• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2641-2647
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• 2003

Conventional DLLs estimate the delay times of satellite signals individually and feed back these measurements to the VCO independently. But VDLL estimates delay times and user position directly and then estimate the feedback term for VCO using the estimated position changes. In this process, input measurements are treated as vectors and these vectors are used for navigation. First advantage of VDLL is that noise is reduced in all of the tracking channels making them less likely to enter the nonlinear region and fall below threshold. Second is that VDLL can operate successfully when the conventional independent parallel DLL approach fails completely. It means that VDLL receiver can get enough total signal power to track successfully to obtain accurate position estimates under the same conditions where the signal strength from each individual satellite is so low or week that none of the individual scalar DLL can remain in lock when operating independently. To operate VDLL successfully, it needs to know the initial user dynamics and position and prevents total system from the divergence. The suggested integration method is to use the inertial navigation system to provide initial dynamics for VDLL and to maintain total system stable. We designed the GPS/INS integrated navigation system. This new type of integrated system contained the vector pseudorange format generation block, VDLL signal processing block, position estimation block and the conversion block from position change to delay time feedback term aided by INS.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.2
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• pp.223-228
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• 2006

The main purpose of this paper is to describe the code tracking performance of a non-coherent digital delay lock loop (DLL) or coherent DLL while tracking GNSS signal in the presence of signal masking. The masking effect is usually caused by buildings that obscure the signal in either a periodic or random manner. In some cases, ideal masking is used to remove random or periodic interference. Three types of the masked signal are considered - no masking, periodic masking, and random masking of the signal input to the receiver. The mean time to lose lock (MTLL) of the code tracking loop are evaluated, and some numerical result and simulation results are reported. Finally, the steadystate tracking errors on the performance of the tracking loop in interference environment are also presented.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.4
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• pp.295-304
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• 2000

In the teleoperation system, force and velocity signals are communicated between a master and a slave robot. The addition of force feedback to a teleoperation system benefits the operator by providing more information to perform given tasks especially for tasks requiring contact with environment. When the master and slave arms are located in different places, time delay is unavoidable and it is well known that the system can become unstable when even a small time delay exists in the communication channel. The control scheme proposed in this paper is based on the estimator with virtual master model. Delayed signal from the master robot can be replaced by the estimated signal with the virtual master model. This control scheme makes the teleoperation system stable for the given time delay while the conventional scheme is not. This new control scheme is verified through numerical simulations and an experiments using the dual axis testbed of the teleoperation system.

• Nuclear Engineering and Technology
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• v.41 no.1
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• pp.71-78
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• 2009

One of main concepts involved in regional small nuclear reactors is unmanned remote control. Internet-based virtual private networks provide environments for the remote monitoring and control of geographically-dispersed systems, and with the advances in communication technologies, the potential of networks for real time control and automation becomes enormous. However, networked control has some problems. The most critical is delay in signal transmission, which degrades system stability and performance. Therefore, a networked control system should be designed to account for delay. This paper proposes some design approaches for a delay-tolerant system that can guarantee predetermined stability margins and performance. To accomplish this, the reactor plant is modeled with consideration of uncertainties. With this model, three kinds of controllers are developed using different methods. The designed systems are compared with respect to stability and performance, and a second-order controller designed using the table lookup method was found to give the most satisfactory results.

• Proceedings of the Korea Institute of Applied Superconductivity and Cryogenics Conference
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• 2002.02a
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• pp.135-137
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• 2002

In the favor of adjusting microwave signal, Hairpin type Filter, which delay microwave signal enough to several nanosecond, is a key component. One of the main advantage in using Hairpin type Filter is a conveniency for equipping with Delay Module, and because of having a wide bandwidth, Hairpin type Filter can be designed to satisfy the most applications. In this work, we attempted to estimate the delay time in a superconductive hairpin type filter A software to synthesize even and odd order equiripple hairpin type filter has been developed. This software arbitrarily locate its transfer zeros making symmetric of asymmetric amplitude response and equalizing group delay. Borland C++ compiler has been used. The program was designed to run under MS-DOS, Window 98, Window 2000. The program optimizes the position of the transfer function zeros in order to fulfill the group delay specification masks. We designed and fabricated a hairpin type HTS 2-pole microstrip bandpass filter to operate at 5.8Ghz. The fabrication method was pulsed laser deposition and YBCO films were deposited on sapphire substrates with a Ce$O_{2}$ thin layer as a buffer layer. We also developed a new style hairpin type filter by using interdigitide inner-pole. Compared to the same size regular hairpin type filters, our filters had a lower center frequency.

• Journal of Satellite, Information and Communications
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• v.7 no.1
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• pp.128-133
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• 2012

In this paper, we analysis the effect of error of code tracking and frequency tracking according to the chip delay of spoofing signal through the simulation. Firstly, we investigate the type of spoofing signal and defense technical of spoofing attack. For simulation, we generated the intermediate spoofing signal using the software GNSS signal generator simulator(SGGS), the intermediate spoofers synchronize its counterfeit GPS signals with the current broadcast GPS signals. The software GPS receiver simulator(SGRS) received the spoofing signal and normal signal from SGGS, and process the signals. In paper, we can check that the DLL and PLL tracking loop error are generated and pseudo-range is changed non-linear according to chip delay of spoofing signal when the spoofing signal is entered. As a result, we can check that navigation solution is incorrectly effected by spoofing signal.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37A no.10
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• pp.895-902
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• 2012

In this paper, we propose a novel equalizer to compensate for the group delay including AM/PM nonlinear distortion characteristics by the nonlinear power amplifier (PA). The group delay characteristic is a nonlinear non-constant time delay that appears differently depending on each frequency component. The phase distortion by AM/PM characteristics arising from the power amplifier is a major factor to increase group delay. By the group delay distortion, the signal in the constellation expands and is rotated. Considering the problem mentioned above, the nonlinear time delay that appears differently depending on each frequency component is classified as a static group delay and AM/PM characteristic of PA, the different phase transitions depending on the size of input signal as a dynamic group delay. Static group delay estimates and compensate for phase distortions in the frequency domain with type-based method and dynamic group delay compensates for phase rotation in the time domain. We confirmed that the group delay compensation techniques were enough to compensate the group delay characteristics including AM/PM characteristics of the power amplifier.

• International Journal of Highway Engineering
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• v.11 no.3
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• pp.121-128
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• 2009

This study has proposed the signal operating system to use both semi-actuated signal control and pedestrian push-button as a way to make up for the problems of 3 leg intersections which are operated inefficiently in the signal operation, one of the methods of traffic operations. In case of the semi-actuated signal control, it can reduce delay inside the intersection by serving to uncongested traffic on the main road where there is not much traffic volume on the secondary road and push-button signal can reduce unnecessary waiting time it could happen to vehicles by operating it though there is no pedestrian. Quantitative analysis was tried regarding the average delay reduction per vehicle using VISSIM, microscopic simulation program regarding how much effect it has compared with the existing signal control system and semi-actuated signal control system when the above two advantages are collected. The field test was performed for one three-leg intersection of Incheon. According to respectively signal control method pedestrian traffic changed and executed a sensitivity analysis. The result which compares the average delay time per a vehicle of scenarios, the signal control method of using the pedestrian push-button system in comparison with the fixed signal control method showed to decrease effect of a minimum 3.7 second (10%), a maximum 5.8 second (16%). When the pedestrian traffic volume was 20% or less of the measurement traffic volume, The signal control method of using the pedestrian push-button system appeared to be more efficient the semi-actuated signal control with object intersection.

• International Journal of Railway
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• v.4 no.4
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• pp.93-96
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• 2011

The basic element of the EMS suspension is the electromagnet system, which suspends the vehicle without contact by attracting forces to the rails at the guideway. The suspension of a vehicle by attractive magnetic forces is inherently unstable and consequently it is continuously adjusted by the strength of the suspending electromagnet from rail irregularity and bending of the guideway. In order to improve reliable tracking, it needs to get feedback signals without measurement delay time. In this paper the concept of feedback control system with Kalman Filter in EMS is proposed. The input signals in the feedback control system are an air-gap and an acceleration signal. The air-gap signal with noise from the gap sensor is transformed to the filtered air-gap signal y without measurement delay time by using Kalman Filter. The filtered air-gap signal is transformed to a relative velocity and a relative acceleration signal. Then it multiplies these values by gain matrix in order to get the actuator's reference voltage value. The simulation results show that the dynamic responses of the suspension system can be improved by reducing the influence of measurement delay time of air-gap signals.

• Journal of Auto-vehicle Safety Association
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• v.14 no.3
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• pp.48-59
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• 2022

A V2X system can be a candidate as a means to increase the stability of autonomous vehicles. In particular, in order to implement a Level 4 or higher autonomous driving system, the application of the V2X system is essential. Wireless communication technologies applicable to the V2X system include WAVE and C-V2X. Currently, the V2X service most used by autonomous driving systems is a service that provides signal phase and timing information and since real-time characteristic is a very important, verification of this service must be done. In this paper, we measured the time delay characteristics for providing signal phase and timing information using WAVE and LTE communication, and proposed a TOD-based signal phase and timing information generation method without using V2X communication system. To analyze the time delay characteristics, RTT (Round Trip Time) was measured as a result of the measurement. Average RTT using WAVE communication was 5.84ms and was 104.15ms with LTE communication. As a result of measuring the error between the signal phase and timing information generated based on TOD and the actual traffic light state, it was measured to be -0.284~3.784sec.