• The Transactions of The Korean Institute of Electrical Engineers
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• v.68 no.3
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• pp.471-479
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• 2019

This research proposes a indoor magnetic map matching algorithm that improves the position accuracy by employing multiple magnetic sensors and probabilistic candidate weighting function. Since the magnetic field is easily distorted by the surrounding environment, the distorted magnetic field can be used for position mapping, and multiple sensor configuration is useful to improve mapping accuracy. Nevertheless, the position error is likely to increase because the external magnetic disturbances have repeated pattern in indoor environment and several points have similar magnetic field distortion characteristics. Those errors cause large position error, which reduces the accuracy of the position detection. In order to solve this problem, we propose a method to reduce the error using multiple sensors and likelihood boundaries that uses human walking characteristics. Also, to reduce the maximum position error, we propose an algorithm that weights according to their importance. We performed indoor walking tests to evaluate the performance of the algorithm and analyzed the position detection error rate and maximum distance error. From the results we can confirm that the accuracy of position detection is greatly improved.

• The Bulletin of The Korean Astronomical Society
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• v.45 no.1
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• pp.40.1-40.1
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• 2020

The Korea Astronomy and Space Science Institute is participating as a South Korean partner in the Commercial Lunar Payload Services (CLPS)of NASA. In response, the Korea Astronomy and Space Science Institute is currently conducting basic research for the development of four candidate instrument payloads. The magnetic field instrument is one of them and it's scientific mission objective is the moon's surface magnetic field investigation. Therefore, the development requirement of the lunar surface magnetic field instrument were derived and the initial conceptual design was started. The magnetic field instrument has a 1.2 meter boom which has two three-axis fluxgate magnetometer sensors and one gyro sensor to get a attitude information of the boom. The concept of measuring the lunar surface magnetic field will carry out using multiple sensors by placing semiconductor type magnetic field sensors inside the electric box including boom mounted fluxgate sensors. In order to overcome the very short development period, we will use the KPLO (Korean Lunar Pathfinder Orbiter) magnetometer design and parts to improve reliabilities for this instrument. In this presentation, we introduce the instrument requirements and conceptual design for the Lunar surface magnetic field instruments.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2461-2466
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• 2003

This paper presents a simple sensor fusion algorithm using neural network for navigation of mobile robots with obstacle avoidance and trap recovery. The multiple sensors input sensor data to the input layer of neural network activating the input nodes. The multiple sensors used include optical encoders, ultrasonic sensors, infrared sensors, a magnetic compass sensor, and GPS sensors. The proposed sensor fusion algorithm is combined with the VFH(Vector Field Histogram) algorithm for obstacle avoidance and AGPM(Adaptive Goal Perturbation Method) which sets adaptive virtual goals to escape trap situations. The experiment results show that the proposed low-level fusion algorithm is effective for real-time navigation of mobile robot.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.47 no.1
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• pp.67-75
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• 2010

This paper presents localization algorithm for mobile robot in outdoor environment. Outdoor environment includes the uncertainty on the ground. Magnetic sensor or IMU(Inertial Measurement Unit) has been used to estimate robot's heading angle. Two sensor is unavailable because mobile robot is electric car affected by magnetic field. Heading angle estimation algorithm for mobile robot is implemented using gyro sensor module consisting of 1-axis gyro sensors. Localization algorithm applied Extended Kalman filter that utilized GPS and encoder, gyro sensor module. Experiment results show that proposed localization algorithm improve considerably localization performance of mobile robots.

• Journal of the Korean Society for Nondestructive Testing
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• v.35 no.1
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• pp.39-45
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• 2015

Applications of smart sensors have been extended to safety systems in the aerospace, transportation and civil engineering fields. In particular, structural health monitoring techniques using smart sensors have gradually become necessary and have been developed to prevent dangers to human life and damage to assets. Generally, smart sensors are based on electro-magnets and have several weaknesses, including electro-magnetic interference and distortion. Therefore, fiber optic sensors are an outstanding alternative to overcome the weaknesses of electro-magnetic sensors. However, they require expensive devices and complex systems. This paper proposes a new, affordable and simple sensor system that uses a single fiber to monitor pressures at multiple-points. Moreover, a prototype of the sensor system was manufactured and tested for a feasibility study. Based on the results of this experimental test, a relationship was carefully observed between the bend loss conditions and light-intensity. As a result, it was shown that impacts at multiple-points could be monitored.

• 한국정보통신설비학회:학술대회논문집
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• 2006.08a
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• pp.91-94
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• 2006

In this paper, we deployed the tunnel inspection and monitoring system by wireless sensor network. It is shown that the wireless sensor network which is composed of sensor, wireless communication module, and gateway system can be applied to tunnel monitoring system. Sensors included herein are acceleration transducers, fire-alarm sensors, water-level sensors, and magnetic contact sensors. It is also found that the wireless sensor network can deliver sensing data reliably by ad-hoc networking technology. The gateway system that can send the sensing data to server by CDMA (code division multiple access) is developed. Finally, monitoring system is constructed by web service technology, and it is observed that this system can monitor the present state of tunnel without difficulties. Furthermore, the above system provides an alternative to inspect and monitor the tunnel efficiently where the conventional wired system cannot be applied.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.1
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• pp.203-209
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• 2009

The purpose of this study is to develop a minimally constraint joint angle measurement system for the feedback control of FES (functional electrical stimulation) locomotion. Feedback control is desirable for the efficient FES locomotion, however, the simple on-off control schemes are mainly used in clinic because the currently available angle measurement systems are heavily constraint or cosmetically poor. We designed a new angle measurement system consisting of a magnet and magnetic sensors located below and above the ankle joint, respectively, in the rear side of ipsilateral leg. Two magnetic sensors are arranged so that the sensing axes are perpendicular each other. Multiple positions of sensors attachment on the shank part of the ankle joint model and also human ankle joint were selected and the accuracy of the measured angle at each position was investigated. The reference ankle joint angle was measured by potentiometer and motion capture system. The ankle joint angle was determined from the fitting curve of the reference angle and magnetic flux density relationship. The errors of the measured angle were calculated at each sensor position for the ankle range of motion (ROM) $-20{\sim}15$ degrees (dorsiflexion as positive) which covers the ankle ROM of both stroke patients and normal subjects during locomotion. The error was the smallest with the sensor at the position 1 which was the nearest position to the ankle joint. In case of human experiment, the RMS (root mean square) errors were $0.51{\pm}1.78(0.31{\sim}0.64)$ degrees and the maximum errors were $1.19{\pm}0.46(0.68{\sim}1.58)$ degrees. The proposed system is less constraint and cosmetically better than the existing angle measurement system because the wires are not needed.

• Smart Structures and Systems
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• v.16 no.4
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• pp.579-591
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• 2015

This paper investigates a magnetoelectric (ME) vibration energy harvester that can scavenge energy in arbitrary directions in a plane as well as wide working bandwidth. In this harvester, a circular cross-section cantilever rod is adopted to extract the external vibration energy due to the capability of it's free end oscillating in arbitrary in-plane directions. And permanent magnets are fixed to the free end of the cantilever rod, causing it to experience a non-linear force as it moves with respect to stationary ME transducers and magnets. The magnetically coupled cantilever rod exhibits a nonlinear and two-mode motion, and responds to vibration over a much broader frequency range than a standard cantilever. The effects of the magnetic field distribution and the magnetic force on the harvester's voltage response are investigated with the aim to obtain the optimal vibration energy harvesting performances. A prototype harvester was fabricated and experimentally tested, and the experimental results verified that the harvester can extract energy from arbitrary in-plane directions, and had maximum bandwidth of 5.5 Hz, and output power of 0.13 mW at an acceleration of 0.6 g (with $g=9.8ms^{-2}$).

• Journal of Magnetics
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• v.21 no.3
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• pp.330-339
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• 2016

A magnetic field sensing system with a single primary sensor and multiple reference sensors deployed locally and orthogonally, was proposed for downlink signal reception and interference cancelling for Through-the-Earth Communication (TEC). This paper mathematically analyzes a design optimization process for a search coil magnetometer (SCM), and applies that process to minimize the bandwidth of the primary SCM for TEC signal reception and the volume of reference SCMs for multiple distributions. The primary SCM achieves a 3-dB bandwidth of 7 Hz, a sensitivity threshold of 120 fT/${\surd}$Hz, and a volume of $2.32{\times}10^{-4}m^3$. The entire sensing system volume is as small as $10^{-2}m^3$. Experiments with interference from industrial frequency harmonics demonstrated an average of 36 dB and 18 dB improvements in signal-to-interference ratio and signal-to-interference plus noise ratio, respectively, using multichannel recursive-least-squares algorithm. Thus, the proposed sensing system can reduce the interference effectively and allows reliable downlink signal reception.

• Journal of Sensor Science and Technology
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• v.14 no.3
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• pp.198-205
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• 2005

Recently, the systems using multiple sensors such as magnetic, acoustic and pressure sensor are used for detection of underwater objects or vehicles. Those systems have difficulty of maintenance and repair because they operate underwater. Thus, this paper describes a hybrid detection system with long term operating reliability. This has a multi-signal transmission structure to have a high reliability. First, a signal transmission & receiving part, which transfers data from underwater sensors to land and receive control message from land through optical cable, has 4 multi-path. Second, the nodes for signal transmission are connected dually each other with single-hop construction and sensors are connected to a couple of neighboring nodes. This enables the output signal to transmit from a node to the next node and the next but one node together. Also, the signal from a sensor can be transmitted to two nodes at the same time. Therefore, the system with this construction has high reliability in long term operation because it makes possible to transmit sensor data to another node which works normally although a transmission node or cable in system have some faults.