UWB (Ultra Wide Band) refers to a system with a bandwidth of over 500 MHz or a bandwidth of 20% of the center frequency. It is robust against channel fading and has a wide signal bandwidth. Using the IR-UWB based ranging system, it is possible to obtain decimeter-level ranging accuracy. Furthermore, IR-UWB system enables acquisition over glass or cement with high resolution. In recent years, IR-UWB-based ranging chipsets have become cheap and popular, and it has become possible to implement positioning systems of several tens of centimeters. The system can be configured as one-way ranging (OWR) positioning system for fast ranging and TWR (two-way ranging) positioning system for cheap and robust ranging. On the other hand, the ranging based positioning system has a limitation on the number of terminals for localization because it takes time to perform a communication procedure to perform ranging. To overcome this problem, code multiplexing and channel multiplexing are performed. However, errors occur in measurement due to interference between channels and code, multipath, and so on. The measurement filtering is used to reduce the measurement error, but more fundamentally, techniques for removing these measurements should be studied. First, the TWR based positioning was analyzed from a stochastic point of view and the effects of outlier measurements were summarized. The positioning algorithm for analytically identifying and removing single outlier is summarized and extended to three dimensions. Through the simulation, we have verified the algorithm to detect and remove single outliers.

For a practical mobile robot team such as carrying out a search and rescue mission in a disaster area, the localization have to be guaranteed even in an environment where the network infrastructure is destroyed or a global positioning system (GPS) is unavailable. The proposed architecture supports localizing robots seamlessly by finding their relative locations while moving from a global outdoor environment to a local indoor position. The proposed schemes use a cooperative positioning system (CPS) based on the two-way ranging (TWR) technique. In the proposed TWR-based CPS, each non-localized mobile robot act as tag, and finds its position using bilateral range measurements of all localized mobile robots. The localized mobile robots act as anchors, and support the localization of mobile robots in the GPS-shadow region such as an indoor environment. As a tag localizes its position with anchors, the position error of the anchor propagates to the tag, and the position error of the tag accumulates the position errors of the anchor. To minimize the effect of error propagation, this paper suggests the new scheme of full-mesh based CPS for improving the position accuracy. The proposed schemes assuring localization were validated through experiment results.

In the removal of heavy metals from the mine deposit using electrokinetic processes, the effects of operation under both constant current and constant potential conditions were estimated. The results of soil pH distributions for DDW-20 V and DDW-100 ㎃ cases after the electrokinetic remediation tests were observed. In the former case, soil pH was not much changed and kept to almost constant value just little higher than initial soil pH of 3.52, except near the cathode, which was about pH 5. While in the latter case, soil pHs of anode and the cathode regions were less than pH 3 and about 6, respectively. The electroosmotic flow to the cathode increased rapidly till 10 hrs and decreased steadily and then maintained to constant rate until the end of operation at constant current condition. Electric potential gradient was continuously increased to as much as 34.375 V/cm. At the steady state, values of the apparent electric conductivity for DDW-20 V and DDW-100 ㎃ were around 40 ㎲/㎝ and 30 ㎲/㎝, respectively. In the DDW-100㎃ test, Cu, Cd, and Zn except Pb showed the tendency of moving toward the cathode. While in the DDW-20 V case, it was observed that Cu, Zn, and Pb except Cd were not moved to any directions. The results of the tests demonstrated that the electrokinetic soil remediation process could be operated better under constant current condition than constant electric potential condition.

Electrokinetic remediation technique offers the opportunity to extract heavy metals from soils with high plasticity. The experiment demonstrated the applicability of electrokinetic remediation on metal-mining deposit and the decision of the enhancement method for four kinds of bench-scale studies. According to the sequential extraction of heavy metals in the "I" mining deposit, Pb and Cu were mostly associated with residual fraction and Zn and Cd were associated with water soluble and residual fraction. Therefore, removable fractions by electrokinetic technology was determined by the sum of the fraction of water soluble and exchangeable, which is Cu : 19.53 %, Pb : 1.42 %, Cd : 52.82 %, Zn : 57.28 %, respectively. When considering electrical potential, volume of effluent, soil pH, and eliminated rate of contaminant, results determined by sum of each weight were Citric aic+SDS (13) > 0.1N HNO3 (10) > HAc (8) > DDW (4). Therefore, citric acid and SDS mixed solution was determined the best enhancing agent for the remediation of metal mining deposit.