• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2021.05a
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• pp.8-11
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• 2021

This paper proposes a method of estimating the optimal position of a robot in order to provide a service by approaching a user located outside the sensing area of the robot in an indoor environment. First, in order to estimate the user's location, the location in the indoor environment was estimated by applying a trilateral approach to the beacon-tag module data, and Voronoi thinning to set the optimal movement goal from the user's estimated location. Based on the generated nodes, the final location was estimated through the calculation of the user location, obstacle, and movement path, and the location accuracy of the service robot was verified through the movement of the destination of the actual robot platform.

• Journal of the Semiconductor & Display Technology
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• v.22 no.2
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• pp.112-119
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• 2023

In urban environments, signals of Global Positioning System (GPS) can be blocked and reflected by tall buildings, large vehicles, and complex components of road network. Therefore, the performance of the positioning system using the GPS module in urban areas can be degraded due to the loss of GPS signals necessary for the position estimation. To deal with this issue, various localization schemes using inertial measurement unit (IMU) sensors, such as gyroscope and accelerometer, and Bayesian filters, such as Kalman filter (KF) and particle filter (PF), have been designed to enhance the performance of the GPS-based positioning system. Among Bayesian filters, the PF has been widely used for the target tracking and vehicle navigation, since it can provide superior performance in estimating the state of a dynamic system under nonlinear/non-Gaussian circumstance. This paper presents a positioning system that uses the double-stacked particle filter (DSPF) as well as the accelerometer, gyroscope, and GPS receiver on the smartphone to provide higher pedestrian positioning accuracy in urban environments. The DSPF employs a nonparametric technique (Parzen-window) to create the multimodal target distribution that approximates the posterior distribution. Experimental results show that the DSPF-based positioning system can provide the significant improvement of the pedestrian position estimation in urban environments.

• Journal of Korean Society of Forest Science
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• v.85 no.3
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• pp.539-551
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• 1996

In this study, a number of distance-dependent competition indices on tree-level which incorporate the tree sizes and distances to competitors, and traditional stand-level density measures were estimated from the data compiled with position-dependent survey in a Pinus densiflora stand. The performance of the estimated competition indices was examined by comparing the relationship with the diameter growth, and a dbh growth function, in which the competition index is considered as a one of influence factors, are developed. In the searching method of competing trees, the competition index estimated with $30^{\circ}$ competition interrupting angle showed the highest correlation with the annual dbh growth, while the expanding the competing zone distance had no significant effect on the performance of competition index in estimating annual dbh growth. The most of the examined stand-level competition indices, based on distance-dependent single-tree competition indices, were evaluated to describe similarly the stand competition status. As a result of partial correlation analysis in which the effect of age and site index are eliminated, Alemdag's mean competition index and relative spacing index were determined to have the highest correlation with dbh. The relative spacing index, which can be easily measured in field without measuring the position of individual trees, was considered to be a better suited one for estimating mean dbh of a stand. Among distance-dependent competition indices on tree-level, Hegyi's competition index showed the best performance in their correlation with annual dbh growth, if eliminated the effect of site index and dbh. This enabled to derive the following annual dbh growth function of individual trees which incorporate age, dominant height, dbh and Hegyi's competition index as influence factors : $$dbh^{\prime}=3.975362676{\cdot}age^{-1.099274613}{\cdot}ho^{0.199893990}{\cdot}dbh^{0.269430865}{\cdot}HgCI^{-0.353643587}$$ This function is coincided to the growth principle in which site index has a positive effect on the annual dbh growth, while high age or competition causes to reduce the annual dbh growth, and can be used as a function in single tree growth model.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.24 no.1
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• pp.47-55
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• 2006

This paper investigates the performance of sensor models based on satellite position and rotation angles and sensor models based on satellite orbit and attitude angles. We analyze the performance with respect to the accuracy of bundle adjustment and the accuracy of exterior orientation estimation. In particular, as one way to analyze the latter, we establish sensor models with respect to one image and apply the models to other scenes that have been acquired from the same orbit. Experiment results indicated that fer the sole purpose of bundle adjustment accuracy one could use both position-rotation models and orbit-attitude models. The accuracy of estimating exterior orientation parameters appeared similar for both models when analysis was performed based on single scene. However, when multiple scenes within the same orbital segment were used for analysis, the orbit-attitude model with attitude biases as unknowns showed the most accurate results.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.36 no.11C
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• pp.702-711
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• 2011

In this paper, we derived a closed-form equation of a Best Linear Unbiased Estimator (BLUE) and its Crammer-Rao Lower Bound (CRLB) for the estimation of the position of the emitter based on the Time Difference of Arrival (TDOA) teclmique. The BLUE and CRLB were derived for the case of estimating 2 dimensional position of the emitter with 3 base stations or sensors, and for this purpose, we nsed an approximated equation of the TDOA hyperbola equation obtained from the first order Taylor-series after setting the reference points of the position. The derived equation can be used for any kind of noises which are uncorrelated in each other in the TOA measurement noises and for a white Gaussian noise also.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.2
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• pp.121-127
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• 2017

From the perspective of commercializing rotating machines equipped with magnetic bearings, maintaining the error between the mechanical center and the magnetic center within an acceptable level is crucial. The existing method of measuring the center error is to adjust the position references that minimize the current imbalance present in levitation control outputs. However, this method can be applied only after all the components of the system are operational. In this paper, we present a new method of estimating the center error by using only the position sensors and a current source. A force model that relates the position of the rotor with the coil currents is set up. Using this model, the center error is estimated by minimizing the difference between the force angles and the contact angles measured in a pull test. The feasibility of the method is numerically and experimentally validated.

• Journal of Aerospace System Engineering
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• v.14 no.2
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• pp.1-11
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• 2020

Detecting obstacles and generating a suitable path to avoid obstacles in real time is a prime mission requirement for UAVs. In areas, close to buildings and people, detecting obstacles in the path and estimating its own position (egomotion) in GPS degraded/denied environments are usually addressed with vision-based Simultaneous Localization and Mapping (SLAM) techniques. This presents possibilities and challenges for the feasible path generation with constraints of vehicle dynamics in the configuration space. In this paper, a near real-time feasible path is shown to be generated in the ORB-SLAM framework using a chain-based path planning approach in a force field with dynamic constraints on path length and minimum turn radius. The chain-based path plan approach generates a set of nodes which moves in a force field that permits modifications of path rapidly in real time as the reward function changes. This is different from the usual approach of generating potentials in the entire search space around UAV, instead a set of connected waypoints in a simulated chain. The popular ORB-SLAM, suited for real time approach is used for building the map of the environment and UAV position and the UAV path is then generated continuously in the shortest time to navigate to the goal position. The principal contribution are (a) Chain-based path planning approach with built in obstacle avoidance in conjunction with ORB-SLAM for the first time, (b) Generation of path with minimum overheads and (c) Implementation in near real time.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37B no.10
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• pp.912-920
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• 2012

In this paper, we derived a closed-form equation of a Best Linear Unbiased Estimator (BLUE) estimator for the 3 dimensional estimation of the position of the emitter based on the Time Difference of Arrival (TDOA) technique. The BLUE derived for the case of estimating 3 dimensional position of the emitter with 4 base stations or sensors, and for this purpose, we used an approximated equation of the TDOA hyperbola equation obtained from the first order Taylor-series after setting the reference points of the position. The derived equation can be used for any kind of noises which are uncorrelated in each other in the TOA measurement noises and for a white Gaussian noise also.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37 no.7B
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• pp.586-594
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• 2012

The drastic growth of mobile communication and spreading of smart phone make the significant attention on Location Based Service. The one of most important things for vitalization of LBS is the accurate estimating position for mobile object. Focusing on AP's probabilistic position estimation, we develop an AP distribution map and new pattern matching algorithm for position estimation. The developed approaches can strengthen the advantages of Radio fingerprint based Wi-Fi Positioning System, especiall on the algorithms and data handling. Compared on the existing approaches of fingerprint pattern matching algorithm, we achieve the comparable higher performance on both of average error of estimation and deviation of errors. Furthermore all fingerprint data have been harvested from the actual measurement of radio fingerprint of Seoul, Kangnam area. This can approve the practical usefulness of proposed methodology.

• Nuclear Engineering and Technology
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• v.53 no.11
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• pp.3790-3797
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• 2021

Although the individual channel readout method can improve the performance of PET detectors with pixelated photo-sensors, such as silicon photomultiplier (SiPM), this method leads to a significant increase in the number of readout channels. In this study, we proposed a novel multiplexing method that could effectively reduce the number of readout channels to reduce system complexity and development cost. The proposed multiplexing circuit was designed to generate bipolar pulses with different zero-crossing points by adjusting the time constant of the high-pass filter connected to each channel of a pixelated photo-sensor. The channel position of the detected gamma-ray was identified by estimating the width between the rising edge and the zero-crossing point of the bipolar pulse. In order to evaluate the performance of the proposed multiplexing circuit, four detector blocks, each consisting of a 4 × 4 array of 3 mm × 3 mm × 20 mm LYSO and a 4 × 4 SiPM array, were constructed. The average energy resolution was 13.2 ± 1.1% for all 64 crystal pixels and each pixel position was accurately identified. A coincidence timing resolution was 580 ± 12 ps. The experimental results indicated that the novel multiplexing method proposed in this study is able to effectively reduce the number of readout channels while maintaining accurate position identification with good energy and timing performance. In addition, it could be useful for the development of PET systems consisting of a large number of pixelated detectors.