• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1668-1672
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• 2005

This paper presents the wall following control of a small indoor airship (blimp). The purpose of the wall following control is that a blimp maintains its position and pose and flies along the wall. A blimp has great inertia and it is affected by temperature, atmospheric pressure, disturbance and air flow around blimp. In order to fly indoors, a volume of blimp should be small. The volume of a blimp becomes small then the buoyancy of a blimp should be smaller. Therefore, it is difficult to attach additional equipments on the blimp which are necessary to control blimp. For these reasons, it is difficult to control the pose and position of the blimp during the wall following. In our research, to cope with its defects, we developed new blimp. Generally, a blimp is controlled by using rudders and elevators, however our developed blimp has no rudders and elevators, and it has faster responses than general blimps. Our developed blimp is designed to smoothly follow the wall by using low-cost small ultra sonic sensors instead of high-cost sensors. Finally, the controller is designed to robustly control the pose and position of the blimp which could control in spite of arbitrary disturbance during the wall following, and the effectiveness of the controller is verified by experiment.

• 제어로봇시스템학회논문지
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• 제21권5호
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• pp.490-495
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• 2015

As flying robots are becoming popular, there are increased needs to use themforsuch purposes as parcel delivery, serving in restaurants, and stage performances. To control flying robots such as quad copters, localization is essential. In order to properly position flying robots, many techniques are in development, including IR (infra-red)-based systemswhich catch markers on a flying robot in order that it can position itself. However, this technique demonstrates only short coverage. Furthermore, localization from inertial sensors diverges as time passes. For this reason, this paper suggests a TWR (two-way ranging) based positioning technique. Despite the weaknesses in currently available TWR system, this paper suggests a self-positioning and outlier detection technique in order to provide reliable position information with a faster update rate. The self-positioning system sends a shorter message which reduces wireless traffic. By detecting and removing outlier measurements, a positioning result with better accuracy is acquired. Finally, this paper shows that the suggesting system detects outlierssequentially from less than half the number of anchors in localization system according to the degree of outlier in measurement and the noise level. By performing an outlier algorithm, better positioning accuracy is acquired as shown in the experimental result.

• 한국멀티미디어학회논문지
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• 제23권2호
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• pp.282-292
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• 2020

In order to minimize casualties from marine vessel accidents that occur frequently at home and abroad, it is important to ensure the safety of the passengers aboard the vessel in the event of an accident. There is an EPIRB system as a system for disaster preparedness in the marine situation currently on the market, but there is a problem that the price is very expensive. In order to overcome the cost problem, which is a disadvantage of previous system, LoRaWAN-based communication is used. LoRaWAN communication-based vessel positioning and risk detection system based on LoRaWAN communication transmits measurement data of each module using two Beacon and GPS modules to stably perform position measurement for both indoor and outdoor situations. The rider danger situation detection system can detect the safety status of the rider using the 3-axis acceleration sensor, collect data from the rider positioning system and the rider safety status detection system, and send to server using LoRa communication. When conducting communication experiments in the long-distance maritime situation and actual communication experiments using the implemented system, it was found that the two experiments showed over 90% communication success rate on average.

• 디지털산업정보학회논문지
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• 제13권3호
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• pp.11-17
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• 2017

The aerial support air sculptures currently exhibited in indoor spaces are similar to simple ad balloons, using multiple rope strands. Users now want more advanced unfixed sculptures, and hope these will develop into buoyant sculptures that can maintain the attitudes that users want on their own. This study investigated an attitude control system for unfixed levitation sculptures that can levitate with no rope and continuously maintain a certain attitude at a height specified by the user. To facilitate levitation, the exterior part of the sculpture was made of lightweight fibers, and the interior part was filled with helium gas. The controller was composed of a microprocessor of the dsPIC30F line from microchip, gyro, acceleration, and earth magnetic field sensors, and a highly efficient brushless DC (BLDC) electric motor. The attitude and position control system requires scheduling considering the trajectories of the sculpture and the control system, because the roles of the overall components are more important than those of a single controller. Furthermore, the system was designed like a fusion system that is expanded and controlled as a total controller, because it is interconnected with various sensors. The attitude control system of buoyant sculptures was implemented in this study, such that it can actively cope with the position, direction, stopping, and time aspects. The system performance was then evaluated.

• 전기학회논문지
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• 제64권3호
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• pp.445-450
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• 2015

In the moving target problem, the velocity information of the moving target is very important as well as the high accuracy position information. To solve this problem, active researches are being conducted recently with combine the Time Difference of Arrival (TDOA) and Frequency Delay of Arrival(FDOA) measurements. However, since the FDOA measurement is utilizing the Doppler effect due to the relative velocity between the target source and the receiver sensor, it may be difficult to use the FDOA measurement if the moving target speed is not sufficiently fast. In this paper, we propose a method for estimating the position and the velocities of the target by using only the TDOA measurements for the low speed moving target in the indoor environment with sensor network. First, the target position and heading angle are obtained from the estimated positions of two attached transmitters on the target. Then, the target angular and linear velocities are also estimated. In addtion, we apply the Instrumental Variable (IV) technique to compensate the estimation error of the estimated target velocity. In simulation, the performance of the proposed algorithm is verified.

• 전기학회논문지
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• 제58권2호
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• pp.415-421
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• 2009

TOA(time-of-arrival) and TDOA(time-difference-of-arrival) positioning techniques are commonly used in many radio-navigation systems. From the literature, it is known that the position estimate and error covariance matrix of TDOA obtained by GN(Gauss-Newton) method is exactly the same as that of TOA when the error source of the range measurement is only an IID white Gaussian noise. In case of geo-location and indoor positioning, however, multi-path or NLOS(non-line-of-sight) error is frequently appeared in range measurements. Though its occurrence is random, the multipath acts like a bias for a stationary user if it occurs. This paper presents the comparisons of error characteristics between TOA and TDOA positioning in presence of multi-path or NLOS error. It is analytically shown that the position estimate of TDOA is exactly the same as that of TOA even when bias errors are included in range measurements with different magnitudes. By computer simulation, position estimation error and error distribution are analyzed in presence of range bias errors.

• 한국정보통신학회논문지
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• 제9권8호
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• pp.1656-1662
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• 2005

본 논문에서는 기존의 UWB 통신 시스템에서 많이 사용되는 펄스 위치 변조와 펄스 진폭 변조를 사용하여 하나의 펄스로서 여러 비트의 데이터를 전송할 수 있는 M-PPAM(M-ary Pulse Position and Amplitude Modulation) 구조를 소개하였다. 이 방법은 동일한 데이터 전송율을 얻기 위하여 보다 긴 펄스 반복 주기를 사용할 수 있는 장점이 있다. 따라서 실내 환경에서와 같은 다중 경로 페이딩이 심한 경우 대용량의 데이터를 전송하기에 적합하리라고 생각한다. 이때, 다중 사용자를 수용하기 위하여 DS(Direct Sequence) 기법을 사용하였다. 이와 같이 고려된 M-PPAM DS-UWB 수신기의 성능을 가우시안 채널 조건하에서 다중 사용자 간섭을 포함하여 표준 가우시안 근사(Standard Gaussian Approximation)를 사용하여 모델링 하였다. 또한, 수신기의 성능을 시뮬레이션을 통하여 확인하였다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제13권5호
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• pp.2299-2318
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• 2019

Location-aware networks are of great importance for both civil lives and military applications. Methods based on line-of-sight (LOS) measurements suffer sever performance loss in harsh environments such as indoor scenarios, where sensors can receive both LOS and non-line-of-sight (NLOS) measurements. In this paper, we propose a data association (DA) process based on the expectation maximization (EM) algorithm, which enables us to exploit multipath components (MPCs). By setting the mapping relationship between the measurements and scatters as a latent variable, coefficients of the Gaussian mixture model are estimated. Moreover, considering the misalignment of sensor position, we propose a space-alternating generalized expectation maximization (SAGE)-based algorithms to jointly update the target localization and sensor position information. A two dimensional (2-D) circularly symmetric Gaussian distribution is employed to approximate the probability density function of the sensor's position uncertainty via the minimization of the Kullback-Leibler divergence (KLD), which enables us to calculate the expectation step with low computational complexity. Moreover, a distributed implementation is derived based on the average consensus method to improve the scalability of the proposed algorithm. Simulation results demonstrate that the proposed centralized and distributed algorithms can perform close to the Monte Carlo-based method with much lower communication overhead and computational complexity.

• 한국멀티미디어학회논문지
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• 제22권9호
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• pp.1011-1019
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• 2019

In this paper, we propose a system that can more precisely identify and monitor the position of the tool used in the assembling workplace such as automobile production. The proposed positioning monitoring system is a combination of UWB communication module and MEMS IMU sensor. Since UWB does not need modulation and demodulation function and has low power density, UWB is widely used in indoor positioning field. However, it may cause positioning error due to errors in RF transmission and reception process, which may cause positioning accuracy. Therefore, in this paper, we propose an algorithm that uses IMU as an auxiliary means to compensate for errors that may occur in positioning using only UWB. The tag and anchor of UWB module measure the transmission / reception time by transmitting signals to each other and then estimate the distance between tag and anchor. The MEMS IMU sensor serves to provide positioning calibration information. The tag, which is a mobile node and attached to a moving tool, measures the three-dimensional position of the tool and transfers the coordinate data to the anchor. Thus, it is possible to confirm whether or not the specific tool is properly used according to the prescribed regulations.

• 한국정보통신학회논문지
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• 제26권3호
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• pp.449-455
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• 2022

본 논문에서는 발광 다이오드(LED)의 조도를 기반으로 삼각측량법을 사용한 위치 계측 시스템을 제안한다. 세 개의 LED는 가상공간의 천장에 위치하고 각각의 고정 좌표는 모니터링 프로그램에 입력하여, 조도 값과 길이의 관계식을 통해 각각 LED로부터 조도 센서까지의 길이를 도출하였다. 도출된 길이를 바탕으로 삼각측량법을 사용해 가상공간의 물체 위치 정보를 검출하였다. 삼각측량법으로 도출된 길이의 오차를 최소화하기 위해 최소자승식을 이용하여 오차를 최대한으로 줄였다. 기존의 가시광통신(VLC)을 이용한 실내 위치 측정시스템과는 달리, 제안된 시스템은 송신기와 수신기 사이의 동기화가 필요치 않으므로 시스템을 간결하게 구성할 수 있다.