이다. 현재 B3G 망의 구조는 크게 loosely-coupled와 장기적 접근을 요구하는 tightly -coupled 방식으로 나눌 수 있다. Loosely-coupled 방식은 tightly-coupled 방식에 비해 독립적 확장이 가능하고 비교적 구현이 쉬우나 핸드오버의 지연으로 인한 패킷 손실과 서비스 끊김 등의 단점이 있다. 본 논문에서는 이를 개선하기 위하여 HMIPv6의 MAP를 사용하여 UMTS와 WLAN의 인터네트워킹에 대한 수직적 핸드오버 프로시저를 제안한다. 각 단계별 총 지연시간을 통하여 블로킹 확률을 측정해 본 결과 제안된 HMIPv6를 사용한 방식이 기존의 MIPv6를 사용한 방식보다 성능이 우수함을 확인하였다.

• Journal of Advanced Navigation Technology
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• v.7 no.2
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• pp.156-161
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• 2003

In this study, a hybrid navigation system with a low-cost GPS Receiver plus Gyro and Odometer is developed and tested. This hybrid navigation system adopted a modified coupling method which can be distinguished from tightly coupled method or loosely coupled method, so that GPS receivers or Gyros or Odometers can be chosen arbitrary. Comparing to the existing hybrid navigation system, the test results show that this navigation system enhances the accuracy and is robust against the multipath error. It is also proven that this system has an advantage of acquiring GIS data for post processing.

• Journal of Power Electronics
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• v.15 no.2
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• pp.327-337
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• 2015

This study discusses the design of a parallel-operated DC-DC single-ended primary-inductor converter (SEPIC) for low-voltage application and current sharing with a constant output voltage. A coupled inductor is used for parallel-connected SEPIC topology. Generally, two separate inductors require different ripple currents, but a coupled inductor has the advantage of using the same ripple current. Furthermore, tightly coupled inductors require only half of the ripple current that separate inductors use. In this proposed work, tightly coupled inductors are used. These produce an output that is more efficient than that from separate inductors. Two SEPICs are also connected in parallel using the coupled inductors with a single common controller. An analog control circuit is designed to generate pulse width modulation (PWM) signals and to fulfill the closed-loop control function. A stable output current-sharing strategy is proposed in this system. An experimental setup is developed for a 18.5 V, 60 W parallel SEPIC (PSEPIC) converter, and the results are verified. Results indicate that the PSEPIC provides good response for the variation of input voltage and sudden change in load.

• Journal of Advanced Navigation Technology
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• v.15 no.4
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• pp.536-542
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• 2011

This paper considers the performance of tightly-coupled GPS/INS integration using total-state UKF (Unscented Kalman Filter) for multipath error. In the city canyon there exists large multipath error and it may happen that GPS satellites are seen only three or less. For these situations simulations show that the performance of total-state UKF is better than that of EKF in the presence of multipath error. The total-state UKF shows robust performance for multipath error.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.349-354
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• 2006

For robust INS/GPS navigation system, an efficient multi-filter fusion technique is proposed. In the filtering for nonlinear systems, the representative filter - EKF, and the alternative filters - RHKF filter, SPKF, etc. have individual advantages and weak points. The key concept of the multi-filter fusion is the mergence of the strong points of the filters. This paper fuses the IIR type filter - EKF and the FIR type filter - RHKF filter using the adaptive strategy. The result of the fusion has several advantages over the EKF, and the RHKF filter. The advantages include the robustness to the system uncertainty, temporary unknown bias, and so on. The multi-filter fusion technique is applied to the tightly coupled INS/GPS navigation system and the performance is verified by simulation.

• International Journal of Naval Architecture and Ocean Engineering
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• v.13 no.1
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• pp.433-449
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• 2021

In this study, a newly enhanced Fluid-Structure Interaction (FSI) model which incorporates mooring lines was used to simulate a floating structure. The model has two parts: a Computational Fluid Dynamics (CFD) model and a mooring model. The open-source CFD OpenFOAM® v1712 toolbox was used in the present study, and the convergence criteria and relaxation method were added to the computational procedure used for the OpenFOAM multiphase flow solver, interDyMFoam. A newly enhanced, tightly coupled solver, CoupledinterDyMFoam, was used to decrease the artificial added mass effect, and the results were validated through a series of benchmark cases. The mooring model, based on the finite element method, was established in MATLAB® and was validated against a benchmark analytical elastic catenary solution and numerical results. Finally, a model which simulates a floating structure with mooring lines was successfully constructed by connecting the mooring model to CoupledinterDyMFoam.

• Proceedings of the Korean Information Science Society Conference
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• 2007.10d
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• pp.160-165
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• 2007

무선 센서 망에서 다중싱크 이동성에 관련된 연구는 단순히 독립된 단일싱크 이동성 확장에 기인한다. 하지만, 다중 싱크의 경우 싱크 상호간의 이동 결집도에 따라 두 가지 그룹으로 분류될 수 있다: 싱크간의 산재된 싱크그룹(loosely coupled sink group)과 밀집된 싱크그룹(tightly coupled sink group)이다. 전자는 기존 다중싱크 연구에서 가정하고 있는 일반적인 모델이다. 반면, 후자의 예로는 전쟁터에서 동일한 작전을 수행하는 작은 분대 단위의 군인들의 이동성 등이 있다. 본 논문은 밀집된 싱크그룹 이동성을 갖는 다중 싱크를 위한 데이터전달 프로토콜을 제안한다.

• Nuclear Engineering and Technology
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• v.41 no.7
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• pp.885-892
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• 2009

This manuscript will discuss a numerical method where the six equations of two-phase flow, the solid heat conduction equations, and the two equations that describe neutron diffusion and precursor concentration are solved together in a tightly coupled, nonlinear fashion for a simplified model of a nuclear reactor core. This approach has two important advantages. The first advantage is a higher level of accuracy. Because the equations are solved together in a single nonlinear system, the solution is more accurate than the traditional "operator split" approach where the two-phase flow equations are solved first, the heat conduction is solved second and the neutron diffusion is solved third, limiting the temporal accuracy to $1^{st}$ order because the nonlinear coupling between the physics is handled explicitly. The second advantage of the method described in this manuscript is that the time step control in the fully implicit system can be based on the timescale of the solution rather than a stability-based time step restriction like the material Courant limit required of operator-split methods. In this work, a pilot code was used which employs this tightly coupled, fully implicit method to simulate a reactor core. Results are presented from a simulated control rod movement which show $2^{nd}$ order accuracy in time. Also described in this paper is a simulated rod ejection demonstrating how the fastest timescale of the problem can change between the state variables of neutronics, conduction and two-phase flow during the course of a transient.