• 전기학회논문지
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• 제68권3호
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• pp.480-488
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• 2019

In this paper, we propose an obstacle avoidance system for an unmanned ship to navigate safely in dynamic environments. Also, in this paper, one-dimensional low-cost lidar sensor is used, and a servo motor is used to implement the lidar sensor in a two-dimensional space. The distance and direction of an obstacle are measured through the two-dimensional lidar sensor. The unmanned ship is controlled by the application at a Tablet PC. The user inputs the coordinates of the destination in Google maps. Then the position of the unmanned ship is compared with the position of the destination through GPS and a geomagnetic sensor. If the unmanned ship finds obstacles while moving to its destination, it avoids obstacles through a fuzzy control-based algorithm. The paper shows that the experimental results can effectively construct an obstacle avoidance system for an unmanned ship with a low-cost LiDAR sensor using fuzzy control.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제4권6호
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• pp.1133-1151
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• 2010

Energy balanced consumption routing is based on assumption that the nodes consume energy both in transmitting and receiving. Lopsided energy consumption is an intrinsic problem in low-cost sensor networks characterized by multihop routing and in many traffic overhead pattern networks, and this irregular energy dissipation can significantly reduce network lifetime. In this paper, we study the problem of maximizing network lifetime through balancing energy consumption for uniformly deployed low-cost sensor networks. We formulate the energy consumption balancing problem as an optimal balancing data transmitting problem by combining the ideas of corona cluster based network division and optimized transmitting state routing strategy together with data transmission. We propose a localized cluster based routing scheme that guarantees balanced energy consumption among clusters within each corona. We develop a new energy cluster based routing protocol called "OECR". We design an offline centralized algorithm with time complexity O (log n) (n is the number of clusters) to solve the transmitting data distribution problem aimed at energy balancing consumption among nodes in different cluster. An approach for computing the optimal number of clusters to maximize the network lifetime is also presented. Based on the mathematical model, an optimized energy cluster routing (OECR) is designed and the solution for extending OEDR to low-cost sensor networks is also presented. Simulation results demonstrate that the proposed routing scheme significantly outperforms conventional energy routing schemes in terms of network lifetime.

• 제어로봇시스템학회논문지
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• 제17권3호
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• pp.218-222
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• 2011

This paper proposes a single-joint optical torque sensor with one body structure. Conventional optical torque sensors consist of three parts, two plates and an elastic structure. They have slightly slipping problem between plates and elastic structure due to the manufacturing tolerance. Since the order of measurement range of optical sensor is about ten micrometers, the slipping problem causes large measurement error, especially in the case of vibrational or high speed plant. This problem does not occur in the proposed design due to the one body structure. The proposed sensor has advantage of low cost, light weight, and small size. And it is easy to design and manufacture. Simulation works that analysis of stress and strain are performed accurately. To demonstrate the performance of proposed sensor, experiments were implemented to compare with a commercial force/torque sensor (ATI Mini45).

• 센서학회지
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• 제24권2호
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• pp.83-87
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• 2015

In this paper, we fabricated a low-cost glucose sensor with a simpler structure and fabrication process than the existing glucose sensor. The currently used glucose sensor has a three-layer structure with upper, middle, and bottom plates; here, we fabricated a single-layer glucose sensor using only a printing and dispensing process. We successfully fabricated the glucose sensor using a simple method involving the formation of an electrode and insulator layer through a 2- or 3-step printing process on plastic or paper film, followed by the dispensing of glucose oxidase solution on the electrode. Cyclic voltammetry (CV) and cyclic amperometry (CA) measurements were used to evaluate the characteristics of the fabricated single-layer glucose sensor. Also, its sensitivity was analyzed through glucose-controlled blood measurements. Hence, a low-cost single-layer glucose sensor was fabricated with evaluation of its characteristics demonstrating that it has useful application in medicine.

• Journal of information and communication convergence engineering
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• 제6권4호
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• pp.459-465
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• 2008

Locations of nodes as well as gathered data from nodes are very important because generally multiple nodes are deployed randomly and data are gathered in wireless sensor network. Since the nodes composing wireless sensor network are low cost and low performance devices, it is very difficult to add specially designed devices for positioning into the nodes. Therefore in wireless sensor network, technology positioning nodes precisely using low cost is very important and valuable. This research proposes Cooperative Positioning System, which raises accuracy of location positioning and also can find positions on multiple sensors within limited times.

• 제어로봇시스템학회논문지
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• 제14권8호
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• pp.774-778
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• 2008

The inaccuracy of inertial sensors used in low cost IMU's limits the usage to ARS, at best. Sensor fusion technologies are widely used to overcome this problem. GPS is the most popular secondary sensor, but GPS alone cannot fully compensate the IMU errors in the initial alignment process and rectilinear flights. This paper presents a new concept of aiding the low cost IMU with the sun line of sight vector. The simulation and experimental results in this paper proves that aiding of INS/GPS with the sun line of sight vector increases the observability and improves accuracy remarkably.

• 한국정보통신학회논문지
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• 제25권8호
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• pp.1130-1133
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• 2021

In this paper, a miniaturized sensor interface circuit for the respiration detection system is proposed. Respiratory diagnosis is one of the main ways to predict various diseases. The proposed system consists of respiration detection sensor, temperature sensor, and interface circuits. Electrochemical type gas sensor using solid electrolytes is adopted for respiration detection. Proposed system performs sensing, amplification, analog-to-digital conversion, digital signal processing, and i2c communication. And also proposed system has a small form factor and low-cost characteristics through optimization and miniaturization of the circuit structure. Moreover, technique for sensor degradation compensation is introduced to obtain high accuracy. The size of proposed system is about 1.36 cm².

• Journal of Mechanical Science and Technology
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• 제15권10호
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• pp.1369-1379
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• 2001

This paper focuses on a development of a sensor system measuring locations of a vehicle to localize a mobile robot while it tracks on the track (location sensor) . Also it focuses on a system configuration identifying the vehicle's orientation and distance from the object while it is stationary at certain station (position sensor) . As for the location sensor it consists of a set of sensors with a combined guiding and counting sensor, and an address-coded sensor to localize the vehicle while moving on the rail. For the position sensor a PSD (Position Sensitive Device) sensor with photo-switches sensor to measure the offset and orientation of the vehicle at each station is introduced. Both sensor systems are integrated with a microprocessor as a data relay to the main computer controlling the vehicle. The location sensor system is developed and its performance for a mobile robot is verified by experiments. The position measuring system is proposed and is robust to the environmental variation. Moreover, the two kinds of sensor systems guarantee a low cost application and high reliability.

• Current Optics and Photonics
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• 제5권3호
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• pp.298-305
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• 2021

Modern distance sensing methods employ various measurement principles, including triangulation, time-of-flight, confocal, interferometric and frequency comb. Among them, the triangulation method, with a laser light source and an image sensor, is widely used in low-cost applications. We developed an omnidirectional two-dimensional (2D) distance sensor based on the triangulation principle for indoor floor mapping applications. The sensor has a range of 150-1500 mm with a relative resolution better than 4% over the range and 1% at 1 meter distance. It rotationally scans a compact one-dimensional (1D) distance sensor, composed of a near infrared (NIR) laser diode, a folding mirror, an imaging lens, and an image detector. We designed the sensor layout and configuration to satisfy the required measurement range and resolution, selecting easily available components in a special effort to reduce cost. We built a prototype and tested it with seven representative indoor wall specimens (white wallpaper, gray wallpaper, black wallpaper, furniture wood, black leather, brown leather, and white plastic) in a typical indoor illuminated condition, 200 lux, on a floor under ceiling mounted fluorescent lamps. We confirmed the proposed sensor provided reliable distance reading of all the specimens over the required measurement range (150-1500 mm) with a measurement resolution of 4% overall and 1% at 1 meter, regardless of illumination conditions.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.544-546
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• 2004

This paper designs and evaluates a complementary filter for fusion of inertial sensor signals. Specifically, the designed filter is applied to inverted pendulum control where the pendulum's angle information is obtained from low-cost tilt and gyroscope sensors instead of an optical encoder. The complementary filter under consideration is a conventional one which consists of low- and high-pass filters. However, to improve the performance of the filter on the gyroscope, we use an integrator in the filter's outer loop. Frequency responses are obtained with both tilt and gyroscope sensors. Based on the frequency response results, we determine appropriate parameter values for the filter. The performance of the designed complementary filter is evaluated by applying the filter to inverted pendulum control. Experiments show that the performance of the designed filter is comparable to that of an optical encoder and low-cost inertial sensors can be used for inverted pendulum control with the heir of sensor fusion.