• 한국정밀공학회지
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• 제18권12호
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• pp.137-144
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• 2001

The major movement blocks of the container are the range between the apron and the designation points on yard in container terminals. The yard tractor drived by operator takes charge of it's movement in conventional container terminals. In automated container terminal, AGV(automatic guided vehicle) takes charge of a yard tractor's role and information of navigation path are ordered from upper control system. The automated container terminal facilities must have the docking system that guides landing zinc to execute high speed travelling and precision positioning. This paper describes the new docking method with the rotating LSB(laser slit beam) generator and two pair of photo receiver. The LSB generator is installed on the fixed ground and the photo receiver is implemented on the moving vehicle such as AGV. The proposed docking system is implemented to confirm it's function and accuracy. The accuracy of measured moving position is represented in ±5mm at 1 data sampling.

• 한국음향학회지
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• 제41권4호
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• pp.397-409
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• 2022

본 논문에서는 거리 종속환경에서 해수면에 의한 배경소음 모델링을 수행하였다. 모델링 환경에서 음원은 해수면 근처에서 수평 방향의 전 영역에서 위치하고, 수신기 배열은 거리 종속환경의 해양 도파관 내에 위치하였다. 거리 종속환경에서의 소음원과 수신기 간의 음파전달은 연성모드법을 사용하여 계산되었으며, 이를 이용하여 수신기 간 상호 스펙트럴 밀도행렬 식을 유도하였다. 계산된 상호 스펙트럴 밀도행렬은 소음 인텐시티, 빔형성 결과, 코히런스 함수를 계산하는 데 사용되었으며, 그 결과를 거리 독립환경에서의 결과와 비교하였다. 이를 통해 해저면 특성에 의한 수직 방향성과 거리 종속환경에 의한 수평면상의 비대칭성 특성이 모델링 결과에 반영됨을 확인하였다.

• Journal of Positioning, Navigation, and Timing
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• 제12권1호
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• pp.51-58
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• 2023

Geofencing supports unmanned aerial vehicle (UAV) operation by defining stay-in and stay-out regions. National Aeronautics and Space Administration (NASA) has developed a prototype of the geofencing function, SAFEGUARD, which prevents stayout region violation by utilizing position estimates. Thus, SAFEGUARD depends on navigation system performance, and the safety risk associated with the navigation system uncertainty should be considered. This study presents a methodology to compute the safety risk assessment-based along-track position error bound under nominal and Global Navigation Satellite Systems (GNSS) failure conditions. A Kalman filter system using pseudorange measurements as well as pseudorange rate measurements is considered for determining the position uncertainty induced by velocity uncertainty. The worst case pseudorange and pseudorange rate fault-based position error bound under the GNSS failure condition are derived by applying a Receiver Autonomous Integrity Monitor (RAIM). Position error bound simulations are also conducted for different GNSS fault hypotheses and constellation conditions with a GNSS/INS integrated navigation system. The results show that the proposed along-track position error bounds depend on satellite geometries caused by UAV attitude change and are reduced to about 40% of those of the single constellation case when using the dual constellation.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제17권2호
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• pp.353-368
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• 2023

The four wing unmanned aerial vehicle owns the characteristics of small size, light weight, convenient operation and well stability. But it is easily disturbed by external environmental factors during flight with these disadvantages of short endurance and poor attitude solving ability. For solving these problems, a microprocessor based on STM32 chip is designed and the overall development is completed by the resources such as built-in timer and multi-function mode general-purpose input/output provided by the master micro controller unit, together with radio receiver, attitude meter, barometer, electronic speed control and other devices. The unmanned aerial vehicle can be remotely controlled and send radio waves to its corresponding receiver, control the analog level change of its corresponding channel pins. The master control chip can analyze and process the data to send multiple sets pulse signals of pulse width modulation to each electronic speed control. Then the electronic speed control will transform different pulse signals into different sizes of current value to drive the motor located in each direction of the frame to generate different rotational speed and generate lift force. To control the body of the unmanned aerial vehicle, so as to achieve the operator's requirements for attitude control, the PID controller based on Kalman filter is used to achieve quick response time and control accuracy. Test results show that the design is feasible.

• 한국컴퓨터정보학회논문지
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• 제25권7호
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• pp.75-83
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• 2020

셀룰라 시스템에서 D2D 유틸리티 최적화 문제를 연구하도록 한다. 구체적으로, Non-Convex 최적화 문제의 복잡도를 완화하도록 해주는 오목함수 결정규칙을 제안하고자 한다. 일반적으로, 유틸리티 함수는 신호와 간섭의 함수이며, 해법이 복잡한 Non-Convex 형태를 가진다. 본 논문에서는 간단한 해법을 찾고자 유틸리티 함수를 간섭관점에서 분석한다. 먼저 D2D 수신단에서의 간섭 레벨을 의미하는 '상대간섭'과 간섭을 주요간섭으로 간략화하는 '간섭주요화'를 수식적으로 정의한다. 정의한 간섭주요화를 바탕으로 간단한 해법의 기반이 되는 오목함수 결정규칙과 최적화 해법이 간단한 Convex Optimization 해법을 제안하도록 한다. 실험결과를 통하여 유틸리티 함수는 D2D 적용시나리오에 해당하는 수치인 상대간섭 0.1 이하에서는 오목함수임을 확인하였다. 또한, 제안하는 Convex Optimization 해법은 상대간섭 수치 0.1 이하에서 적용이 가능함을 확인하였다.

• 지구물리와물리탐사
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• 제18권1호
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• pp.1-8
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• 2015

뉴질랜드 Ngauruhoe 화산에 설치된 OTVZ 지진관측소 하부의 S파속도(${\nu}_s$)를 규명하기 위해, 2011년 11월 11일에서 2013년 9월 11일까지 기록된 원거리 지진자료($Mw{\geq}5.5$) 중에서 신호 대 잡음비가 높은 127개의 자료만을 이용하여 수신함수를 계산하였다. 수신함수는 시간영역에서 반복적 곱풀기 방법으로 계산되었으며, 21개의 수신함수에 유전자 알고리즘을 적용하여 역산을 실시하였다. 역산으로부터 구한 관측소 하부의 1차원 속도모델은 ${\nu}_s$가 3.7 km/s에서 4.7 km/s로 급격히 변하는 모호면이 14 km 깊이에 존재하며, 지각의 평균 ${\nu}_s$는 3.4 km/s임을 보인다. 하부지각에는 평균 ${\bar}{\nu}_s$ 가 3.1 km/s인 저속도층이 두께 9 km 이내로 존재하며, 관측소에서 멀어질수록 두께가 얇아지는 것으로 분석된다. 또한, 상부맨틀에도 ${\nu}_s$가 4.3 km/s 이하인 저속도층이 10 km 이상의 두께로 존재하며, 이러한 하부지각과 상부맨틀 내에 존재하는 저속도층과 상대적으로 얇은 지각은 태평양판의 섭입에 따른 마그마 활동과 관련이 있을 것으로 추정된다.

• International Journal of Computer Science & Network Security
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• 제23권10호
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• pp.1-10
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• 2023

This paper proposes a method to extend Inter-Carrier Interference (ICI) canceling Orthogonal Frequency Division Multiplexing (OFDM) receivers for 5G mobile systems to spatial multiplexing 2×2 MIMO (Multiple Input Multiple Output) systems to support high-speed ground transportation services by linear motor cars traveling at 500 km/h. In Japan, linear-motor high-speed ground transportation service is scheduled to begin in 2027. To expand the coverage area of base stations, 5G mobile systems in high-speed moving trains will have multiple base station antennas transmitting the same downlink (DL) signal, forming an expanded cell size along the train rails. 5G terminals in a fast-moving train can cause the forward and backward antenna signals to be Doppler-shifted in opposite directions, so the receiver in the train may have trouble estimating the exact channel transfer function (CTF) for demodulation. A receiver in such high-speed train sees the transmission channel which is composed of multiple Doppler-shifted propagation paths. Then, a loss of sub-carrier orthogonality due to Doppler-spread channels causes ICI. The ICI Canceller is realized by the following three steps. First, using the Demodulation Reference Symbol (DMRS) pilot signals, it analyzes three parameters such as attenuation, relative delay, and Doppler-shift of each multi-path component. Secondly, based on the sets of three parameters, Channel Transfer Function (CTF) of sender sub-carrier number n to receiver sub-carrier number l is generated. In case of n≠l, the CTF corresponds to ICI factor. Thirdly, since ICI factor is obtained, by applying ICI reverse operation by Multi-Tap Equalizer, ICI canceling can be realized. ICI canceling performance has been simulated assuming severe channel condition such as 500 km/h, 8 path reverse Doppler Shift for QPSK, 16QAM, 64QAM and 256QAM modulations. In particular, 2×2MIMO QPSK and 16QAM modulation schemes, BER (Bit Error Rate) improvement was observed when the number of taps in the multi-tap equalizer was set to 31 or more taps, at a moving speed of 500 km/h and in an 8-pass reverse doppler shift environment.

• 한국통신학회논문지
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• 제30권9C호
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• pp.955-963
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• 2005

이 논문에서는 순차 방법을 쓰는 비동위상 부호획득 문제를 다루었다. 먼저, 비동위상 수신기 출력은 귀무가설 에서 거의 중심카이제곱 분포를 따름을 보이고, 이를 바탕으로 베셀함수를 어림하여 간단한 부호획득 기법을 얻는다. 이제까지의 부호획득 방법을 쓸 때와 간단하게 만든 부호획득 방법을 쓸 때의 성능을 덧셈꼴 흰빛 정규잡음 채널과 느리게 바뀌는 감쇄채널에서 견주어 보았다. 간단하게 만든 방법들은 이제까지의 방법들과 성능이 비슷하다는 것을 모의실험에서 알 수 있었다.

• 콘크리트학회논문집
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• 제15권6호
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• pp.924-929
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• 2003

A majority of infrastructures has been deteriorated over time. Therefore, it is very important to verify the quality of construction, and the level of structural deterioration in existing structures, to ensure their safety and functionality. Many researchers have studied non-destructive testing (NDT) methods to identify structural problems in existing structures. The impact echo technique is one of the widely used NDT techniques. The impact echo technique has several inherent problems, including the difficulties in P-wave velocity evaluation due to inhomogeneous concrete properties, deterioration of evaluation accuracy where multiple reflection boundaries exist, and the influence of the receiver location in evaluating the thickness of the tested structures. Therefore, the objective of this paper is to propose an enhanced impact echo technique that can reduce the aforementioned problems and develop a Virtual Instrument for the application via a thickness evaluation technique which has same technical background to find deterioration in concrete structures. In the proposed impact echo technique, transfer function from dual channel system analysis is used, and coherence is improved to achieve reliable data. Also an averaged signal -ensemble- is used to achieve more reliable results. From the analysis of transfer function, the thickness is effectively identified.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제10권7호
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• pp.3245-3271
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• 2016

To obtain well-dehazed images at the receiver while sustaining low bit rates in the transmission pipeline, this paper investigates the effects of image dehazing methods using dehazing contrast-enhancement filters on image compression for surveillance systems. At first, this paper proposes a novel image dehazing method by using a new method of calculating the transmission function—namely, the direct denoising method. Next, we deduce the dehazing effects of the direct denoising method and image dehazing method based on dark channel prior (DCP) on image compression in terms of ringing artifacts and blocking artifacts. It can be concluded that the direct denoising method performs better than the DCP method for decompressed (reconstructed) images. We also improve the direct denoising method to obtain more desirable dehazed images with higher contrast, using the saliency map as the guidance image to modify the transmission function. Finally, we adjust the parameters of dehazing contrast-enhancement filters to obtain a corresponding composite peak signal-to-noise ratio (CPSNR) and blind image quality assessment (BIQA) of the decompressed images. Experimental results show that different filters have different effects on image compression. Moreover, our proposed dehazing method can strike a balance between image dehazing and image compression.