• Journal of the Korea Academia-Industrial cooperation Society
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• v.10 no.7
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• pp.1549-1555
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• 2009

The Relay node placement problem is one of the most important requirements for many wireless sensor networks because the lifetime of sensor networks is closely related with the placement of relay nodes which receive sensed data from sensor nodes and forward them to the base station. Relay node placement problem has focused at minimization of dissipated total energy of the sensor nodes in whole networks. However, minimum total energy causes the unbalance of consumed energy in sensor nodes due to different distances between relay nodes and sensor nodes. This paper proposes the concept of energy balance ratio and finds the locations of relay nodes using objective functions which maximize the energy balance ratio. Maximizing this ratio results in maximizing the network lifetime by minimizing the energy consumption of large-scale sensor networks. However, finding a solution to relay node placement problem is NP-hard and it is very difficult to get exact solutions. Therefore, we get approximate solutions to EBR-RNP problem which considers both energy balance ratio and relay node placement using constraint programming.

• Journal of Ocean Engineering and Technology
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• v.21 no.4
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• pp.45-54
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• 2007

In the context of auto-landing containers from a container ship to a truck or automatic guided vehicle and vice versa, this research investigates three schemes, one in Part I and two in Part II, for measuring the absolute position of a container. Coordinate transformations between the reference-coordinate, sensor-coordinate, and body-coordinate systems are briefly discussed. The scheme explored in Part I aims the use of three laser-slit sensors, which are relatively inexpensive. In this case, nine nonlinear equations are formulated for six unknown variables (three for orientation and three for position), so a closed-form solution is not available. Instead, an approximate solution through linearization was derived. An advantage of the method in Part I is its ability to measure an absolute position in 3D space, while a disadvantage is the computation time required to obtain pseudo-inverses and the approximate nature of the obtained solution. Numerical examples are provided.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2014.10a
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• pp.585-588
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• 2014

This paper presents a self-powered sensor node circuit using photovoltaic and vibration energy harvesting. The harvested energy from a solar cell and a vibration device(PZT) is stored in a storage capacitor. The stored energy is managed by a PMU(Power Management Unit). In order to supply a stable voltage to the sensor node, an LDO(Low Drop Out Regulator) is used. The LDO drives a temperature sensor and a SAR ADC(Successive Approximate Register Analog-to-Digital Converter), and 10-bit digital output data corresponding to current temperature is obtained. The proposed circuit is designed in a 0.35um CMOS process, and the designed chip size including PADs is $1.1mm{\times}0.95mm$.

• Journal of information and communication convergence engineering
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• v.16 no.1
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• pp.38-42
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• 2018

In this paper, we consider measurement allocation problem in a spatially correlated sensor field. Our goal is to determine the probability of each sensor's being measured based on its contribution to the estimation reliability; it is desirable that a sensor improving the estimation reliability is measured more frequently. We consider a spatial correlation model of a sensor field reflecting transmission power limit, noise in measurement and transmission channel, and channel attenuation. Then the estimation reliability is defined distortion error between event source and its estimation at sink. Motivated by the correlation nature, we model the measurement allocation problem into a cooperative game, and then quantify each sensor's contribution using Shapley value. Against the intractability in the computation of exact Shapley value, we deploy a randomized method that enables to compute the approximate Shapley value within a reasonable time. Besides, we envisage a measurement scheduling achieving the balance between network lifetime and estimation reliability.

• International Journal of Concrete Structures and Materials
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• v.3 no.1
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• pp.33-37
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• 2009

Fiber Bragg grating (FBG) sensors already have been the focus for structural health monitoring (SHM) due to their distinguishing advantages. However, as bare optical fiber is very fragile, bare FBG strain sensor without encapsulation can not properly be applied in practical infrastructures. Therefore encapsulation techniques for making encapsulated FBG strain sensor show very important in pushing forward the application of FBG strain sensors in SHM. In this paper, a simplified approximate method to analyze the stress transferring rules for embedded FBG strain sensors in concrete monitoring is put forward according to mechanics of composite materials. Shear lag theory is applied to analyze the stress transferring rule of embedded FBG strain sensor in measured host material at the first time. The measured host objects (concrete) and the encapsulated FBG strain sensor are regarded as a composite, and then the stress transfer formula and stress transfer coefficient of encapsulated FBG strain sensor are obtained.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.12
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• pp.1086-1092
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• 2000

To realize a visual servo control of slender manipulators, two problems to be solved are analysed. The stability problem on so-called noncolocation control and the infinite order problem of the real Jacobian matrix caused by the elastic deformation are discussed. By considering the dynamic relations between rigid and elastic modes, a Jacobian operator is derived and the physical meaning is also explained. Then, for practical control, a simple control scheme using an approximate Jacobian is proposed and its stable conditions are proven by means of the $L_$2$ stability theory. The scheme is structurally similar to the conventional PD control laws, but external sensors(e. g. visual sensor) are used for positioning and internal sensors for damping. A good performance is obtained via control experiments of a slender two link manipulator.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.10
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• pp.45-52
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• 2001

This paper presents a study on the position tracking control of a robot system on the uncertain elastic base. The elastic bathe is a nonholonomic system but it can be changed into holonomic system, which is much easier to analyze, by modeling an elastic base as a virtual robot that has passive joints. Also, Jacobian operators, which represent the overall robot system including base movement, are defined and applied to the changed model. However, because base movements are not known, the exact Jacobian operators can＇t be estimated. The control algorithm proposed is that uses only Jacobians of a real robot as approximate Jacobian operators. Therefore the approximate Jacobian operators compensate the measured errors from external sensors. The proposed control strategy is evaluated by the simulation and experiment of a single-axis robot system on the elastic base.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.16 no.2
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• pp.7-15
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• 2017

Recently, an electricity sensor system has been installed and operated to prevent failures and accidents by identifying whether a transformer is normal in advance of failure. This electricity sensor system is able to both measure and monitor the transformer's power and voltage remotely and send information to a manager when unusual operation is discovered. However, a battery is required to operate power detection devices, and battery systems need ongoing management such as regular replacement. In addition, at a maintenance cost, occasional human resources and worker safety problems arise. Accordingly, we apply a linear electromagnetic generator using vibration energy from a transformer for an electric sensor system's drive in this research and we conduct optimal design to maximize the linear electromagnetic generator's power. We consider design variables using the provided design method from Process Integration, Automation, and Optimization (PIAnO), which is common tool from process integration and design optimization (PIDO). In addition, we analyze the experiment point from the design of the experiments using "MAXWELL," which is a common electromagnet analysis program. We then create an approximate model and conduct accuracy verification. Finally, we determine the optimal model that generates the maximum power using the proven approximate kriging model and evolutionary optimization algorithm, which we then confirm via simulation.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.1
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• pp.445-450
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• 2011

In this paper, we describe the implementation of an wireless sensor network testbed. We developed a web-based sensor network gateway and enhanced the Surge program which is used for sending and routing of packets in the sensor field. The developed program can transmit the source data of sensor nodes to the sink node via multi-hop routing, and deliver user commands to actuate sensor related equipments. Moreover, in this testbed, the data transport path from a node to the sink can be monitored. Thus we can approximate the network topology and the relative positions of sensor nodes. We also describe an application of the testbed that is used for controlling a remote robot.

• The Journal of Korea Robotics Society
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• v.16 no.4
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• pp.291-298
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• 2021

In this study, we present a multi-sensor module for snake robot searching survivors in a narrow space. To this end, we integrated five sensor systems by considering the opinions of the first responders: a gas sensor to detect CO₂ gases from the exhalation of survivors, a CMOS camera to provide the image of survivors, an IR camera to see in the dark & smoky environment, two microphones to detect the voice of survivors, and an IMU to recognize the approximate location and direction of the robot and survivors. Furthermore, we integrated a speaker into the sensor module system to provide a communication channel between the first responders and survivors. To integrated all these mechatronics systems in a small, compact snake head, we optimized the positions of the sensors and designed a stacked structure for the whole system. We also developed a user-friendly GUI to show the information from the proposed sensor systems visually. Experimental results verified the searching function of the proposed sensor module system.