• Journal of Institute of Control, Robotics and Systems
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• v.15 no.7
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• pp.734-741
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• 2009

A new localization algorithm is proposed for a fast moving mobile robot, which utilizes only one beacon and the global features of the differential-driving mobile robot. It takes a relatively long time to localize a mobile robot with active beacon sensors since the distance to the beacon is measured by the traveling time of the ultrasonic signal. When the mobile robot is moving slowly the measurement time does not yield a high error. At a higher mobile robot speed, however, the localization error becomes too large to locate the mobile robot. Therefore, in high-speed mobile robot operations, instead of using two or more active beacons for localization, only one active beacon and the global features of the mobile robot are used to localize the mobile robot in this research. The two global features are the radius and center of the rotational motion for the differential-driving mobile robot which generally describe motion of the mobile robot and are used for the trace prediction of the mobile robot. In high speed operations the localizer finds an intersection point of this predicted trace and a circle which is centered at the beacon and has the radius of the distance between the mobile robot and the beacon. This new approach resolves the large localization error caused by the high speed of the mobile robot. The performance of the new localization algorithm has been verified through the experiments with a high-speed mobile robot.

• Proceedings of the Korean Vacuum Society Conference
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• 1999.07a
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• pp.145-145
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• 1999

La-Ca-Mn-O (LCMO) 박막에서 초거대 자기 저항 효과와 발견된 이후 자기 센서와 고밀도 자기 저장 매체로서 응용하기 위한 연구가 진행되고 있다. 그러나 현재 대부분의 증착은 타겟과 박막간의 조성의 일치를 위하여 PLD 방법을 이용하고 있으며 RF magnetron sputtering 법으로 증착한 예는 많이 보고되고 있지 않으며 특히 적층 성장시킨 예는 아직 보고되지 있지 않다. 또한 LCMO와의 낮은 격자 상수 불일치를 보이는 SrTiO3와 LaAlO3 기판에 LCMO 박막을 성장시킬 경우 LaAlO3의 경우 XRD rocking curve의 curve의 FWHM 값이 SrTiO3 상에 증착시킨 것의 10배 이상의 값을 보인다는 것은 주목할 만한 사실이다. RF magnetron sputtering 법을 이용하여 LaAlO3 기판상에 145nm MCMO 박막을 적층성장시켰다. XRD $ heta$-2$\theta$ scan을 통해 박막이 c-축 배향한 것을 확인할 수 있었으며 RBS 분석결과 4.98%의 minimumyield를 보였으며 이로부터 박막이 적층성장한 것을 확인할 수 있었다. LCMO (200) peak의 XRD $\theta$-rocking 결과 FWHM의 값은 0.311$^{\circ}$를 보였으나 2개의 피크가 존재하는 것을 볼 수 있었다. 따라서 기판의 (200) 피크를 XRD $\theta$-2$\theta$ scan에서 0.3$^{\circ}$ 간격으로 두 개의 피크를 관찰할 수 있었는데 이는 기판과 박막간의 stress로 인한 tetragonal distortion에 의한 것으로 알려져 있었다. 따라서 기판상에 박막이 어떤 식으로 적층 성장되었는지를 RBS를 이용하여 <001>과 <011> 방향으로 2MeV He++를 주입하여 0.1$^{\circ}$ 간격으로 틸팅을 해본 결과 <001> 방향에서는 1.12$^{\circ}$의 차이를 보였다. 이는 기판과의 compressive stress로 인해 c축 방향으로 늘어났으며 stress relaxed layer는 XRD 결과와는 달리 관찰할 수 없었다. 이러한 현상의 기판 자체의 twin 구조로 인한 것으로 생각된다. RBS 분석후 고분해능 XRD를 이용해 LCMO (200) peak의 $\theta$-rocking 결과 이제R지 laAlO3 상 증착한 LCMO의 값으로는 제일 작은 0.147$^{\circ}$를 나타내었다.

• Journal of the Institute of Convergence Signal Processing
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• v.11 no.1
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• pp.88-91
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• 2010

In this paper, We are composed the position recognition and speed control using the moving robot in the shield Room with a RF Module and Ultrasonic Sensors. Double look up tables are selected a reference value/duty ratio. The moving robot with the dual fuzzy rules which can decrease a Conversion time than basic fuzzy control rules at start point and curve region. Also, a changing times of double look up table are rise at specific points b1,c1,d1 in the e-${\Delta}e$ phase plane and the one of the look up table is used which for increase rising time at transition area, the other used for rapidly conversion to the reference value. We verified that a dual fuzzy control rules get the good response compare with the basic fuzzy control rule.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.2
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• pp.159-164
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• 2011

In this study, a crab robot is implemented in H/W based on four-bar linkage mechanism and Jansen mechanism, and its kinematics is analysed. A vision camera is attached to the mechanism, which makes the proposed robot a kind of biologically inspired robot for image acquisition. Three ultrasonic sensors are adopted for obstacle avoidance. In addition, the biologically inspired robot can achieve the mission appointed by a programmer outside, based on RF and Blue-tooth communication module. For the design and implementation of a crab robot, it is need to get joint variable, a foot point, and their relation. Thus, the proposed kinematic analysis is very important process for the design and implementation of legged robots.

• The Journal of the Korea institute of electronic communication sciences
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• v.13 no.1
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• pp.45-52
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• 2018

In this paper, we propose smart digital door lock system using heterogeneous communication. This system has efficient function using RF communication and Internet communication, and realizes access and real image of the passengers by combining camera control technology to secure original competitiveness with existing products. It uses the Internet of things and receive images to and from your smart-phone. And senses human behavior. In the simulated results, the image transmission rate of 90 % or more and the time required to transmit 10,000 images have an average transmission speed of 3 seconds. It is expected to secure competitiveness to increase the security of door lock in the future by enabling minimum security and fire monitoring service in real time.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.3
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• pp.284-294
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• 2008

In this paper, we describe an implementation of small mobile robot that can be used at research and application of mobile sensor networking. This robot that will constitute the sensor network, as a platform of multi-robot system for each to be used as sensor node, has to satisfy restrictions in many aspects in order to perform sensing, communication protocol, and application algorithms. First, the platform must be designed with a robust structure and low power consumption since its maintenance after deployment is difficult. Second, it must have flexibility and modularity to be used effectively in any structure so that it can be used in various applications. Third, it must support the technique of wireless network for ubiquitous computing environment. At last, to let many nodes be scattered, it must be cost-effective and small. Considering the above restrictions of the mobile platform for sensor network, we designed and implemented robots control the current of actuator by using additional circuit for power efficiency. And we chose MSP430 as MCU, CC2420 as RF transceiver, and etc, that have the strength in the aspect of power. For flexibility and modularity, the platform has expansion ports. The results of experiments are described to show that this robot can act as sensor node by RF communication process with Zigbee standard protocol, execute the navigation process with simple obstacle avoidance and the moving action with RSSI(Received Signal Strength Indicator), operate at low-power, and be made with approx. $100.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.40 no.10
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• pp.2006-2013
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• 2015

In this paper we propose a multi-protocol gateway system based on low power wireless communications. The proposed multi-protocol gateway system was designed to allow real-time monitoring and control of the on-site situation through wired and wireless networks by gathering information for streetlight power control and environmental monitoring. The sensing data using multi-sensors with composite processing that selectively used wired or wireless communication (e.g., CDMA, Ethernet (TCP/IP), GPS, etc.) were designed to act as intermediaries that transmitted to the main server through ZigBee. Inaddition, they were designed by separating a CPU board and baseboard to ensure low maintenance cost and ease of hardware replacement. The proposed multi-protocol gateway system's power, impact, continuous operation stability, and immunity test results obtained a normal operation success rate of over 95% and normal continuous operation results. Moreover, in the voltage drop test, instantaneous immunity test, and conductive RF electromagnetic field immunity test, it obtained an average rating result of "A".

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37 no.4C
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• pp.329-337
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• 2012

Capsule Endoscope(CE) is a capsule-shaped electronic device which can examine the lesions in digestive tract of human body. Recently the medical procedure using capsule endoscope is receiving great attention to both doctors and patients, since the conventional push-typed endoscope using cables brings great pain and fear to the patients. The technique was firstly available in 2000 and is based on a convergence techniques among BT(Bio Technology), IT(Information Technology), and NT(Nano Technology). The device consists of an optical parts including LEDs(Light Emitting Diodes), an image sensor, a communication module and a power module. Capsule endoscope is the embodiment of the state-of-the art technology and requires key technologies in the various engineering fields. Therefore, in this paper, we introduce the composition of the capsule endoscope system, and compare the communication method between RF(Radio Frequency) communication and HBC(Human Body Communication), which are typically used for data transmission in the capsule endoscope. Furthermore, we analyze the specification of commercialized capsule endoscopes and present the future developments and technical challenges.

• Proceedings of the Korean Vacuum Society Conference
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• 2013.08a
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• pp.236-236
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• 2013

비냉각 적외선 검출기는 산업용 군사용으로 최근 각광을 받고 있다. 이는 주야간 빛이 없는 곳에서도 사물의 열을 감지할 수 있어 인체감지 및 보안감시, 에너지 절감 등에 응용될 수 있는 핵심부품이다. 비냉각 적외선 검출기로는 재료의 저항의 변화를 감지하는 마이크로볼로미터형이 가장 많이 사용된다. 감지재료로는 비정질 실리콘(a-Si)과 산화바나듐(VOx)이 가장 많이 사용된다. VOx 박막은 일반적으로 RF sputtering 방법으로 증착이 되며, 저항이 낮고, 저항의 온도변화 계수(TCR)가 크며 신호 대 잡음 특성이 우수한 반면 산소(oxygen) phase가 다양하여 갓 증착된 상태의 박막은 재현성이 떨어지는 단점이 있다. 본 연구에서는 기존의 V 타겟을 사용한 VOx 박막을 증착하는 방법을 개선하여 ZnO 나노박막을 중간에 삽입하여 저항 특성을 조절할 뿐만 아니라 열처리에 의해 TCR 값을 향상시키고, VO2 phase 가 주로 나타나는 박막 증착 및 공정 방법을 소개한다. RF sputtering 장비를 이용하여 산소와 아르곤 가스의 혼합비를 4.5로 하였으며, VOx 증착 시 플라즈마 Power는 150 W 로 하여 상온에서 증착하였다. 갓 증착된 VOx 다층박막의 XRD 스펙트럼은 V2O5 피크가 주된 상을 이루고 있었으며, 산소열처리에 의해 VO2 상이 주로 나타남을 알 수 있었다. TCR 값은 갓 증착된 샘플에서 -0.13%/K의 값을 얻었으며, $300^{\circ}C$에서 50분간 열처리 후 -3.37%/K 으로 급격히 향상됨을 알 수 있었다. 저항은 열처리 후 약 100 kohm으로 낮아져 검출소자를 위한 조건에 적합한 특성을 얻을 수 있었다. 또한 산소열처리의 온도 및 시간에 따라 TCR 및 표면 거칠기 특성을 조사하였으며, 최적의 열처리 조건을 얻고자 하였다.

• Journal of KIISE:Information Networking
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• v.36 no.4
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• pp.275-285
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• 2009

RFID technology using the smart tag technology as a part of the sensor network is currently in the spotlight. But there are still many problems in applying the technology in a ubiquitous environment, induding at the point when anybody can read the tag information and the authentication between the tag and the reader, and security problems in very low-cost smart tag implementation. The proposed scheme is designed to enhance security and efficiency related to various services required in RF networks, based on the reliable peripheral devices for users of passive RFID tag. Using passive RFID tag, which has been applied to authentication transactions in existing papers, this study also proposed an appropriate management scheme that is suitable for a dynamic environment and setting a temporary group to provide various services. also proposed scheme is support RFID grouping, temporary group of service and security servicce, improved efficiency of communication.