• Journal of Institute of Control, Robotics and Systems
• /
• v.1 no.1
• /
• pp.43-49
• /
• 1995

본 논문에서는 초음파 센서와 시각 센서에서 얻은 전방향 센서 데이타를 이용하여 실내 이동 로봇용 국부 유도 항법을 위한 새로운 환경 모델링 방법을 제안한다. 그리고 이 두 종류의 센서 데이타에 포함된 불확실성을 주관적 지식과 퍼지 연산법을 사용하여 정량적으로 다룰 수 있는 센서 융합법을 제안한다. 이 방법을 사용하여, 로봇의 현재 위치와 목표 위치간의 기하학적 관계를 더욱 정확하게 얻을 수 있다. 실험 결과를 통하여 제안된 모델링과 센서 융합법이 실내 이동 로봇 항법에 효과적임을 보였다.

• Journal of Institute of Control, Robotics and Systems
• /
• v.3 no.3
• /
• pp.219-226
• /
• 1997

지구를 원궤도로 돌고 있는 위성 운동과 지진에 흔들리는 건물 진동을 선형 확률적 미분 방정식으로 나타내고 최적화 제어를 위하여 리스크 센서티브 제어기를 사용한다. 리스크 센서티브 파라미터에 따라서 코스트 함수의 평균과 분산이 변하게 된다. 이 파라미터가 무한히 커지면 리스크 센서티브 제어기는 기존의 LQG 제어기와 같아지므로 리스크 샌서티브 제어이론은 LQG 제어 이론을 포함한 종합적인 이론이다. 이 논문에서는 리스크 센서티브 이론을 소개하고, 리스크 센서티브 제어 방식의 성능 측정및 평가 방법을 도출하기 위하여 공분산을 이용하면 리스크 센서티브 제어기는 기존의 LQG 제어기 보다 우수한 성능을 나타낸다는 것을 보여준다. 시뮬레이션을 통하여 위성의 자세및 궤도 운동 제어와 건물 진동 제어에 활용된 리스크 센서티브 제어기의 향상된 성능과 안정성을 보여준다.

• Proceedings of the Korean Information Science Society Conference
• /
• 2007.06b
• /
• pp.223-227
• /
• 2007

무선 센서 네트워크는 유비쿼터스 컴퓨팅에서 생활환경과 컴퓨터 사이의 중계자 역할을 하는 매우 중요한 연구 분야이다. 매우 제약적인 자원 환경에서 동작하여야 하는 센서 노드의 특성 때문에 제한된 자원을 효율적으로 관리할 수 있는 센서 노드용 운영체제가 요구된다. 또한 센서 네트워크는 외부 물리 환경의 변화에 반응하여 동작하는 시스템이기 때문에 여러 이벤트를 동시에 재빠르게 처리 할 수 있는 기능을 제공해야 하며, 센서네트워크 어플리케이션 프로그래머에게 이러한 반응형 어플리케이션 개발이 용의하도록 하는 프레임워크를 제공해야 한다. 이를 위해 본 논문에서는 반응형 시스템에 적합한 상태머신 프레임 워크를 멀티쓰레드 기반의 Nano-Qplus 운영체제 상에서 센서 네트워크의 자원적 제약을 준수하면서 효율적으로 이벤트를 처리 할 수 있는 프레임워크를 지원하는 센서네트워크용 운영체제의 구조를 제안한다.

• Journal of Aerospace System Engineering
• /
• v.15 no.3
• /
• pp.99-104
• /
• 2021

The characteristics of wind sensors were experimentally analyzed and compared for purposes of application in multicopter type drones. For rotating wind sensors, the dynamics effect causes measurement errors, while manufacturing errors and signal processing errors were found to constitute significant errors in ultrasonic sensors. In the ultrasonic sensor, the errors decrease as the distance of the transducer increases. These characteristics were experimentally confirmed, and it was established that ultrasonic sensors capable of outputting voltage or data of 10 Hz or more are suitable for use in multicopters.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
• /
• v.8 no.6
• /
• pp.507-514
• /
• 2015

The Internet of Things era is approaching where all the things are equipped with smart sensors and communicate through internet. The three core technologies of the Internet of Things are 'detection technology' to get information from things and the environment, 'wired and wireless communications and network infrastructure skills' that support to connect things to the internet, and 'service interface technology' that processes the information appropriate to various services. Smart sensor application can expand to smartphone, smart cars, smart home systems, wearable electronic devices, telemedicine systems, and environmental monitoring systems, etc. In particular, technologies that mimic the five human senses. This study reviews the biological principles of the human senses and the principles of operation, research & development status, technology trends and market analysis of the sensors.

• Journal of the Korean Institute of Gas
• /
• v.6 no.1 s.17
• /
• pp.52-58
• /
• 2002

The PIG(Pipeline Inspection Gauge) is inserted in the pipeline and stores data of pipeline. In order to investigate the status of pipeline, a lot of sensors such as caliper, pressure, IMU and odometer are used. In this paper, the navigation storage data system for PIG is developed. It has master/slave structure for a real time operation. The master system stores data, while the slave system acquire the data from sensors. The performance of the developed system is verified by pull rig test.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.40 no.11
• /
• pp.2252-2260
• /
• 2015

In this paper, we propose a vehicular cooperative navigation system using GNSS, vision sensor and radar sensor that are frequently used in mass-produced cars. The proposed cooperative vehicular navigation system is a variant of the Hybrid-Sum Product Algorithm over Wireless Network (H-SPAWN), where we use vision and radar sensors instead of radio ranging(i.e.,UWB). The performance is compared and analyzed with respect to the sensors, especially the position estimation error decreased about fifty percent when using radar compared to vision and radio ranging. In conclusion, the proposed system with these popular sensors can improve position accuracy compared to conventional cooperative navigation system(i.e.,H-SPAWN) and decrease implementation costs.

• Journal of Internet Computing and Services
• /
• v.9 no.3
• /
• pp.51-58
• /
• 2008

Wireless sensor networks are used by various application areas to implement smart data processing and ubiquitous system. In the recent research of parking management system based on wireless sensor networks, adaptive sensing and efficient data processing are not considered. The effectiveness of implementing these distributed computing devices affects the performance of the applications in parking management. This paper proposes an adaptive sensing using fuzzy wireless sensor for the ubiquitous networks of parking management system. The fuzzy inference system is encoded in the sensor for efficient car presence detection. Moreover, a rule base adaptive module is proposed which wirelessly transmit the new values to each sensor for adapting the environment of car park area. The result of experiments shows that the fuzzy wireless sensor provides more throughputs and less time delays compared to a normal method of data gathering by wireless sensors.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.10 no.10
• /
• pp.1897-1904
• /
• 2006

Home service robot must recognize and build map for indoor and components of the house such as furniture and chair etc. The previous researcher has developed a indoor map building system by using CCD camera and ultra sonic sensor. %no stems have some problem in such a way that (1) a distun resolution can be changed according to the number of pixel when we use a CCD camera system, (2) a measured distance can be decreased when it transmitted to the rubber because of being absorbed the sound energy. This paper represents an intelligent sensor controller of module has been developed by using optic PSD(Position Sensitive Detector) sensor any at a low price. To deduce the switching noise from beam power module and diffused reflection noise, we proposed a heuristic soft filter. The performance of the developed system was compared with ultra sonic sensor system by detecting the indoor wall environment. Some experiments were illustrated for the validity of the developed system.

• Proceedings of the Korean Society of Propulsion Engineers Conference
• /
• 2010.11a
• /
• pp.167-169
• /
• 2010

Electronic control units for propulsion systems are devices which compute control algorithm by processing the systems' internal sensor signals. Due to the effect of transmission between sensors and a control unit, previous analog systems have drawbacks of signal attenuation and susceptibility to noises. However, a digital sensor can be less influenced by the electrical cable line as it includes sensor, AMP, and AD converter in one module. In addition, it can reduce the process time for control algorithm because extra S/W filtering process is not needed. The current study shows how to process signals for an electronic control unit using digital sensors.