• 제어로봇시스템학회논문지
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• 제17권2호
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• pp.149-156
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• 2011

This paper reveals a distance estimation algorithm based on multi-code ultrasonic and wireless sensor network. For measuring the distances among the sensor nodes, each ultrasonic transmitter transmits multi-code ultrasonic signal simultaneously. Receivers use cross correlation method to separate the coded signals. The information of measured distances is broadcasted to each sensor node by wireless sensor network. The wireless sensor network measures the distance among the sensor nodes using the received signal strength of the broadcasting. The multi-code ultrasonic have a limitation of measurable distance. And the received signal strength is affected from an environment. This paper measures a distance using ultrasonic and a received signal strength in short range. These measured data are applied to the least square estimation algorithm. By the expansion of the fitting curve, a distance measurement in long range using the received signal strength is compensated. The coupled system reduce the error to an acceptable level.

• 전자공학회논문지
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• 제52권12호
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• pp.174-182
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• 2015

본 연구에서는 저가형 컬러센서를 이용하여 원거리 인식이 가능한 소형 RGB 센서를 개발하였다. 이 센서의 수광부에는 원거리 인식을 위해 카메라 렌즈를 사용하였으며, 고출력 백색 LED와 반사경이 장착된 렌즈를 조명부에 사용하여 조명의 강도를 높였다. RGB 색상 인식 알고리즘은 학습과정과 실시간 인식과정으로 구성되어 있다. 학습과정에서는 기준색으로 도색된 시편을 이용하여 RGB 색상에 대한 정규화된 기준 데이터를 취득하고, 인식과정에서는 마할라노비스 거리를 이용하여 3색을 분류한다. 개발한 RGB 색상 인식 센서를 부품 분류 시제품에 적용하여 성능을 검증하였다.

• 한국정보통신학회논문지
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• 제13권7호
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• pp.1453-1458
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• 2009

센서 네트워크는 인간이 접근하기 어려운 험난한 지역이나 광범위한 지역의 감시 및 경계 등의 임무를 수행하기 위한 목적으로 그 활용도는 상당히 크다. 본 논문에서는 감시정찰 센서네트워크에서 발생되는 가상의 데이터를 기반으로 네트워크 내의 중요 노드를 파악하고자 한다. 센서 노드로부터 전송되는 데이터는 센서의 측정 범위 내에서 임의로 정하였고, 이를 대상으로 주성분 분석 기법으로 중요한 노드들을 선정하였다. 중요 노드가 파악되면 해당 센서노드들에 대해 물리적으로 관리가 용이하게 되고, 문제 발생 시 보안 대책을 수립할 수 있다. 이것은 센서 네트 워크망에 대한 효용 및 수명과도 직결되며 비용 측면에서도 효과적이다.

• 제어로봇시스템학회논문지
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• 제10권9호
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• pp.785-798
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• 2004

This paper introduces the development of a range sensor based integrated navigation system for a multi-functional indoor service robot, called PSR (Public Service Robot System). The proposed navigation system includes hardware integration for sensors and actuators, the development of crucial navigation algorithms like mapping, localization, and path planning, and planning scheme such as error/fault handling. Major advantages of the proposed system are as follows: 1) A range sensor based generalized navigation system. 2) No need for the modification of environments. 3) Intelligent navigation-related components. 4) Framework supporting the selection of multiple behaviors and error/fault handling schemes. Experimental results are presented in order to show the feasibility of the proposed navigation system. The result of this research has been successfully applied to our three service robots in a variety of task domains including a delivery, a patrol, a guide, and a floor cleaning task.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제14권1호
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• pp.41-48
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• 2014

This paper analyzes the Monte Carlo localization (MCL) method, which estimates the pose of an indoor mobile robot. A mobile robot must know where it is to navigate in an indoor environment. The MCL technique is one of the most influential and popular techniques for estimation of robot position and orientation using a particle filter. For the analysis, we perform experiments in an indoor environment with a differential drive robot and ultrasonic range sensor system. The analysis uses MATLAB for implementation of the MCL and investigates the effects of the control parameters on the MCL performance. The control parameters are the uncertainty of the motion model of the mobile robot and the noise level of the measurement model of the range sensor.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2010년도 추계학술발표대회
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• pp.837-840
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• 2010

Wireless Sensor Networks have been proposed for several location-dependent applications. For such systems, the cost and limitations of the hardware on sensing nodes prevent the use of range-based localization schemes that depend on absolute point to point distance estimates. Because coarse accuracy is sufficient for most sensor network applications, solutions in range-free localization are being pursued as a cost-effective alternative to more expensive range-based approaches. In this paper, we proposed a Coefficient Allocated DV-Hop (CA DV-Hop) algorithm which reduces node's location error by awarding a credit value with respect to number of hops of each anchor to an unknown node. Simulation results have verified the high estimation accuracy with our approach which outperforms the classical DV-Hop.

• 센서학회지
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• 제27권1호
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• pp.47-54
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• 2018

In this paper, we describe the thermal characteristics of the output voltages of ethanol gas sensor according to the amount of radiation incident on the infrared sensors located at each focal point of two elliptical waveguides. In order to verify the output characteristics of the gas sensor according to the amount of incident light on the infrared sensor, two combinations of sensor modules were fabricated. Hydrophobic thin film is deposited on one of the reflectors of sensor modules and one of the two infrared sensors was equipped with a hollow disk (10 Ø), and the temperature characteristics of the infrared sensor equipped with the hollow disk (10 Ø) and the infrared sensor without the disk were tested. The temperature was varied from 253 K to 333 K at 10 K intervals based on 298 K. The properties of ethanol gas sensor have been identified with respect to varying temperature for a range of ethanol concentration from 0 ppm to 500 ppm. In the case of an infrared sensor equipped with a hollow disk (10 Ø), the output voltage of the sensor decreased by 0.8 mV and 1 mV, respectively, as the temperature increased. Conversely, the output voltage of the diskless infrared sensor showed an average increase of 67 mV and 57 mV as the temperature increased. The ethanol concentrations estimated on the basis of results show an error of more than 10 % for less than 100 ppm concentration. However, if the ethanol concentration exceeds 100 ppm, the gas concentration can be estimated within the range of ${\pm}10%$.

• 센서학회지
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• 제31권3호
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• pp.163-167
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• 2022

In this study, we investigated a carbon nanotube (CNT) film sensor to detect hazardous and noxious substances distributed in seawater. The response change of the sensor was studied according to environmental temperature, and its temperature coefficient of resistance (TCR, α) was measured. The temperature of the CNT film (~50 ㎛) was in the range of 20-50 ℃, and αCNT was calculated to be -0.0011 %/ ℃. We experimentally confirmed that the CNT film had a smaller TCR value than that of the conventional sensor. Therefore, we investigated the response change of the CNT sensor according to temperature. The CNT sensor showed a relatively small error of approximately 2.3 % up to 30 ℃, which is within the temperature range of the seawater of the Korean Peninsula. However, when the temperature exceeded 40 ℃, the error in the CNT sensor increased by more than 5.2 %. We fabricated a metal oxide (ITO, indium-tin-oxide) film and compared its performance with that of the CNT sensor. The ITO sensor showed an error of >12.5 % at 30 ℃, indicating that in terms of the stability of the sensor to temperature, the CNT film sensor has superior performance.

• Bulletin of the Korean Chemical Society
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• 제26권4호
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• pp.579-584
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• 2005

The 3-[(2-furylmethylene)amino]-2-thioxo-1,3-thiazolidin-4-one (FTT) was used as an excellent ionophore in construction of a $Zn^{2+}$ PVC-based membrane sensor. The best performance was obtained with a membrane composition of 30% poly(vinyl chloride), 62% nitrobenzen (NB), 3% FTT and 5% sodium tetraphenyl borate (TBP). This membrane sensor shows very good selectivity and sensitivity towards $Zn^{2+}$ over a wide variety of cations, including alkali, alkaline earth, transition and heavy metal ions. The membrane sensor revealed a great enhancement in selectivity coefficients for $Zn^{2+}$ ions, in comparison to the previously reported $Zn^{2+}$ membrane sensors. Theoretical studies also showed the selective interaction of TFF and $Zn^{2+}$ ions. The proposed membrane sensor exhibits a Nernstian behavior (with slope of 29.3 ${\pm}$ 0.3 mV per decade) over a wide concentration range (1.0 ${\times}$ $10^{-6}$-1.0 ${\times}$ $10^{-2}$) with a detection limit of 8.5 ${\times}$ $10^{-7}$ M (52 ng mL$^{-1}$). It shows relatively fast response time, in the whole concentration range ($\lt$ 20 s), and can be used for at least 10 weeks in a pH range of 3.0-7.0. The proposed membrane sensor was successfully used in direct determination of $Zn^{2+}$ ions in wastewater of industrial zinc electroplating companies, and also as an indicator electrode in titration with EDTA.

• 한국정밀공학회지
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• 제18권2호
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• pp.214-221
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• 2001

This paper describes the design of 3-component force/moment sensor with the force and moment ratio of wide range. It can measure the x-direction force Fx, y-direction force Fy and z-direction moment Mz simultaneously. In order to accurately measure forces and moment using 3-component force/moment sensor, it should get suitable force and moment ratio(the ratio of force Fx=200 N and moment Mz=20 Nm is ten to one), and small interference error. In this paper, in order to design the 3-component force/moment sensor with the force and moment ratio of wide range, the procedures are performed as follow : 1) the derivation of the equations to predict the bending strains on the surfaces of the plate-beams under the force or the moments, 2) the determination of the size of the sensing elements of the force/moment sensor by using the derived equations, 3) the Finite Element Method(FEM) analysis and the characteristic test for confirming the strains from the theory analysis, 4) the selection of the attachment locations of the strain gages of each sensor, 5) the analysis of the rated strain and the interference error at the attachment location of strain gages. It reveals that the rated strains calculated from the derived equations make a good agreement with the results from the Finite Element Method analysis and the characteristic test.