• KIPS Transactions on Software and Data Engineering
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• v.1 no.1
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• pp.43-54
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• 2012

This paper presents a new localization technique of an UGV(Unmanned Ground Vehicle) by matching ortho-edge images generated from a DSM (Digital Surface Map) which represents the 3D geometric information of an outdoor navigation environment and 3D range data which is obtained from a LIDAR (Light Detection and Ranging) sensor mounted at the UGV. Recent UGV localization techniques mostly try to combine positioning sensors such as GPS (Global Positioning System), IMU (Inertial Measurement Unit), and LIDAR. Especially, ICP (Iterative Closest Point)-based geometric registration techniques have been developed for UGV localization. However, the ICP-based geometric registration techniques are subject to fail to register 3D range data between LIDAR and DSM because the sensing directions of the two data are too different. In this paper, we introduce and match ortho-edge images between two different sensor data, 3D LIDAR and DSM, for the localization of the UGV. Details of new techniques to generating and matching ortho-edge images between LIDAR and DSM are presented which are followed by experimental results from four different navigation paths. The performance of the proposed technique is compared to a conventional ICP-based technique.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.10
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• pp.2252-2258
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• 2013

In this paper, parallel orthogonal matching pursuit (POMP) is proposed to supplement the simultaneous orthogonal matching pursuit (S-OMP) which has been widely used as a greedy algorithm for sparse signal recovery for multiple measurement vector (MMV) problem. The process of POMP is simple but effective: (1) multiple indexes maximally correlated with the observation vector are chosen at the first iteration, (2) the conventional S-OMP process is carried out in parallel for each selected index, (3) the index set which yields the minimum residual is selected for reconstructing the original sparse signal. Empirical simulations show that POMP for MMV outperforms than the conventional S-OMP both in terms of exact recovery ratio (ERR) and mean-squared error (MSE).

• The Journal of Korean Institute of Communications and Information Sciences
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• v.41 no.8
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• pp.917-920
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• 2016

SpSF algorithm is direction-of-arrival estimation algorithm based on sparse representation of incident signlas. Cost function to be optimized for DOA estimation is multi-dimensional nonlinear function, which is hard to handle for optimization. After some manipulation, the problem can be cast into convex optimiztion problem. Convex optimization problem tuns out to be constrained optimization problem, where the parameter in the constraint has to be determined. The solution of the convex optimization problem is dependent on the specific parameter value in the constraint. In this paper, we propose a rule-of-thumb for determining the parameter value in the constraint. Based on the fact that the noise in the array elements is complex Gaussian distributed with zero mean, the average of the Frobenius norm of the matrix in the constraint can be rigorously derived. The parameter in the constrint is set to be two times the average of the Frobenius norm of the matrix in the constraint. It is shown that the SpSF algorithm actually works with the parameter value set by the method proposed in this paper.

• The Journal of the Korea Contents Association
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• v.11 no.7
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• pp.38-50
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• 2011

For energy-efficiency in Wireless Sensor Networks (WSNs), when a sensor node detects events, the sensing period for collecting the detailed information is likely to be short. The lifetime of WSNs decreases because communication modules are used excessively on a specific sensor node. To solve this problem, the TARP decentralized network packets to neighbor nodes. It considered the average data transmission rate as well as the data distribution. However, since the existing scheme did not consider the energy consumption of a node in WSNs, its network lifetime is reduced. The proposed scheme considers the remaining amount of energy and the transmission rate on a single node in fitness evaluation. Since the proposed scheme performs an efficient congestion control it extends the network lifetime. The simulation result shows that our scheme enhances the data fairness and improves the network lifetime by about 27% on average over the existing scheme.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.33 no.4B
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• pp.207-214
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• 2008

Under future internet environment, wireless sensor networks will be used in a wide range of applications. A major problem for designing sensor protocol is developing the most energy efficient technique to monitor an area of interest for a long time since sensors have some constraints such as small and a limited energy level. In addition, data latency is often a critical issue since sensory data is transmitted via multi hop fashion and need to be delivered timely for taking an appropriate action. Our motivation for designing a data forwarding protocol is to minimize energy consumption while keeping data latency bound in wireless sensor networks. In this paper, we propose a data forwarding protocol that consists of wakeup scheduling and MAC protocols, the latter of which is designed to achieve load balancing. Simulation results show that the proposed framework provides more energy-efficient delivery than other protocol.

• The Journal of the Korea institute of electronic communication sciences
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• v.6 no.6
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• pp.809-814
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• 2011

The major resource problem in sensor networks is energy efficiency. There are two major access methods to efficiently use energy. The first is to use dynamic power management (DPM). The second is to use energy efficient protocols. In DPM methods, the OS, the power manager, is responsible for managing the proper power state of CPU and each I/O with respect to the events, but the OS is not largely concerned about the internal operation of each network protocols. Also, energy efficient protocols are mainly focused on the power saving operation of the radio PHY. In addition, in wireless sensor network most of tasks are connected to communication. In such a situation, traditional power managers can waste unpredicted power. In this paper, we introduce an efficient power manger that can reduce a lot of unwanted power consumption through cooperative power management (CPM) in communication-related tasks between each units, such as radio, sensing unit, and CPU, for ad hoc wireless sensor nodes.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.10 no.5
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• pp.209-213
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• 2010

This paper is a study of Car safety network system using sensed data from varied sensors. This hardware will work with various sensors and communication protocols. There are many sensors. Then, I selected 3 sensors for test, which were sonic sensor for distance checking, tilt sensor for rollover and impact sensor for car accident and theft. Also, there are many interfaces for sensor. Therefore I designed hardware to support various sensor interfaces. For instance ADC(Analog to Digital converter), I2C, RS232, RS485, CAN. In this case, sonic sensor have I2C interface, tilt sensor have RS485 interface and Impact sensor have analog interface. In this research, I can gather sensing data from 3 sensors (mentioned above), and sending control signal to other processor with RS232, RS485, CAN communication. So, we can use easily this hardware for many cases of systems, which need sensors.

• The Journal of the Korea Contents Association
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• v.10 no.2
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• pp.63-71
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• 2010

In this paper, we propose the Agricultural Environment Monitoring System based on Sensor Network which can collect information of crop cultivation environment and monitor it in real-time by using various environment sensors. Existing wireless sensor nodes, based on the sensor network, require extra conversion/control module depending on the characteristics. To solve this problem, we developed an integrated sensor module which can integrate various kinds of sensors used to obtain the necessary information for the area under crop cultivation. In addition, we developed sensor networks monitoring system which is suitable for an integrated sensor module. To verify the operating status of the proposed system, an integrated sensor node is installed in the test environment so that it can sense information of the environment and monitor it in real-time.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.43 no.1 s.343
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• pp.9-18
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• 2006

This paper presents a Monte-Carlo based method to obtain a probability of interference in the 900MHz passive RFID systems. We show an efficient algorithm to calculate not only in-band interference due to unwanted emission of interfering sources for a given emission mask, but out-of-band interference, which depends on the blocking performances of a victim receiver filter. We next apply the proposed method to two types of RFID systems, one is to use simple FHSS and the other to adopt a hybrid use of FHSS and LBT, which senses the channel before transmission. Simulation is first performed with a SEAMCAT. We next make simulation with a MATLAB software which implements SEAMCAT algorithm and show both results from two softwares are similar.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.48 no.9
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• pp.13-21
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• 2011

In this paper, the CMOS programmable interface circuit for MEMS gyroscope is presented, and evaluated with the MEMS sensing element. The circuit includes the front-end charge amplifier with 10 bit programmable capacitor arrays, 9 bit DAC for accurate offset calibration, and 10 bit PGA for accurate gain calibration. The self oscillation loop with automatic gain control operates properly. The offset error and gain error after calibration are measured to be 0.36 %FSO and 0.19 %FSO, respectively. The noise equivalent resolution and bias instability are measured to be 0.016 deg/sec and 0.012 deg/sec, respectively. The calibration capability of this circuit can reduce the variations of the output offset and gain, and this can enhance the manufacturability and can improve the yield.