• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.7
• /
• pp.614-619
• /
• 2013

In multi-robot systems, ultrasonic sensors are widely used for localization and/or obstacle detection. However, conventional ultrasonic sensors have a drawback, that is, the interference problem among ultrasonic transmitters. There are some previous studies to avoid interferences, such as TDMA (Time Division Multiple Access) and CDMA (Code Division Multiple Access). In multiple autonomous mobile robots systems, the Doppler-effect has to be considered because ultrasonic transceivers are attached to the moving robots. To overcome this problem, we find out the ASK (Amplitude Shift Keying)-CDMA technique is more robust to the Doppler-effect than the BPSK (Binary Phase Shift Keying)-CDMA technique. In this paper, we propose a new code-expression method and a Monte-Carlo based algorithm that optimizes the ultrasonic code combination in the ASK-CDMA ultrasonic system. The experimental results show that the proposed algorithm improves the performance of the ultrasonic multiple accessing capacity in the ASK-CDMA ultrasonic system.

• Proceedings of the KIEE Conference
• /
• 2006.04a
• /
• pp.318-320
• /
• 2006

Inaccurate localization exposes a robot to many dangerous conditions. It could make a robot be moved to wrong direction or damaged by collision with surrounding obstacles. There are numerous approaches to self-localization, and there are different modalities as well (vision, laser range finders, ultrasonic sonars). Since sensor information is generally uncertain and contains noise, there are many researches to reduce the noise. But, the correctness is limited because most researches are based on statistical approach. The goal of our research is to measure more exact robot location by matching between built VRML 3D model and real vision image. To determine the position of mobile robot, landmark-localitzation technique has been applied. Landmarks are any detectable structure in the physical environment. Some use vertical lines, others use specially designed markers, In this paper, specially designed markers are used as landmarks. Given known focal length and a single image of three landmarks it is possible to compute the angular separation between the lines of sight of the landmarks. The image-processing and neural network pattern matching techniques are employed to recognize landmarks placed in a robot working environment. After self-localization, the 2D scene of the vision is overlaid with the VRML scene.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2008.10a
• /
• pp.316-319
• /
• 2008

Most of campus vehicle management systems, so far, have simple functions such as managing vehicle in/out or issuing parking tickets. Recently some of them use RFID tags to count total numbers of cars in the campus, excluding exact parking position management. In this paper we propose a new campus vehicle management system using wireless sensor network location management scheme. This system adopts RSSI based location management method with some performance improvement technique. According to the experimental result, this proposed scheme can be used to implement an effective campus vehicle management system.

• Proceedings of the Korean Information Science Society Conference
• /
• 2006.10b
• /
• pp.138-142
• /
• 2006

분산 센서 네트워크에 대한 연구는 정보 융합 방법론상에서 활발히 진행되고 있다. 기존의 센서 네트워크에서 정보의 융합을 위한 데이터의 수집은 센서 노드가 싱크 노드로 수집된 데이터를 전송함으로써 이루어지며 싱크 노드로 수집된 데이터는 어플리케이션에 의해 활용된다. 이때 여러 센서 노드가 어플리케이션에 필요한 데이터를 중복적으로 수집할 경우 중복된 데이터를 싱크노드로 전송하는데 있어 불필요한 에너지를 소모하게 된다. 이는 결국 전체적인 센서 네트워크의 수명을 감소시키는 원인이 된다. 이러한 문제는 어플리케이션에 따라 요구하는 데이터만을 선택적으로 수집함으로써 해결할 수 있다. 이러한 과정을 수행하기 위해 각 센서 노드가 어플리케이션의 요구사항에 맞도록 데이터 중복성에 대한 처리과정을 수반해야한다. 그러나 일반적으로 센서 노드는 자원이 한정이 되어있기 때문에 다양한 어플리케이션의 요구에 따른 중복성 처리 프로세스를 모두 가지고 있을 수는 없다. 따라서 모바일 에이전트를 활용하여 데이터의 중복성 문제를 해결할 수 있다. 또한 센서 네트워크에서 고려되는 에너지 효율, 네트워크 대역폭 문제를 해결할 수 있으며 시스템 확장성이 용이하다.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• v.8 no.4
• /
• pp.288-298
• /
• 2008

We introduce new type of networked robot, Ubiquitous Robotic Companion (URC), embedded with ATLAS Service-oriented architecture for enhancing the space sensing capability. URC is a network-based robotic system developed by ETRI. For years of experience in deploying service with ATLAS sensor platform for elder and people with special needs in smart houses, we need networked robots to assist elder people in their successful daily living. Recently, pervasive computing technologies reveals possibilities of networked robots in smart spaces, consist of sensors, actuators and smart devices can collaborate with the other networked robot as a mobile sensing platform, a complex and sophisticated actuator and a human interface. This paper provides our experience in designing and implementing system architecture to integrate URC robots in pervasive computing environments using the University of Florida's ATLAS service-oriented architecture. In this paper, we focus on the integrated framework architecture of URC embedded with ATLAS platform. We show how the integrated URC system is enabled to provide better services which enhance the space sensing of URC in the smart space by applying service-oriented architecture characterized as flexibility in adding or deleting service components of Ubiquitous Robotic Companion.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.14 no.4
• /
• pp.999-1004
• /
• 2010

Most of campus vehicle management systems, so far, simply manages coming in or go out of vehicles, issuing a parking tickets. Recently some of them use RFID tags to count total numbers of cars in the campus, excluding exact parking position management. In this paper we propose a new campus vehicle management system using wireless sensor network location management scheme. This system adopts RSSI based location management method with some performance improvement technique. According to the experimental result, this proposed scheme can be used to implement an effective campus vehicle management system.

• Journal of the Korea Institute of Information and Communication Engineering
• /
• v.14 no.4
• /
• pp.1041-1047
• /
• 2010

One of the weaknesses of ad hoc network is that a route used between a source and a destination is to break during communication. To solve this problem, one approach consists of selecting routes whose nodes have the most stable link cost. In this paper proposes a new method for improving the low power distributed MAC. The method is rule-based on the context awareness of the each nodes energy in clustering. The proposed networks scheme could get better improve the awareness for data to achieve and performance on their clustering establishment and messages transmission.

• Smart Media Journal
• /
• v.2 no.1
• /
• pp.37-41
• /
• 2013

The Smart Use Interface Platform(SUIP) which is the next generation of smart phone's intelligent user interface platform researches, has a function of finding outer devices and has the dynamic loading function of the device driver. This paper introduce platform converter between smartphone and outer devices, named SUIP converter and it's applications, the SUIP converter can combines the smart phones which has Smart Use interface Platform and the Devices like sensor network devices which can be hardly connected to the smart phones.

• Journal of Information Processing Systems
• /
• v.13 no.6
• /
• pp.1436-1458
• /
• 2017

Quorum-based algorithms are widely used for solving several problems in mobile ad hoc networks (MANET) and wireless sensor networks (WSN). Several quorum-based protocols are proposed for multi-hop ad hoc networks that each one has its pros and cons. Quorum-based protocol (QEC or QPS) is the first study in the asynchronous sleep scheduling protocols. At the time, most of the proposed protocols were non-adaptive ones. But nowadays, adaptive quorum-based protocols have gained increasing attention, because we need protocols which can change their quorum size adaptively with network conditions. In this paper, we first introduce the most popular quorum systems and explain quorum system properties and its performance criteria. Then, we present a comparative and comprehensive survey of the non-adaptive and adaptive quorum-based protocols which are subsequently discussed in depth. We also present the comparison of different quorum systems in terms of the expected quorum overlap size (EQOS) and active ratio. Finally, we summarize the pros and cons of current adaptive and non-adaptive quorum-based protocols.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2010.10a
• /
• pp.447-450
• /
• 2010

Today a relatively small reservoirs and reclamation insufficient freshwater Agricultural Water Quality to collect and analyze information online, Analyzed in real-time information delivery and database hwahameurosseo agricultural water quality management of reservoirs and freshwater lakes can be systematically. In this paper, a remote user to automatically measure water and measured to provide information collected from each sensor and integrate information connected to your wireless network and Integrated control measures as well as real-time monitoring of the operational point of observation from a web site in real-time information about the water to retrieve the user's computer and the user consists of a mobile communication terminal.