• Journal of the Korean Society of Industry Convergence
• /
• v.21 no.4
• /
• pp.167-174
• /
• 2018

Presently, the exploration of an unknown environment is an important task for the development of mobile robots and mobile robots are navigated by means of a number of methods, using navigating systems such as the sonar-sensing system or the visual-sensing system. To fully utilize the strengths of both the sonar and visual sensing systems, In mobile robotics, multi-sensor data fusion(MSDF) became useful method for navigation and collision avoiding. Moreover, their applicability for map building and navigation has exploited in recent years. In this paper, as the preliminary step for developing a multi-purpose autonomous carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as ultrasonic sensor, IR sensor for mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within indoor environments. Simulation results with a mobile robot will demonstrate the effectiveness of the discussed methods.

• Journal of the Korean Society of Industry Convergence
• /
• v.20 no.2
• /
• pp.89-95
• /
• 2017

In this paper, we suggest the method for a mobile robot to move safely from an initial position to a goal position in the wide environment like a building. There is a problem using odometry encoder sensor to estimate the position of a mobile robot in the wide environment like a building. Because of the phenomenon of wheel's slipping, a encoder sensor has the accumulated error of a sensor measurement as time. Therefore the error must be compensated with using other sensor. A vision sensor is used to compensate the position of a mobile robot as using the regularly attached light's panel on a building's ceiling. The method to create global path planning for a mobile robot model a building's map as a graph data type. Consequently, we can apply floyd's shortest path algorithm to find the path planning. The effectiveness of the method is verified through simulations and experiments.

• Journal of information and communication convergence engineering
• /
• v.7 no.4
• /
• pp.525-529
• /
• 2009

On the limited urban area meteorological data are hard to be collected because of the cost problem. The facilities collecting the data require high installment cost. Recently, the sensor network technique comes to the fore as a solution. Furthermore a mobile phone also becomes to be recognized as a sensor. This paper studies an application to service the meteorological map using mobile phone sensor. A design results for system implementation are introduced in this paper.

• Journal of information and communication convergence engineering
• /
• v.7 no.3
• /
• pp.281-285
• /
• 2009

Mobile robot has various sensors for describing the external world. The ultrasonic sensor widely applied to the most mobile robot to detect the obstacle and environment owing to low cost, its easy to use. However, ultrasonic sensor has major problems: the uncertainty information of sensor, false readings caused by specular reflection, multi path effect, low angular resolution and sensitivity to changes in temperature and humidity. This paper describes a sensor system for map building of mobile robot. It was made of low cost PSD (Position Sensitive Detector) sensor array and high speed RISC MPU. PSD sensor is cost effective and light weighting but its output signal has many noises. We propose heuristic S/W filter to effectively remove these noises. The developed map building sensor system was equipped on a mobile robot and was compared with ultrasonic sensor through field test.

• Journal of the Institute of Convergence Signal Processing
• /
• v.12 no.4
• /
• pp.348-354
• /
• 2011

Mobile robots performed various missions in various environments. In order to move to target precisely, the mobile robots need a precise position sensing system In this paper, a new high precision docking sensor is proposed. Proposed docking sensor consists of linear CCD(charge coupled device) sensor and ultrasonic sensors. The docking sensor system can measure lateral position(X), longitudinal position(Y) and angle(${\theta}$) between the sensor and flat target with simple mark. Two ultrasonic sensors measure two distances which can be converted to longitudinal position and angle. Linear CCD sensor measures lateral position using center mark of the target. To verify performance of the sensor, the sensor is applied to an omnidirectional mobile robot. Several experimental results show highly precise performance of the sensor. Repeatability of the docking sensor is less than 1mm and $0.2^{\circ}$. Proposed docking sensor can be applied for precise docking of mobile robot.

• Journal of the Korea Society of Computer and Information
• /
• v.22 no.9
• /
• pp.33-40
• /
• 2017

In this paper, we propose a sink-location management and data-routing scheme to effectively support the mobile sink in solar-powered WSN. Battery-based wireless sensor networks (WSNs) have a limited lifetime due to their limited energy, but solar energy-based WSNs can be supplied with energy periodically and can operate forever. On the other hand, introduction of mobile sink in WSNs can solve some energy unbalance problem between sink-neighboring nodes and outer nodes which is one of the major challenges in WSNs. However, there is a problem that additional energy should be consumed to notify each sensor node of the location of the randomly moving mobile sink. In the proposed scheme, one of the nodes that harvests enough energy in each cluster are selected as the cluster head, and the location information of the mobile sink is shared only among the cluster heads, thereby reducing the location management overhead. In addition, the overhead for setting the routing path can be removed by transferring data in the opposite direction to the path where the sink-position information is transferred among the heads. Lastly, the access node is introduced to transmit data to the sink more reliably when the sink moves frequently.

• Journal of the Korean Society of Industry Convergence
• /
• v.10 no.2
• /
• pp.105-113
• /
• 2007

Accurate and low-cost sensor localization is a critical requirement for the deployment of wireless sensor networks in a wide variety of application. Sensor position is used for its data to be meaningful and for energy efficient data routing algorithm especially geographic routing. The previous works for sensor localization utilize global positioning system(GPS) or estimate unknown-location nodes position with help of some small reference nodes which know their position previously. However, the traditional localization techniques are not well suited in the senor network for the cost of sensors is too high. In this paper, we propose the sensor localization method with a mobile robot, which knows its position, moves through the sensing field along pre-scheduled path and gives position information to the unknown-location nodes through wireless channel to estimate their position. We suggest using the sensor position estimation method and an efficient mobility path model. To validate our method, we carried out a computer simulation, and observed that our technique achieved sensor localization more accurately and efficiently than the conventional one.

• Journal of the Korean Society of Industry Convergence
• /
• v.22 no.2
• /
• pp.209-218
• /
• 2019

This study proposes a new approach to Control the Orientation and position based on obstacle avoidance technology by multi sensors fusion and autonomous travelling control of mobile robot system for implimentation of Smart FA. The important focus is to control mobile robot based on by the multiple sensor module for autonomous travelling and obstacle avoidance of proposed mobile robot system, and the multiple sensor module is consit with sonar sensors, psd sensors, color recognition sensors, and position recognition sensors. Especially, it is proposed two points for the real time implementation of autonomous travelling control of mobile robot in limited manufacturing environments. One is on the development of the travelling trajectory control algorithm which obtain accurate and fast in considering any constraints. such as uncertain nonlinear dynamic effects. The other is on the real time implementation of obstacle avoidance and autonomous travelling control of mobile robot based on multiple sensors. The reliability of this study has been illustrated by the computer simulation and experiments for autonomous travelling control and obstacle avoidance.

• International journal of advanced smart convergence
• /
• v.5 no.1
• /
• pp.1-7
• /
• 2016

Recently, introduced a cloud computing technology to the IT industry, smart phones, it has become possible connection between mobility terminal such as a tablet PC. For dissemination and popularization of movable wireless terminal, the same operation have focused on a viable mobile cloud in various terminal. Also, it evolved Wireless Sensor Network(WSN) technology, utilizing a Body Sensor Network(BSN), which research is underway to build large Ubiquitous Sensor Network(USN). BSN is based on large-scale sensor networks, it integrates the state information of the patient's body, it has been the need to build a managed system. Also, by transferring the acquired sensor information to HIS(Hospital Information System), there is a need to frequently monitor the condition of the patient. Therefore, In this paper, possible sensor information exchange between terminals in a mobile cloud environment, by integrating the data obtained by the body sensor HIS and interoperable data DBaaS (DataBase as a Service) it will provide a base of mBodyCloud System. Therefore, to provide an integrated protocol to include the sensor data to a standard HL7(Health Level7) medical information data.

• Journal of the Korean Society of Industry Convergence
• /
• v.21 no.2
• /
• pp.95-101
• /
• 2018

This paper presents a collision free mobile robot navigation based on the fuzzy inference fusion model in unkonown environments using multi-ultrasonic sensor. Six ultrasonic sensors are used for the collision avoidance approach where CCD camera sensors is used for the trajectory following approach. The fuzzy system is composed of three inputs which are the six distance sensors and the camera, two outputs which are the left and right velocities of the mobile robot's wheels, and three cost functions for the robot's movement, direction, obstacle avoidance, and rotation. For the evaluation of the proposed algorithm, we performed real experiments with mobile robot with ultrasonic sensors. The results show that the proposed algorithm is apt to identify obstacles in unknown environments to guide the robot to the goal location safely.