• KIISE Transactions on Computing Practices
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• v.22 no.4
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• pp.184-188
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• 2016

The cleaning robot is popularly used as a home appliance. The state-of-the-art cleaning robot can clean more efficiently by using information gathered from its sensor, which is difficult for low-price cleaning robots due to limitation in this aspect. In this paper, we suggested a method for the moving pattern of cleaning robot based on grammatical evolution. Optimized program is generated by using moving pattern grammar, which is defined by Backus-Naur form. In addition, conditional probability is used between each of the grammar elements during the program creation process. The proposed method is evaluated by robot simulation in order to verify its performance and further compare it with existing algorithms. The experiment results showed that the proposed method is better than the compared algorithms.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.18 no.5
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• pp.1-8
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• 2019

Breath analysis using a portable device is better than the classical breath analysis system in terms of installation and operation. There is an increasing need to develop cost-effective equipment for testing gas sensors from the viewpoint of functionalities that can be applied applicable to portable devices. In the present study, an economical gas chamber for in-situ gas measurement is implemented with a single gas chamber without using expensive gas storage and control equipment; the gas response characteristics are analyzed using the above-described chamber. The main features of the implemented gas chamber are simple injection procedure, improved gas diffusion, easy measurement and cleaning, support for low-power mode measurement function for portable devices, and open source platform. Moreover, an analysis of gas response characteristics based on changes in sensor voltage show that the sensitivity and 90% response time are affected by the sensor voltage. Furthermore, the sensitivity graph has an inflection point in a specific range. The gas sensor applied in this study showed fast response speed and high sensitivity for sensor voltages of 3.0-3.5 V, regardless of the concentration of acetone gas, the target gas used in this study.

• Journal of the Korean Institute of Intelligent Systems
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• v.23 no.2
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• pp.100-106
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• 2013

This paper presents design and control of an 'Omni-directional Cleaning Robot (OdCR)' which employs omni-wheels at three edges of its triangular configuration. Those omni-wheels enable the OdCR to move in any directions so that lateral movement is possible. For OdCR to be localized, a StarGazer sensor is used to provide accurate position and heading angle based on landmarks on the ceiling. In addition to that, ultrasonic sensors are installed to detect obstacles around OdCR's way. Experimental studies are conducted to test the functionality of the system.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.9
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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.

• The Journal of Korea Robotics Society
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• v.6 no.3
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• pp.255-262
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• 2011

Many intelligent robots have to be given environmental information to perform tasks. In this paper an intelligent robot, that is, a cleaning robot used a sensor fusing method of two sensors: LRF and StarGazer, and then was able to obtain the information. Throughout wall following using laser displacement sensor, LRF, the working area is built during the robot turn one cycle around the area. After the process of wall following, a path planning which is able to execute the work effectively is established using flow network algorithm. This paper describes an algorithm for minimal turning complete coverage path planning for intelligent robots. This algorithm divides the whole working area by cellular decomposition, and then provides the path planning among the cells employing flow networks. It also provides specific path planning inside each cell guaranteeing the minimal turning of the robots. The proposed algorithm is applied to two different working areas, and verified that it is an optimal path planning method.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2001.10a
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• pp.411-415
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• 2001

Advances in computer and sensor technology have made it possible to obtain superlarge manufacturing process data in real time, letting us to extract meaningful information from these superlarge data sets. We propose a systematic data analysis procedure which field engineers can apply easily to manufacture quality products. The procedure consists of data cleaning and data analysis stages. Data cleaning stage is to construct a database suitable for statistical analysis from the original superlarge manufacturing process data. In the data analysis stage, we suggest a graphical easy-to-implement approach to extract practical information from the cleaned database. This study will help manufacturing companies to achieve six sigma quality.

• Journal of Sensor Science and Technology
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• v.32 no.5
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• pp.300-306
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• 2023

A hull-cleaning robot sticks to the surface of a vessel and moves for efficient cleaning. Precise path planning and tracking using the current position is crucial. Many robots rely on the INS algorithm, but errors accumulate. To fix this, GPS, sonar, and USBL are used, though with limitations. Selecting suitable sensors for the surface operation and accurate positioning algorithm are vital. In this study, we developed a robot position estimation algorithm using the structure of a ship. Problems that arise when expanding the 2D position estimation algorithm used in existing wall structures to 3D were evaluated and methods for solving them were proposed. In addition, we aimed to improve performance by deriving singularities that exist in the robot path and proposing an error correction algorithm based on the singularities.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.12
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• pp.6434-6440
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• 2013

In this paper, an integrated control system is proposed for automatic control and remote monitoring of pipeline type UV sterilizer. The proposed system can control the cleaning wiper in the sterilizer with various cleaning motions, and periodically check the contamination level of the UV lamps with the UV power sensors. Therefore, sterilizer repair and maintenance can be more effectively done. In addition, the control system based on the open-source processor can communicate with external smart devices via Bluetooth, and thus wirelessly exchange control commands and sensor data. Furthermore, the system is able to flexibly cope with changes of cleaning motions and sensors since its firmware can be wirelessly upgraded by using the smart device. Consequently, the proposed system is suitable to construct a smart sewage treatment system in small towns.

• Proceedings of The Korean Society of Agricultural and Forest Meteorology Conference
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• 2013.11a
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• pp.28-29
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• 2013

We have been measuring $CH_4$ flux in a rice paddy in Gimje using the eddy covariance method since July 2011. In order to measure the fast fluctuations of $CH_4$ concentration, an innovative LI-7700 open-path laser spectrometer is used. This high-precision, low power, light weight, low maintenance sensor enables us to operate it on a continuous and long-term basis. One particular feature, among other things, is the self-cleaning lower mirror which decreases maintenance requirements while ensuring more robust, continuous, high-quality dataset. Its cleaning is initiated at user-specified time intervals or a signal strength threshold, and its status is recorded as a diagnostic index. We have noticed that the operation of LI-7700 at Gimje site is quite challenging particularly due to its frequent mirror cleaning requirement and the associated sensitivity of the instrument. In this presentation, we present some field observation data regarding the mirror cleaning and their analysis, thereby suggesting the pertinent operation options for high-quality, maximum data retrieval in the field.

• Journal of the Korea Society of Computer and Information
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• v.25 no.4
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• pp.37-45
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• 2020

The development process of deep learning is an iterative task that requires a lot of manual work. Among the steps in the development process, pre-processing of learning data is a very costly task, and is a step that significantly affects the learning results. In the early days of AI's algorithm research, learning data in the form of public DB provided mainly by data scientists were used. The learning data collected in the real environment is mostly the operational data of the sensors and inevitably contains various noises. Accordingly, various data cleaning frameworks and methods for removing noises have been studied. In this paper, we proposed a method for detecting and removing noises from time-series data, such as sensor data, that can occur in the IoT environment. In this method, the linear regression method is used so that the system repeatedly finds noises and provides data that can replace them to clean the learning data. In order to verify the effectiveness of the proposed method, a simulation method was proposed, and a method of determining factors for obtaining optimal cleaning results was proposed.