• Proceedings of the IEEK Conference
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• 2000.06e
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• pp.51-54
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• 2000

We are concerned with processing methods of the measurement values of sensors in the control system. When some faults happen to sensor components, the measurement value of sensors cause the malfunction of the plant. So it is necessary to detect and reduce the influence of faults to control with reliability for the overall system. The sensor status must be always good for best demonstration of the controller performance. A self-validating sensor detects the sensor state from the measurement value, reconstruct a soft sensor and can improve reliability of the sensor. If sensor faults, the sensor is detected and reconstructed with the best estimate from its correlation to other sensors and historical data. It is applied to the control of a flexible link system with the sensor fault problems in the light sensor module for position to show the applicability. In this paper, we propose a digital controller which reduces deflection of the moving set-point by reconstructing output of a sensor when the sensor fault is detected.

• Journal of the Korea Society of Computer and Information
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• v.21 no.11
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• pp.59-64
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• 2016

In this paper, we design and implement an Application based on android platform, which can control arduino Prime Smart Car using Bluetooth communication. This Application consist of Bluetooth communication module, manual mode module, and line-tracer mode module. In the Bluetooth communication module, it checks the on/off status of Smartphone Bluetooth. If Bluetooth status is off, it activates Bluetooth, selects the corresponding device from Bluetooth device list, and connects with a pair. In order to reduce coding time, we implements Bluetooth communication using inherited class from android Bluetooth package. In the manual mode module, it implements six direction moving button and stop button, which can control arduino Prime Smart Car. In the line-tracer mode module, it implements Prime Smart Car with self-driving function using TCRT5000 sensor. And moving button and stop button is disabled.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2010.10a
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• pp.552-555
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• 2010

In this paper, we propose a context-aware system using wireless multi sensor module to monitor the state for industrial factory environment. Wireless multi sensor module combines sensing values which are collected from each acceleration, pressure, temperature and gas sensors. Moreover, it delivers this data to server after being encoded by RS code. Thereafter, RS decoder decodes the values that are received from wireless multi sensor module and fixes errors which occur in wireless communication. Based on decoded data, context-aware algorithm sets critical range and compares it to the sensing values, if the sensing values are out of the range, an event occurs by the algorithm. At the same time, if there is another sensing value which is out of the range for standby time T seconds, the algorithm orders 3 steps-alarm to occur depending on each situation. Through this system, it becomes eventually possible to monitor machines' condition effectively. From the simulation, we confirm that this system is efficient to status monitoring of industrial automation equipment.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.475-475
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• 2000

This paper describes the construction of an autonomous mobile robot with functions of collision avoidance and speech recognition that is used for teaching path of the robot. The human voice as a teaching method provides more convenient user-interface to mobile robot. For safe navigation, the autonomous mobile robot needs abilities to recognize surrounding environment and avoid collision. We use u1trasonic sensors to obtain the distance from the mobile robot to the various obstacles. By navigation algorithm, the robot forecasts the possibility of collision with obstacles and modifies a path if it detects dangerous obstacles. For these functions, the robot system is composed of four separated control modules, which are a speech recognition module, a servo motor control module, an ultrasonic sensor module, and a main control module. These modules are integrated by CAN(controller area network) in order to provide real-time communication.

• Journal of information and communication convergence engineering
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• v.10 no.4
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• pp.359-364
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• 2012

Harvesting energy from the environment is essential for many applications to slow down the deterioration of energy of the devices in sensor networks and in general, the network itself. Energy from the environment is an inexhaustible supply which, if properly managed and harvested from the sources, can allow the system to last for a longer period - more than the expected lifetime at the time of deployment, or even last indefinitely. The goal of this study is to develop a simple algorithm for ns-2 to simulate energy harvesting in wireless sensor network simulations. The algorithm is implemented in the energy module of the simulator. Energy harvesting algorithms have not yet been developed for ns-2. This study will greatly contribute to the existing knowledge of simulating wireless sensor networks with energy harvesting capabilities in ns-2. This paper will also serve as a basis for future research papers that make use of energy harvesting.

• Journal of the Institute of Convergence Signal Processing
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• v.19 no.2
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• pp.54-60
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• 2018

In this paper, we propose an efficient automatic control method for the collision avoidance of drones. In general, the drones are controlled by transmitting to the flight control (FC) module the received PWM signals transmitted from a RC controller which transduce movements of the knob into PWM signal. We implemented the collision avoidance module in-between receiver and FC module to monitor and change the throttle, pitch and roll control signals to avoid drone collision. In order to avoid the collision, a LiDAR distance sensor and a servo-motor are installed and periodically measure the obstacle distance within -45 degrees from 45 degrees in flight direction. If the collision is predicted, the received PWM signal is changed and transmitted to the FC module to prevent the collision. We applied our proposed method to a hexacopter and the experimental results show that the safety is improved because it can prevent the collision caused by the inadvertency or inexperienced maneuver.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.742-745
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• 2004

If a personal robot is popularized like a personal computer in the future, many kinds of robots will appear and the number of manufacturers will increase as a matter of course. In such circumstances, it can be inefficient, in case each manufacturer makes a whole platform individually. The solutions for this problem are to modularize a robot component (hardware and software) functionally and to standardize each module. Each module is developed and sold by each special maker and a consumer purchases desired modules and integrates them. The standardization of a module includes the unification of electrical and mechanical interface. In this paper, the standard interfaces of modules are proposed and CMR(Component Modularized Robot)-P2 made with the modules(brain, sensor, mobile, arm) is introduced. In order to simplify and to make the modules light, a frame is used for supporting a robot and communication/power lines. The name of a method and the way to use that are defined dependently on the standard interfaces in order to use a module in other modules. Each module consists of a distributed object and that can be implemented in the random language and platform. The sensor, mobile and arm modules are developed on Pentium or ARM CPU and embedded Linux OS using the C programming language. The brain module is developed on Pentium CPU and Windows OS using the C, C++ and RPL(Robot Programming Language). Also tasks like pass planning, localization, moving, object perception and face perception are developed. In our test, modules got into gear and CMR-P2 executed various scenarios like guidance, errand and guarding completely.

• Journal of Digital Convergence
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• v.13 no.9
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• pp.251-257
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• 2015

Recently, techniques for detecting the movement of the object of energy saving, impact prevention, such as automatic door opening and closing has been applied to various fields. Doppler sensor does not receive a large impact on the environment, such as conventional infrared ray sensor, a problem with an ultrasonic sensor as a sensor which can compensate the temperature, noise, dust and so on. In this paper, when the object to be detected, the LED lamp is turned on 24 hours a Doppler sensor ON, if not switch to the OFF state, the illumination of the LED lamp has been developed for controlling the two-stage converter. Doppler sensor developed by applying the converter module and the power-saving control section leader and demonstrated the power savings.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1738-1741
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• 1997

This paper addresses the issue fo target classification and localization with a SONAR for mobiler robot indoor navigation. In particular, multiple refetions of SONAR sound are used actively and interntionally. As for the SONAR sensor, the multiple reflection has been generally considered as one of the noisy phenomena, which is inevitable in the indoor environments. However, these multiple reflections can be a clue for classifying and localizing targets in the indoor environment if those can be controlled and used well. This paper develops a new SONAR sensor module with a reflection plane which can actively create the multiple refection. This paper also intends to suggest a new target classification emthod which uses the multiple refectiions. We approximate the world as being two dimensional and assume that the targets consisting of the indoor environment are pland, corner, and edge. Multiple reflection paths of an acoustic bean by a SONAR are analyzed, by simulations and the patterns of the TOPs (Time Of Flight) and angles of multiple reflections from each target are also analyzed. In addition, a new algorithm for target classification and localization is proposed.

• Journal of Sensor Science and Technology
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• v.18 no.1
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• pp.72-76
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• 2009

The sensing system was designed and fabricated to investigate the ferment environment of soybeans. $NH_3$ gas was saturated after about 7 h and $CO_2$ gas was reached the peak after about 8 h in the inoculation of Bacillus subtilis. However, times that $CO_2$ gas and $NH_3$ gas were reached maximum value without Bacillus subtilis were about 15 h and 18 h, respectively. The sample that inoculated Bacillus subtils had deeper taste than one without it. We found that the peak time of $CO_2$ gas means the starting time of fermentation. If we control the operating time after the start of fermentation, it is expected to make a suitable Chungkukjang to individual preference.