• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.26 no.1
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• pp.144-149
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• 2017

There have been lots of interest on service and entertainment robots. To ensure that robots work in harmony with humans, their stability and compactness are some of the key issues. Obviously, robots with fewer wheels occupy a smaller floor area compared to those with more wheels. In addition, robots with fewer wheels, whose posture stabilities are maintained by feedback control, are stable even under larger accelerations and/or higher locations of the center of mass. To facilitate controller design, it is assumed that both pitch and roll dynamics are decoupled. The dynamic equations of motion for the proposed robot are derived from the Euler-Lagrange equation. To obtain the optimal balancing control law, linear quadratic regulator control methods are applied to the linearized dynamic equations. Simulation and experimental results verify the effectiveness and performance of the proposed balancing control algorithm for a single-wheeled mobile robot.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.12 no.12
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• pp.5701-5722
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• 2018

The continuous increase in the cost of energy production and concerns for environmental sustainability are leading research communities, governments and industries to amass efforts to reduce energy consumption and global $CO_2$ footprint. Players in the information and communication industry are keen on reducing the operational expenditures (OpEx) and maintaining the profitability of cellular networks. Meanwhile, network virtualization has been proposed in this regard as the main enabler for 5G mobile cellular networks. In this paper, we propose a generic framework of slice resource provisioning and customized physical resource allocation for energy-efficiency and quality of service optimization. In resource slicing, we consider user demand and population resources provisioning scheme aiming to satisfy quality of service (QoS). In customized physical resource allocation, we formulate this problem with an integer non-linear programming model, which is solved by a heuristic algorithm based on minimum vertex coverage. The proposed algorithm is compared with the existing approaches, without consideration of slice resource constraints via system-level simulations. From the perspective of infrastructure providers, traffic is scheduled over a limited number of active small-cell base stations (sc-BSs) that significantly reduce the system energy consumption and improve the system's spectral efficiency. From the perspective of virtual network operators and mobile users, the proposed approach can guarantee QoS for mobile users and improve user satisfaction.

• Journal of Sensor Science and Technology
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• v.32 no.5
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• pp.267-274
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• 2023

LiDAR, one of the most important sensing methods used in mobile robots and cars with assistive/autonomous driving functions, is used to locate surrounding obstacles or to build maps. For real-time path generation, the detection of potholes or puddles on the driving surface is crucial. To achieve this, we used the coordinates of the reflection points provided by LiDAR as well as the intensity information to classify water areas, which was achieved by applying a linear regression method to the intensity distribution. The rationale for using the LiDAR index as an input variable for linear regression is presented, and we demonstrated that it is not affected by errors in the distance measurement value. Because of LiDAR vertical scanning, if the reflective surface is not uniform, it is divided into different groups according to the intensity distribution, and a mathematical basis for this is presented. Through experiments in an outdoor driving area, we could distinguish between flat ground, potholes, and puddles, and kinematic analysis was performed to calculate the maximum width that could be crossed for a given vehicle body size and wheel radius.

• ETRI Journal
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• v.36 no.2
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• pp.214-223
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• 2014

A fully-integrated penta-band reconfigurable power amplifier (PA) is developed for handset Tx applications. The output structure of the proposed PA is composed of the fixed output matching network, power and frequency reconfigurable networks, and post-PA distribution switches. In this work, a new reconfiguration technique is proposed for a specific band requiring power and frequency reconfiguration simultaneously. The design parameters for the proposed reconfiguration are newly derived and applied to the PA. To reduce the module size, the switches of reconfigurable output networks and post-PA switches are integrated into a single IC using a $0.18{\mu}m$ silicon-on-insulator CMOS process, and a compact size of $5mm{\times}5mm$ is thus achieved. The fabricated W-CDMA PA module shows adjacent channel leakage ratios better than -39 dBc up to the rated linear power and power-added efficiencies of higher than around 38% at the maximum linear output power over all the bands. Efficiency degradation is limited to 2.5% to 3% compared to the single-band reference PA.

• Journal of Communications and Networks
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• v.14 no.3
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• pp.273-279
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• 2012

In this paper, we propose an iterative interstream interference cancellation technique for system with frequency selective multiple-input multiple-output (MIMO) channel. Our method is inspired by the fact that the cancellation of the interstream interference can be regarded as a reduction in the magnitude of the interfering channel. We show that, as iteration goes on, the channel experienced by the equalizer gets close to the single input multiple output (SIMO) channel and, therefore, the proposed SIMO-like equalizer achieves improved equalization performance in terms of normalized mean square error. From simulations on downlink communications of $2{\times}2$ MIMO systems in high speed packet access universal mobile telecommunications system standard, we show that the proposed method provides substantial performance gain over the conventional receiver algorithms.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.40 no.3
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• pp.1-9
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• 2003

We analyze the performances of MC-CDMA and MC-DS/CDMA systems on quasi-synchronized mobile satellite return link. Quasi-synchronization is considered that chip offset between user terminals is within a few chips. Since the transmitted signals of MC-CDMA and MC-DS/CDMA systems have non-constant envelop, they are easily distorted by nonlinearity of transmit amplifier. Since the nonlinear amplifier input signal level of MC-CDMA system using Walsh code to employ frequency domain spreading is lower than that of MC-DS/CDMA system, performance of single user in MC-CDMA system is respectively 2.3dB and 1dB better than that of MC-DS/CDMA system when amplifier input backoff is 0dB and 6dB. However, since interference of MC-DS/CDMA is less than that of MC-CDMA with many subcarriers in quasi-synchronization and AWGN channel, MC-DS/CDMA system is much better than MC-CDMA system as the number of users increases.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.5
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• pp.10-22
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• 2015

Recently, 3rd Generation Partnership Project (3GPP) has developed sidehaul system to cope with the explosively increasing mobile data traffic. The sidehaul system is based on single carrier-frequency division multiple access (SC-FMDA) due to its low peak to average power ratio (PAPR). Also, antenna array is designed to support multiple input multiple output (MIMO) in a restricted space. In this paper, we design the antenna array about uniform linear array (ULA), uniform circular array (UCA) and uniform planar array (UPA), and analysis the performance in sidehaul system. In addition, we propose the novel hybrid receiver full suppression cancellation (FSC) to reduce the interference from neighbor cell in sidehaul system. The proposed receiver can suppress and cancel the interference by combining interference rejection combining (IRC) with successive interference cancellation (SIC).

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.12B
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• pp.1022-1036
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• 2004

In mobile cellular network the ever-changing location of a mobile host necessitates the continuous tracking of its current position and efficient management of location information. A database called Home Location Register(HLR) plays a major role in location management in this distributed environment, providing table management, index management, and backup management facilities. The objectives of this paper are to identify the p개blems of the current HLR system through rigorous analysis, to suggest solutions to them, and to propose a new architecture for the HLR system. In the HLR system, a main memory database system is used to provide real-time accesses and updates of subscriber's information. Thus it is suggested that the improvement bemade to support better real-time facilities, to manage subscriber's information more reliably, and to accommodate more subscribers. In this paper, I propose an efficient backup method that takes into account the characteristics of HLR database transactions. The retrieval speed and the memory usage of the two-level index method are better than those of the T-tree index method. Insertion md deletion overhead of the chained bucket hashing method is less than that of modified linear hashing method. In the proposed backup method, I use two kinds of dirty flags in order to solve the performance degradation problem caused by frequent registration-location operations. Performance analysis has been performed to evaluate the proposed techniques based on a system with subscribers. The results show that, in comparison with the current techniques, the memory requirement is reduced by more than 62%,directory operations, and backup operation by more than 80%.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.8
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• pp.703-710
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• 2016

In robotics research, accurate estimation of current robot position is important to achieve motion control of a robot. In this research, we focus on a sensor fusion method to provide improved position estimation for a wheeled mobile robot, considering two different sensor measurements. In this case, we fuse camera-based vision and encode-based odometry data using Kalman filter techniques to improve the position estimation of the robot. An external camera-based vision system provides global position coordinates (x, y) for the mobile robot in an indoor environment. An internal encoder-based odometry provides linear and angular velocities of the robot. We then use the position data estimated by the Kalman filter as inputs to the motion controller, which significantly improves performance of the motion controller. Finally, we experimentally verify the performance of the proposed sensor fused position estimation and motion controller using an actual mobile robot system. In our experiments, we also compare the Kalman filter-based sensor fused estimation with two different single sensor-based estimations (vision-based and odometry-based).

• Journal of the Korean Chemical Society
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• v.30 no.4
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• pp.352-358
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• 1986

An extensive experimental survey on the retention behaviors of phenols in the binary solvent system such as methanol-water, acetonitrile-water and tetrahydrofuran-water as well as the ternary solvent system such as methanol-acetonitrile-water and methanol-tetrahydrofuran-water is presented. A linear equation, which describes the capacity factor as a function of the solvent composition in the mobile phase and is able to predict the retention behaviors of phenols, was obtained. The iso-eluotropic lines for the binary and ternary solvent system are based on the equal strength of the methanol-water solvent which shows an optimum separation of the phenols used. The specific effect of each solute in the binary solvent system appeared to be larger than those in the ternary system.