• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.137.2-137
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• 2001

We have been developed an intelligent mobile robot with an artificial olfactory function to recognize odours and to track odour source location. This mobile robot also has been installed an engine for speech recognition and synthesis, and is controlled by wireless communication. An artificial olfactory system based on array of 7 gas sensors has been installed in the mobile robot for odour recognition, and 11 gas sensors also are located in the bottom of robot to track odour sources. 3 optical sensors are also included in the intelligent mobile robot, which is driven by 2 D.C. motors, for clash avoidance in a way of direction toward an odour source. Throughout the experimental trails, it is confirmed that the intelligent mobile robot is capable of not only the odour recognition using artificial neural network algorithm, but also the tracking odour source using the step-by-step approach method ...

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.2
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• pp.200-210
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• 2014

An active virtual impedance algorithm is newly proposed to track a sound source and to avoid obstacles while a mobile robot is following the sound source. The tracking velocity of a mobile robot to the sound source is determined by virtual repulsive and attraction forces to avoid obstacles and to follow the sound source, respectively. Active virtual impedance is defined as a function of distances and relative velocities to the sound source and obstacles from the mobile robot, which is used to generate the tracking velocity of the mobile robot. Conventional virtual impedance methods have fixed coefficients for the relative distances and velocities. However, in this research the coefficients are dynamically adjusted to elaborate the obstacle avoidance performance in multiple obstacle environments. The relative distances and velocities are obtained using a microphone array consisting of three microphones in a row. The geometrical relationships of the microphones are utilized to estimate the relative position and orientation of the sound source against the mobile robot which carries the microphone array. Effectiveness of the proposed algorithm has been demonstrated by real experiments.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2014.10a
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• pp.71-74
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• 2014

Mobile apps have been developed actively using open source software recently. Tend to be used much more than the component of the functional role on the ground that the reuse of components for the User Interface is an open source implementation of the mobile component is easy. The problem is to apply as an open source mobile components selected for this reason all of the existing two studies. It is an open source software selection process and selection procedures shelf components. We revise to conform to existing mobile components selected for the study on open source software selection process in this paper. Can help increase the productivity of the mobile app development by the open source components to meet the functional requirements when developing mobile apps that can be easily retrieved and presented the selection process of this study is effective.

• Journal of Korean Society for Atmospheric Environment
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• v.32 no.1
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• pp.9-20
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• 2016

Ozone has been a problem in big cities. That is secondary air pollutant produced by nitrogen oxide and VOCs in the atmosphere. In order to solve this, the first to be the analysis of the $NO_x$ and VOCs. The main source of nitrogen oxide is the road mobile. Industrial sources in Seoul are particularly low, and mobile traffics on roads are large, so 45% of total $NO_x$ are estimated that road mobile emissions in Seoul. Thus, it is necessary to clarify the relation with the activity of road mobile source and $NO_x$ concentration. In this study, we analyzed the 4 locations with roadside automatic monitoring systems in their center. The V.K.T. calculating areas are set in circles with 50 meter spacing, 50 meter to 500 meter from their center. We assumed the total V.K.T. in the set radius affect the $NO_x$ concentration in the center. We used the hourly $NO_x$ concentrations data for the 4 observation points in July for the interference of the other sources are minimized. We used the intersection traffic survey data of all direction for construction of the V.K.T. data, the mobile activities on the roads. ArcGIS application was used for calculating the length of roads in the set radius. The V.K.T. data are multiplied by segment traffic volume and length of roads. As a result, the $NO_x$ concentration can be expressed as linear function formula for V.K.T. with high predictive power. Moreover we separated background concentration and concentrations due to road mobile source. These results can be used for forecasting the effect of traffic demand management plan.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.554-557
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• 2002

This paper describes power potential field method for the collision-free path planning of stereo-vision based mobile robot. Area based stereo matching is performed for obstacle detection in uncertain environment. The repulsive potential is constructed by distributing source points discretely and evenly on the boundaries of obstacles and superposing the power potential which is defined so that the source potential will have more influence on the robot than the sink potential when the robot is near to source point. The mobile robot approaches the goal point by moving the robot directly in negative gradient direction of the main potential. We have investigated the possibility of power potential method for the collision-free path planning of mobile robot through various experiments.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.1836-1837
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• 2007

무선 센서 네트워크에서 소스(Source)에서 Sink까지의 데이터 수집(Data Dissemination)은 정확한 정보를 제공, 구축하는데 있어 중요한 부분 중에 하나이다. 본 논문에서는 필요한 정보만을 신속하고 정확하게 얻기 위하여 모바일 싱크(Mobile Sink)을 이용한다. 모바일 싱크(Mobile Sink) 대해서 에너지를 효율적으로 사용할 수 있는 라우팅 기법을 소개하고, 모바일 싱크(Mobile Sink)가 이동할 때 네트워크의 연결 유지 시간(network lifetime)을 연장시키기 위해 Source에서 모바일 싱크(Mobile Sink)까지 데이터 수집(Data Dissemination)을 기법을 제안한다. 제안된 기법으로 Source와 Mobile Sink까지 가상 좌표를 통해 data dissemination path를 효율적으로 설정하고, 모바일 싱크(Mobile Sink)가 다른 좌표로 이동하였을 경우 전 좌표에서 설정되었던 경로와 새로운 좌표에서 설정된 경로를 유지, 수정을 통해 over-hearing 현상을 줄임으로써 효율적으로 에너지를 소비하도록 한다. 제안된 기법은 무선 센서 네트워크 환경에서 노드들의 수명을 연장시키고, 데이터 전송 시간을 단축시켜 더 빠른 데이터 수집(Data Dissemination)을 수식적으로 결과를 보여 준다.

• Journal of the Korea Society of Computer and Information
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• v.16 no.10
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• pp.165-173
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• 2011

In Mobile Ad-hoc Network(MANET), mobile nodes are operated by limited batteries. Therefore, it is very important to consume the battery power efficiently to prevent termination of the network. In this paper, we propose Energy-aware Dynamic Source Routing(EDSR) which is based on the Dynamic Source Routing(DSR) to increase the packet transmission and lifetime of the network. If the battery power of a node reaches threshold level, then the node gives up the function of relaying to save battery power except as a source and a destination node. While the conventional DSR doesn't consider the battery consumptions of the nodes, EDSR blocks the nodes from relaying whose battery powers are below the threshold level. Simulation results show the proposed EDSR is more efficient in packet transmission and network lifetime through the balanced battery consumption of the mobile nodes.

• Proceedings of the Korea Information Processing Society Conference
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• 2004.05a
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• pp.1529-1532
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• 2004

A Mobile Ad Hoc NETwork (MANET) is a collection of wireless mobile nodes that forms a temporary network without the need for any existing network infrastructure or centralized administration. Therefore, such a network is designed to operate in a highly dynamic environment due to node mobility. In mobile ad hoc network, frequent topological changes cause routing a challenging problem and without the complete view of the network topology, establishing the shortest path from the source node to the destination node is difficult. In this paper, we suggest a routing approach which utilizes location information to setup the shortest possible path between the source node and the destination node. Location information is obtained through Global Positioning System (GPS) and this geographical coordinate information of the destination node is used by the source node and intermediate nodes receiving route request messages to determine the shortest path to the destination from current node.

• Journal of the Korea Computer Industry Society
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• v.2 no.11
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• pp.1373-1382
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• 2001

Traditionally, Mobile Teletraffic model consists of two sub-models, i.e. the network traffic model and the traffic source model. In this paper, we present the traffic source model by developing MobCall(Mobile Call Simulator) which analyses various mobile wireless environments based on regional characteristics that the base stations are located. User mobility is presented by regional average vehicle speeds and the transportation share rate. Moreover, the user mobility on subway, which is increasing in urban area, is considered in MobCall. Using MobCall, the accumulated number of calls in residential and commercial regions, the handoff rate with respect to traffic sources of Seoul, the handoff rate on highway, and the handoff rate according to the call duration are presented. MobCall enables the simulation of dynamic handoff buffering and functional entity control of one base station according to the changes in user's calling pattern at the design phase.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.12
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• pp.1185-1192
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• 2015

In this paper, a study of advanced sound source localization is conducted by eliminating the noise of the sound source using the discrete wavelet transform. And experiments are conducted to evaluate the performance of the proposed system that the mobile robot follows sound source stably. In addition, we compare the position estimation performance by applying a discrete wavelet transform to improve the reliability of the sound signal. The experimental results reveal that the de-nosing filter which removes the noise component in sound source can make the performance of position estimation more precisely and help the mobile robot distinguish the objective sound source clearly.