• Journal of Advanced Navigation Technology
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• v.12 no.5
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• pp.483-493
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• 2008

For effective wireless localization utilizing signal strength measurements based on IEEE 802.11 WLAN standard diversity of mobile hardware, characteristics of is one of the important problems to be considered for advanced location-based services. For improved accuracy regardless of a bias originating from the mobile hardware characteristics, this paper proposes a new localization algorithm, which is named as the hybrid Kriging algorithm. To evaluate the performance characteristics of the proposed algorithm, simulation and experiment results are illustrated. By the simulation and experiment result, the proposed algorithm is more accurate than the well-known location finger-print method given the same density of reference measurements.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.2
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• pp.154-160
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• 2006

Instantaneous reaction and intelligence are required for autonomous mobile robots to achieve multiple goals in the unpredictable and dynamic environments. Design of the appropriate control architecture and clear definitions of systems are needed to construct and control these robots. This research proposes the hybrid deliberative/reactive control architecture which consists of three layers and uses the method of software structure design. The highest layer, Deliberative Layer makes the overall run-time schedule for navigation and/or manipulation, and the middle layer, Task Execution Layer carries out various missions. The lowest layer, Reactive Layer enables a robot to react rapidly in the dynamic environment and controls the mechanical devices concurrently. This paper proposes independent system supervisors called Manager to reuse the modules so that the Manager supports common use of the system and multi-processing tasks. It is shown that the mobile robot based on the proposed control scheme can perform the basic navigation and cope with the dynamic obstacles reasonably well.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.884-887
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• 1996

This paper describes a GPS/DR integration filter for a car navigation system. A new GPS/DR integration filter is derived for obtaining more accurate and reliable position data. The covariance analysis results and simulation results are shown for evaluating the performance of the proposed GPS/DR integration filter.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.67 no.3
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• pp.433-439
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• 2018

In this paper, a SDINS(strapdown inertial navigation system) rapid initial alignment technique with adaptive time delay compensation is proposed. The proposed method consists of two steps. In first step, misalignment and data latency are estimated by conducting pre-transfer alignment. Then, hybrid alignment is designed to rapidly find the misalignment changes induced by pyro-shock. To improve the performance of hybrid alignment, adaptive time delay compensation method is suggested. We verify the performance improvement of the proposed alignment scheme comparing with the conventional transfer alignment method by van test. The test result shows that the proposed alignment technique improves alignment performance.

• Journal of the Korean Institute of Navigation
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• v.10 no.1
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• pp.29-40
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• 1986

Abroad-band design method of a lumped-element 3 dB quadrature hybrid without magnetic coupling is proposed and discussed, where techniques of cascading fundamental hybrids via second-order delay equializers and adding matching sections are adopted. It is shown that the designed broad-band lumped-element 3 dB quadrature hybrid can be easily constructed and its bandwidth reaches up to 54%. Furthermore, the experiments have been carried out, the results of which agree with the theoretical ones, and hence, the validity of the broad-band design method proposed here was confirmed.

• Journal of Advanced Navigation Technology
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• v.17 no.6
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• pp.658-663
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• 2013

In this paper, a microstrip line implementation using via transition and its application of multilayer compact ring hybrid coupler are presented. This transition is the sandwich structure with via hole to connect two microstrip lines in different layer. For designing a compact RF/Microwave passive circuit, the microstrip line using via-hole transition is proposed to reduce a size of microwave circuit with long transmission line. For the validation of the microstrip line with via-hole transition, the multilayer ring hybrid coupler is implemented at center frequency of 2 GHz. The measured performances are in good agreement with simulation results and about 50% size reduction compare to conventional ring hybrid coupler.

• Proceedings of KOSOMES biannual meeting
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• 2018.06a
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• pp.194-194
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• 2018

• Journal of Advanced Navigation Technology
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• v.11 no.3
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• pp.274-280
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• 2007

An ultra-wideband signal is characterized by a radiated spectrum with wide bandwidth around a relatively low center frequency. In this paper, the bit error rate (BER), packet error rate (PER), and data throughput performance for an ultra-wideband system with M-ary correlation receiver are analyze in additive white Gaussian noise (AWGN) and co-channel interference channel. To evaluate the performance of UWB system, a set of UWB communication waveform as pulse position modulated (PPM) signals consisting of more than one UWB pulse is used. The M-ary PPM signals are defined to be equally correlated in order to simplify the system performance analysis. The analysis for system performance shows that the wireless channel error significantly degrades throughput performance and can be effectively increased by hybrid ARQ scheme. Also, an attempt for comparing the data throughput of ultra-wideband system on different performance improvement schemes and parameters has been made. From the performance evaluation process, it is shown that the effects of wireless channel and hybrid ARQ scheme for ultra wideband M-ary PPM system can be evaluated by means of a suitable combination of the PER, throughput vs. signal-to-noise power ratio per bit.

• KIPS Transactions on Software and Data Engineering
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• v.9 no.9
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• pp.281-290
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• 2020

The Vision-and-Language Navigation(VLN) task is a complex intelligence problem that requires both visual and language comprehension skills. In this paper, we propose a new learning model for visual-language navigation agents. The model adopts a hybrid learning that combines imitation learning based on demo data and reinforcement learning based on action reward. Therefore, this model can meet both problems of imitation learning that can be biased to the demo data and reinforcement learning with relatively low data efficiency. In addition, the proposed model uses a novel path-based reward function designed to solve the problem of existing goal-based reward functions. In this paper, we demonstrate the high performance of the proposed model through various experiments using both Matterport3D simulation environment and R2R benchmark dataset.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.10
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• pp.970-976
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• 2012

In this paper, a single LRF has been used to produce a 3D map for the mobile robot navigation. The 2D laser scanners are used for mobile robots navigation, where the laser scanner is applied to detect a certain level of area by the straight beam. Therefore it is limited to the usages of 2D obstacle detection and avoidance. In this research, it is designed to complement a mobile robot system to move up and down a single LRF along the yaw axis. During the up and down motion, the 2D data are stacked and manipulated to build a 3D map. Often a single LRF data are mixed with Gaussian and impulse noises. The impulse noises are removed out by the hybrid median filter designed in this research. The 2D data which are improved by deleting the impulse noises are layered to build the 3D map. Removing impulse noises while preserving the boundary is a main advantages of the hybrid median filter which has been used widely to improve the quality of images. The effectiveness of this hybrid median filter for rejecting the impulse noises has been verified through the real experiments. The performance of the hybrid median filter is evaluated in terms of PSNR (Peak Signal to Noise Ratio) and the processing time.