• Journal of Institute of Control, Robotics and Systems
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• v.13 no.6
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• pp.603-608
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• 2007

In the conventional AOA(angle-of-arrival) positioning utilizing reverse-link wireless channel, each sensor should be equipped with an array antenna to measure the incident angle of signal transmitting from a tag. To perform the complicated signal processing for angle measurements, sensor size and its power consumption will be large. In some applications like mobile robot location, there exists no strict restriction in tag size or in power consumption. Rather, it is desirable that the sensor would be as small as possible. This paper presents a new AOA positioning method utilizing forward-link channel. Under the assumption that the mobile robot is operating on the flat surface, the measurement model for FLAOA(tiJrward-link AOA) is derived first. Two kinds of position estimation algorithms using FLAOA measurements are proposed; Gauss-Newton method and closed-fonn solution method. With the proposed methods, we can ohtain the attitude of robot as well as its position. Positioning performance of proposed methods is compared by computer simulation. Simulation results show that the closed-form solution method using FLAOA measurements is suitable for indoor robot positioning.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.24 no.3
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• pp.448-458
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• 2020

Indoor positioning based on trilateration using common chord estimates location of a mobile subject by using intersection points between each circles which the radius is same as distance between the mobile subject and each radio-frequency transmitter. However, if the intersection points are not found due to error of the distance measurement, it causes failure of estimating the mobile subject's location. To prevent this case, numbers which is proportionate to radius of each circles, are temporarily added to each distances in order to lengthen radius of the circles. Although the estimated location includes error due to the radius extension, it is corrected again by the added value and distance from reference point. With introduction of the advanced correction algorithm, potential issues of existing trilateration such as failure of estimating location and distance measurement error will be minimized.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2780-2782
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• 2005

In this paper, we present a mobile robot localization solution by using a Ubiquitous Vision System (UVS). The collective information gathered by multiple cameras that are strategically placed has many advantages. For example, aggregation of information from multiple viewpoints reduces the uncertainty about the robots' positions. We construct UVS as a multi-agent system by regarding each vision sensor as one vision agent (VA). Each VA performs target segmentation by color and motion information as well as visual tracking for multiple objects. Our modified identified contractnet (ICN) protocol is used for communication between VAs to coordinate multitask. This protocol raises scalability and modularity of thesystem because of independent number of VAs and needless calibration. Furthermore, the handover between VAs by using ICN is seamless. Experimental results show the robustness of the solution with respect to a widespread area. The performance in indoor environments shows the feasibility of the proposed solution in real-time.

• Proceedings of the KIEE Conference
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• 2001.11c
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• pp.72-75
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• 2001

In this paper, the kinematic model and motion control of a joint-actuated mobile robot are analyzed. To take an efficient approach to the wheeled mobile robots, the relationship between wheel rotation and the contact point of the wheel is considered. It is shown that each addition of a joint to a mobile robot increases the degree of freedom(DOF) of mobile robot, and the way of joint attachment to a mobile robot is proposed. To get a solution of inverse kinematics of mobile robot, two types of approaches are proposed.

• Proceedings of the IEEK Conference
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• 2007.07a
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• pp.17-18
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• 2007

Mobile WiMAX technology is the key solution for providing high speed internet services at anytime and anywhere in mobile environments as 3.5th wireless technology between 3rd generation and 4th generation wireless technology, and the service demands shall be rapidly increased in future some years. This paper analyzed the QoS performance of Mobile WiMAX technology recommended by IEEE 802.16e specification under the restricted simulation conditions and environments. The major metrics for analyzing QoS performance of Mobile WiMAX are 1) total packet drop rates; 2) transmission / receive packet sizes; 3) end to end delay in node 2; 4) packet drop rate by mobile terminal mobility.

• Journal of information and communication convergence engineering
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• v.11 no.3
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• pp.167-172
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• 2013

Recently, mobile communication systems are suffering from exponentially increasing data traffic. As a promising solution to the increase in data traffic, a coordinated multi-point transmission and reception (CoMP) scheme has been proposed. Although a great deal of research has been done on this new technology, the performance of mobile communication systems with CoMP has not been evaluated properly in a typical indoor environment. To address this, we have developed a system-level simulator and evaluated the performance of mobile communication systems with CoMP. Unlike previous works, we have used an actual antenna pattern in our simulator and link-level results are properly taken into account through link-level abstraction. By using a system-level simulator, we have evaluated the performance of mobile communication systems with CoMP in an indoor environment and found that unlike an outdoor cellular environment, CoMP may not improve the performance of overall mobile communication systems in an indoor environment.

• Journal of Communications and Networks
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• v.9 no.3
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• pp.254-264
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• 2007

A promising approach to improve the performance of mobile location system is the use of antenna arrays in both transmitter and receiver sides. Using advanced array signal processing techniques, such multiple-input multiple-output (MIMO) communication systems can offer more mobile location information by exploiting the spatial properties of the multipath channel. In this paper, we propose a novel approach to determine the position of mobile terminal based on estimated multipath signal parameters using only one base station in MIMO communication systems. This approach intends to minimize the error occurring from the estimation of multiple paths and gives an optimal estimation of the position of mobile terminal by simultaneously calculating a set of nonlinear location equations. This solution breaks the bottleneck of conventional mobile location systems which have to require multilateration of at least three base stations.

• Journal of the Korean Society for Precision Engineering
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• v.22 no.5 s.170
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• pp.95-102
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• 2005

The coordination of locomotion and manipulation has been the typical and main issue for a mobile manipulator. This is particularly because the solution for the control parameters is redundant and the accuracies of controlling the each joints are different. This paper presents a motion planning method for which the mobile base locomotion is less precise than the manipulator control. In such a case, it is appropriate to move the mobile base to discrete poses and then to move the manipulator to track a prescribed path of the end effector, while the base is stationary. It uses a variant of the conventional manipulability measure that is developed for the trajectory control of the end effector of the mobile manipulator along an arbitrary path in the three dimensional space. The proposed method was implemented on the simulation and the experiments of a mobile manipulator and showed its effectiveness.

• ETRI Journal
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• v.43 no.3
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• pp.427-435
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• 2021

Data filtering is an essential task for improving the energy efficiency of radiofrequency identification (RFID) networks. Among various energy-efficient approaches, clustering-based data filtering is considered to be the most effective solution because data from cluster members can be filtered at cluster heads before being sent to base stations. However, this approach quickly depletes the energy of cluster heads. Furthermore, most previous studies have assumed that readers are fixed and interrogate mobile tags in a workspace. However, there are several applications in which readers are mobile and interrogate fixed tags in a specific area. This article proposes a model for dynamic clustering-based data filtering (DCDF) in mobile RFID networks, where mobile readers are re-clustered periodically and the cluster head role is rotated among the members of each cluster. Simulation results show that DCDF is effective in terms of balancing energy consumption among readers and prolonging the lifetime of the mobile RFID networks.

• Journal of Korea Game Society
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• v.5 no.3
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• pp.11-16
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• 2005

As an improvement of the CPU performance of mobile terminals and an increase of user requirements for multimedia services, various multimedia services and applications have been developed and served over mobile platforms. In this paper, we describe the design and implementation of the Mobile Flash which is one of the famous services in mobile platforms with the limitation of hardware resources. The Mobile flash is an optimized solution for mobile terminals of the Flash, which has been used in the Internet browsers not less than 95% in the world for playing various types of contents such as animations, games, contents for education, e-commerce.