• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2007.06a
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• pp.375-378
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• 2007

This paper describes indoor location estimation intelligent robot. It is loaded indoor location estimation function using RSSI based indoor location estimation system and wireless sensor networks. Spartan III(Xilinx, U.S.A.) is used as a main control device in the mobile robot and the current direction data is collected in the indoor location estimation system. The data is transferred to the wireless sensor network node attached to the mobile robot through Zigbee/IEEE 802.15.4, a wireless communication. After receiving it, with the data of magnetic compass the node is aware of and senses the direction the robot head for and the robot moves to its destination. Indoor location estimation intelligent robot is can be moved efficiently and actively without obstacle on flat ground to the appointment position by user.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.40 no.6
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• pp.1130-1141
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• 2015

Conventionally, a pulse radar is used for middle-sized or large-sized ships to detect other ships or obstacles located at a long distance. However, it is hardly equipped for most of the small-sized ships due to mounting and maintenance costs. Therefore, FMCW(frequency modulated continuous wave) radar is suggested as an alternative for the small-sized ships. Since it operates with low power and has good range resolution for relatively close objects, it is eligible for the small-sized ships. In previously proposed FMCW radar system, it only estimates distance and velocity of a target ship placed in the direction of main beam and is hard to detect several ships simultaneously. Thus, we suggest the method for detecting several ships at the same time by applying MUSIC(multiple signal classification) algorithm to FMCW radar signal received by a phased array antenna. In addition, by combining digital beam forming with the MUSIC algorithm, better angle resolution is achievable.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.05a
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• pp.101-104
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• 2015

In this paper, a flight techniques many quadcopters which can be configured flexibly squadron according to the situation in wireless sensor networks is suggested. In previous studies, aircrafts fly only as part of a prescribed form and know the distance between the aircraft by sensor was able to maintain the fleet. Also, the problem occurs that between the aircraft distance is not constant. In this paper, proposes an algorithm that the context of the formation fly using the current position of the quadcopter through a virtual map is based on the relative coordinates without being affected by Indoor, outdoor and obstacles. Proposed algorithm is Leader-Follower Technique that the method of determinin the shape of the squadron to the down command to the sub-quadcopter using the wireless network by the main quadcopter to determine a given situation. As simulation result, the proposed algorithm was confirmed that formation flight efficient in sensing the all conditions as compared to the conventional method.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.4
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• pp.675-683
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• 1992

Mapping and navigation system based on certainty grids for an autonomous mobile robt operating in unknown and unstructured environment is described. The system uses sonar range data to build a map of robot's surroundings. The range data from sonar sensor are integrated into a probability map that is composed of two dimensional grids which contain the probabilities of being occupied by the objects in the environment. A Bayesian model is used to estimate the uncertainty of the sensor information and to update the existing probability map with new range data. The resulting two dimensional map is used for path planning and navigation. In this paper, the Bayesian updating model which was successfully simulated in our earlier work is implemented on a mobile robot and is shown to be valid in the real world through experiment. This paper also proposes a technique for reducing for reducing specular reflection problem of sonar system which seriousely deteriorates the map quality, and a new path planning method based on weighted distance, which enables the robot to efficiently navigate in an unknown area.

• The Journal of the Korea institute of electronic communication sciences
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• v.13 no.2
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• pp.313-320
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• 2018

The importance of sensors on a self-driving vehicle has rising since it act as eyes for the vehicle. Lidar sensors based on laser technology tend to yield better image quality with more laser channels, thus, it has higher detection accuracy for obstacles, pedistrians, terrain, and other vechicles. However, incorporating more laser channels results higher unit price more than ten times, and this is a major drawback for using high channel lidar sensors on a vehicle for actual consumer market. To come up with this drawback, we propose a method of integrating multiple low channel, low cost lidar sensors acting as one high channel sensor. The result uses four 16 channels lidar sensors with small form factor acting as one bulky 64 channels sensor, which in turn, improves vehicles cosmetic aspects and helps widespread of using the lidar technology for the market.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2011.04a
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• pp.445-448
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• 2011

최근 재료 및 시공 기술의 지속적 발전으로 인하여, 사장교, 현수교 등 장대교량의 건설이 증가하고 있다. 이러한 장대교량들은 사회적 및 경제적인 중요성이 매우 크므로 교량 완공 후 유지관리 및 구조적 건전성을 모니터링하기 위하여 교량 각 주요 구조부재에 다양한 센서를 설치함으로써 교량모니터링시스템을 구축하여 외부하중에 의한 교량구조물의 거동을 감지, 수집, 분석하여 교량의 건전성을 파악하기 위하여 장대교량의 공용성과 안전성 확보에 많은 연구가 진행 되고 있으며 현재 국내외 다수의 장대교량들에는 다양한 센서로 이루어진 구조 건전성 모니터링 시스템이 설치, 운용되고 있다. 실제로 서해대교, 광안대교, 홍콩 TsingMa Bridge, 미국 Bill Emerson Memorial Bridge와 같은 실제 교량에도 적용된 바 있다. 하지만, 이상의 구조 건전성 모니터링 시스템 기술이 널리 활용되는 데는 여러 가지 장애물이 있는데, 그 중에서 가장 큰 것이 시스템을 구축하는 데 과다한 비용이 소요된다는 점이다. 예로 홍콩의 Tsing Ma 대교의 경우 350개의 센서를 설치하는데 약 8백만불이 넘는 금액이 들었으며(Farrar 등, 2004), Celeby(2002)의 보고에 의하면 각 센서의 채널 당 케이블의 설치 비용으로 약 5000불의 비용이 소모되고 있다. 이에 본 연구에서는 이러한 불편함을 극복하기 위하여 무선 센서를 개발하고, 이를 한강 상 교량 중 올림픽대교에 적용, 사장교의 구조 건전성을 저비용 및 높은 편의성으로 모니터링 하기 위한 테스트베드를 구축하여 무선 계측 시스템의 정확성 및 적용성을 확인하였다.

• Fire Science and Engineering
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• v.30 no.5
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• pp.36-45
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• 2016

Integral fire shutters are installed indiscriminately, regardless of evacuation. There is always the risk of an accident because integral shutters are applied mainly to corridors, passages, and stairs of schools This study evaluated the problem of integral shutter's entrance, evacuation, construction management, and maintenance control through a fire shutter accident case, including present condition of fire shutter installed at school of Okgil, Bucheon and Dongtan, Hwaseong. The results suggest that emergency lighting or signs for passage be set up to check location of entrance easily and install obstruction sensors at fire shutter to reduce life damage. In addition, the number of efficiency tests of fire shutters should be increased by running a trial test monthly or weekly to maintain the performance of fire shutter. Schools need to install a fire shutter- applied sprinkler at the entire floor.

• Journal of Korea Multimedia Society
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• v.14 no.4
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• pp.517-528
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• 2011

In this paper, we propose an indoor navigation system that can do walk safely to the destination for visually impaired persons. The proposed system analyzes images taken with the camera finds the ID of the marker to identify the absolute position of the pedestrian. Using the distance and angle obtained from IMU(Inertial Measurement Unit) accelerometer sensor and a gyro sensor, the system decides the relative position of a pedestrian for the previous position to determine the next direction. At the same time, we simplify a complex spatial structure in front of user by means of ultrasonic sensors and determine an avoidance direction by estimating the patterns. Then, it uses a few IR(Infrared Rays) sensors to detect stair. Our system offers position of visually impaired persons incorporating multiple sensors and helps users to arrive to destination safely.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.11 no.6
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• pp.1195-1200
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• 2007

This paper describes indoor location estimation intelligent robot. Indoor location estimation function using RSSI based indoor location estimation system and wireless sensor networks were implemented in the robot. Spartan III(Xilinx, U.S.A.) was used as a main control device in the mobile robot and the current direction data was collected in the indoor location estimation system. The data was transferred to the wireless sensor network node attached to the mobile robot through Zigbee/IEEE 802.15.4, a wireless communication. After receiving it, with the data of magnetic compass the node is aware of and senses the direction the robot head for and the robot moves to its destination. Indoor location estimation intelligent robot is can be moved efficiently and actively without obstacle on flat ground to the appointment position by user.

• Journal of Digital Convergence
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• v.19 no.12
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• pp.145-150
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• 2021

In order to continuously perform quarantine in public places, it is not easy to secure manpower, but using self-driving-based robots can solve problems caused by manpower. Self-driving-based quarantine robots can continuously prevent the spread of harmful viruses and diseases in public institutions and hospitals without additional manpower. The location of the autonomous driving function was estimated by applying the Pinnacle filter algorithm, and the UV sterilization system and chlorine dioxide injection system were applied for quarantine. The driving time is more than 3 hours and the position error is 0.5m.Soon, the stop-avoidance function was operated at 95% and the obstacle detection distance was 1.5 m, and the automatic charge recovery was charged by moving to the charging cradle at the remaining 10% of the battery capacity. As a result of quarantine with an unmanned quarantine system, UV sterilization is 99% and chlorine dioxide is sterilized more than 95%, which can contribute to reducing enormous social costs.