• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2335-2339
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• 2003

To prevent the critical situation due to the fault in the aircraft sensor system, the fault tolerant system with triple or quadruple redundancy can be made. However, if the faults are occurred in two or more than sensors simultaneously, the conventional fault detection process, such as cross-channel monitoring, may give the wrong fault alarm. For this case, we can detect the fault by estimating the state vector based on the system dynamics model, which is nonlinear for aircraft. In this paper, we propose the unscented Kalman filter to estimate the nonlinear state vector. This filter utilizes the so-called unscented transformation of sigma points featured the statistical characteristics of the random variable. For verification, we perform the simulations for F-16 aircraft with accelerometers, gyros, GPS and air data system.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1995년도 추계학술대회 논문집 학회본부
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• pp.175-177
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• 1995

The sensor signal validation and failure detection system must be able to detect, isolate, and identify sensor degradation as well as provide a reconstruction of the measurements. In this study, this is accomplished by combining the neural network, the Generalized Consistency Checking(GCC), and the Sequential Probability Ratio Test(SPRT) method in a decision estimator module. The GCC method is a computationally efficient system for redundant sensors, while the SPRT provides the ability to make decisions based on the degradation history of a sensor. The methodology is also extended to the detection of noise degradation. The acceptability of the proposed method is demonstration by using the simulation data in safety injection accident of nuclear power plants. The results show that the signal validation and sensor failure detection system is able to detect and isolate a bias failure and noise type failures under transient conditions. And also, the system is able to provide the validated signal by reconstructing the measurement signals in the failure conditions considered.

• Journal of Communications and Networks
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• 제17권5호
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• pp.506-516
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• 2015

Wireless sensor networks (WSNs) are generally comprised of densely deployed sensor nodes, which results in highly redundant sensor data transmissions and energy waste. Since the sensor nodes depend on batteries for energy, previous studies have focused on designing energy-efficient medium access control (MAC) protocols to extend the network lifetime. However, the energy-efficient protocols induce an extra end-to-end delay, and therefore recent increase in focus on WSNs has led to timely and reliable communication protocols for mission-critical applications. In this paper, we propose an energy efficient and delay guaranteeing node scheduling scheme inspired by biological systems, which have gained considerable attention as a computing and problem solving technique.With the identification of analogies between cellular signaling systems and WSN systems, we formulate a new mathematical model that considers the networking challenges of WSNs. The proposed bio-inspired algorithm determines the state of the sensor node, as required by each application and as determined by the local environmental conditions and the states of the adjacent nodes. A control analysis shows that the proposed bio-inspired scheme guarantees the system stability by controlling the parameters of each node. Simulation results also indicate that the proposed scheme provides significant energy savings, as well as reliable delay guarantees by controlling the states of the sensor nodes.

• 한국인터넷방송통신학회논문지
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• 제17권2호
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• pp.205-210
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• 2017

무선 센서 네트워크는 환경 모니터링, 감시 시스템, 무인 우주 탐사 등의 다양한 분야에서 활용 가능하다. 하지만 노드의 부적절한 배치로 인해 센싱할 수 없는 지역이 생기거나 특정 지역에 노드가 과도하게 중복 될 수도 있다. 이는 데이터 수집을 어렵게 하고, 에너지 낭비를 야기할 수 있다. 본 논문에서는 노드 재배치를 통해 이러한 배치 문제를 해결한다. 먼저 중복 배치된 노드를 찾고, 이 노드들을 센싱할 수 없는 지역으로 옮겨서 최대한 넓은 지역을 센싱할 수 있도록 한다. 본 논문에서는 이를 위해 필요한 효율적인 알고리즘을 제안하고 시뮬레이션을 통해 제안 방법을 검증하였다.

• 센서학회지
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• 제18권6호
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• pp.432-440
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• 2009

This paper presents an accelerometer based system for physical activity decision that are capable of recognizing three different types of physical activities, i.e., standing, walking and running, using by rough sets. To collect physical acceleration data, we developed the body sensor node which consists of two custom boards for physical activity monitoring applications, a wireless sensor node and an accelerometer sensor module. The physical activity decision is based on the acceleration data collected from body sensor node attached on the user's chest. We proposed a method to classify physical activities using rough sets which can be generated rules as attributes of the preprocessed data and by constructing a new decision table, rules reduction. Our experimental results have successfully validated that performance of the rule patterns after removing the redundant attribute values are better and exactly same compare with before.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.219-222
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• 1995

This paper presents a control law of multiple actuation servo systems. Multiple actuation systems have an ability to solve some difficult engineering problems; Coulomb friction, backlash, and disturbance. This fact is shown by basic experiments as well as theoretical analysis. The proposed control strategy remarkably improves the performance comparing with conventional single actuation systems.

• 제어로봇시스템학회논문지
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• 제19권9호
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• pp.797-804
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• 2013

In this paper, a study of a new hovering six dof underwater robot with redundant horizontal thrusters, titled HAUV (hovering AUV), is presented. The results of study on the structure design, deployment of thrusters, and development of the developed control system of the AUV was presented. For the HAUV structure, a structure design and an analysis of the thrusting system was performed. For navigation, a sensor fusion board which can proceed various sensor signals to identify correct positions and speeds was developed and a total control system including EKF (Extended Kalman Filter) was designed. Rolling, pitching and depth control tests of the HAUV have been performed, and relatively small angle error and depth tracking error results were shown.

• 방사성폐기물학회지
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• 제14권1호
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• pp.35-44
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• 2016

Leading national R&D project to design a PWR spent nuclear fuel interim dry storage system that has been under development since mid-2009, which consists of a dual purpose metal cask and concrete storage cask. To ensure the safe operation of dry storage systems in foreign countries, major confinement monitoring techniques currently consist of pressure and temperature measurement. In the case of a dual purpose metal cask, a pressure sensor is installed in the interspace of bolted double lid(primary and secondary lid) in order to measure pressure. A concrete storage cask is a canister based system made of double/redundant welded lid to ensure confinement integrity. For this reason, confinement monitoring method is real time temperature measurement by thermocouple placed in the air flow(air intake and exit) of the concrete structure(over pack and module). The use of various monitoring technologies and operating experiences for the interim dry storage system over the last decades in foreign countries were analyzed. On the basis of the analysis above, development of the confinement monitoring technology that can be used optimally in our system will be available in the near future.

• 한국군사과학기술학회지
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• 제10권2호
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• pp.61-68
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• 2007

In a naval combat system, the information processing node is a key functional equipment and performs major combat management functions including control sensor and weapon systems. Therefore, a failure of one of the node causes fatal impacts on overall combat system capability. There were many methodologies to enhance system availability by reducing the impact of system failure like a fault tolerant method. This paper proposes a fault tolerant mechanism for information processing node using a replication algorithm with hardware duplication. The mechanism is designed as a generic algorithm and does not require any special hardware. Therefore all applications in combat system can use this functionality. The asynchronous characteristic of this mechanism provides the capability to adapt this algorithm to the module which has low performance hardware.

• International Journal of Control, Automation, and Systems
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• 제2권4호
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• pp.485-493
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• 2004

Open-loop position estimation methods are commonly used in mobile robot applications. Their strength lies in the speed and simplicity with which an estimated position is determined. However, these methods can lead to inaccurate or unreliable estimates. Two position estimation methods are developed in this paper, one using a single optical flow sensor and a second using two optical sensors. The first method can accurately estimate position under ideal conditions and also when wheel slip perpendicular to the axis of the wheel occurs. The second method can accurately estimate position even when wheel slip parallel to the axis of the wheel occurs. Location of the sensors is investigated in order to minimize errors caused by inaccurate sensor readings. Finally, a method is implemented and tested using a potential field based navigation scheme. Estimates of position were found to be as accurate as dead-reckoning in ideal conditions and much more accurate in cases where wheel slip occurs.