• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.527-530
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• 1996

The Kalman filter has been used as a self-localization method for the mobile robot. To satisfy the assumptions inherent in the Kalman filter, we should calibrate the sensors of the robot before use of them. However, it is generally hard to find exact sensor parameters, and the parameters may change during the robot task as the environment varies. Thus we need to perform on-line sensor calibration, by which we can obtain more credible location of the mobile robot. In this paper, we present an on-line sensor calibration scheme which estimates the unknown sensor bias and the current position of the robot. To this end, first we find out the calibration errors of the sensor from redundant sensory data using the parity vector and recursive minimum variance estimation. Then we calculate the current position of the robot by weighted least square estimation without internal encoder data. The performance of the proposed method is evaluated through computer simulation.

• Journal of the Institute of Convergence Signal Processing
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• v.13 no.1
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• pp.32-38
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• 2012

Each sensor node can know its location in several ways, if the node process the information based on its geographical position in sensor networks. In the localization scheme using GPS, there could be nodes that don't know their locations because the scheme requires line of sight to radio wave. Moreover, this scheme is high costly and consumes a lot of power. The localization scheme without GPS uses a sophisticated mathematical algorithm estimating location of sensor nodes that may be inaccurate. AHLoS(Ad Hoc Localization System) is a hybrid scheme using both GPS and location estimation algorithm. In AHLoS, the GPS node, which can receive its location from GPS, broadcasts its location to adjacent normal nodes which are not GPS devices. Normal nodes can estimate their location by using iterative triangulation algorithms if they receive at least three beacons which contain the position informations of neighbor nodes. But, there are some cases that a normal node receives less than two beacons by geographical conditions, network density, movements of nodes in sensor networks. We propose an indirect localization scheme for low-density sensor nodes which are difficult to receive directly at least three beacons from GPS nodes in wireless network.

• Journal of the Korea Society of Computer and Information
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• v.22 no.9
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• pp.33-40
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• 2017

In this paper, we propose a sink-location management and data-routing scheme to effectively support the mobile sink in solar-powered WSN. Battery-based wireless sensor networks (WSNs) have a limited lifetime due to their limited energy, but solar energy-based WSNs can be supplied with energy periodically and can operate forever. On the other hand, introduction of mobile sink in WSNs can solve some energy unbalance problem between sink-neighboring nodes and outer nodes which is one of the major challenges in WSNs. However, there is a problem that additional energy should be consumed to notify each sensor node of the location of the randomly moving mobile sink. In the proposed scheme, one of the nodes that harvests enough energy in each cluster are selected as the cluster head, and the location information of the mobile sink is shared only among the cluster heads, thereby reducing the location management overhead. In addition, the overhead for setting the routing path can be removed by transferring data in the opposite direction to the path where the sink-position information is transferred among the heads. Lastly, the access node is introduced to transmit data to the sink more reliably when the sink moves frequently.

• International Journal of Control, Automation, and Systems
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• v.2 no.4
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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.

• Journal of Electrical Engineering and Technology
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• v.11 no.4
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• pp.889-897
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• 2016

This paper presents an improved approach for compensating rotor position signal displacement in brushless DC (BLDC) motors with misaligned hall-effect sensors. Typically, the hall-effect sensors in BLDC motors are located in each phase and positioned exactly 120 electrical degrees apart. However, limitations in mechanical tolerances make it difficult to place hall-effect sensors at the correct location. In this paper, a position error compensator to counteract the hall-effect sensor positioning error is proposed. The proposed position error compensator uses least squares error analysis to adjust the relative position error and back-EMF information to reduce the absolute offset error. The effectiveness of the proposed approach is verified through several experiments.

• Journal of Korea Multimedia Society
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• v.15 no.9
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• pp.1112-1125
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• 2012

To realize LBS (Location Based Service), typically GPS is mostly used. However, this system can be only used in out-sides. Furthermore, the use of the GPS in sensor networks is not efficient due to the low power consumption. Hence, we propose methods for the location positioning which is runnable at indoor in this paper. The proposed methods elaborate the location positioning system via applying K-NN(K-Nearest Neighbour) Algorithm with its intermediate values based on IEEE 802.15.4 technology; which is mostly used for the sensor networks. Logically the accuracy of the location positioning is proportional to the number of sampling sensor nodes' RSS according to the K-NN. By the way, numerous sampling uses a lot of sensor networks' resources. In order to reduce the number of samplings, we, instead, attempt to use the intermediate values of K-NN's signal boundaries, so that our proposed methods are able to positioning almost two times as accurate as the general ways of K-NN's result.

• Journal of Advanced Navigation Technology
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• v.19 no.1
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• pp.74-79
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• 2015

In this paper, in order to improve the error is utilized to location tracking the smart sensor detects a walking information user, RSSI is to provide an indoor position tracking system that is capable of correcting an error in terms weak. The acceleration sensor is able to detect the activity in the user walking and detects the number of step and the moving distance using the same. The Direction sensor is utilized as a digital compass, to detect the moving direction of the user. As a result of detecting the walking information using the sensor, it can be showed that this proposed indoor positioning system has a high degree of accuracy for the number of steps and the movement direction. Therefore, this paper shows that the proposed technique can correct the error of the location information to be problem in the conventional indoor location system which uses the only Wi-Fi APs by estimating the user's movement direction and distance using the sensors in smartphone without an additional equipment and cost.

• Progress in Superconductivity
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• v.10 no.1
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• pp.1-5
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• 2008

Magnetocardiography (MCG) is a non-contact, non-invasive, and harmless diagnostic tool to detect the abnormal electrical conductivities of the heart caused by the various coronary artery disease or cardiac muscular disease. The purpose of this study is to identify whether MCG signals and MCG parameter values vary depending on the location of sensor assembly. It will be an important reference for the standard measurement. Four healthy male subjects (33.3$\pm$6.3 years) participated in this study. Basal recording was made at 20 mm apart from the chest surface. All subjects were requested to take a regular breathe while MCG was taken. The gap between the chest surface and the bottom of the sensor assembly was 20, 40, 60, and 80 mm. Recording was made using 64 channel MCG system (Axial type, first order gradiometer) developed by Korea Research Institute of Standards and Science (KRISS). After resting for two minutes in a supine position on the bed in magnetically shielded room, MCG were recorded for 30 s. As the sensor location is getting away from the chest surface signal, the amplitude of R and T wave peak decreases to 70% (at 40 mm gap), 50% (at 60 mm), and 37% (at 80 mm) of the reference strength measured (y = $1.3903e^{-0.0169x}$, $R^2$ = 0.99; where y=amplitude remained after reduction, x=distance between chest surface and sensor location). The regression equations may be used as a good reference to calculate how much strength will be decreased by the distance. In MCG parameters, most values of parameters were decreased as the gap was increased. As an example, the current moment at T-wave peak reduced to 52% (at 40 mm gap), 33% (at 60 mm), and 19% (at 80 mm). However, the difference caused by the gap could be reduced by considering the distance when the MCG parameters were calculated. The study results can be used as a useful reference to design the baseline and the sensor location.

• Journal of Electrical Engineering and Technology
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• v.13 no.1
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• pp.352-361
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• 2018

This paper proposes a sensing system of the Halbach array permanent magnet spherical motor(PMSM). The rotor position can be obtained by solving three rotation angles, which revolves around 3 reference axes of the stator. With the development of 3-D hall sensor, the position identification problem of the Halbach array PMSM based on rotor magnetic field is studied in this paper. A nonlinear and serious coupling relationship between the rotation angles and the measured magnetic flux density is established on the basis of the rotation transformation theory and the magnetic field model. In order to get rid of the influence on position detection caused by the harmonics of rotor magnetic field and the stator coil magnetic field, a sensor location combination scheme is proposed. In order to solve the nonlinear equation fast and accurately, a new position solution algorithm which combines the merits of gradient projection and particle swarm optimization(PSO) is presented. Then the rotation angles are obtained and the rotor position is identified. The validity of the sensing system is verified through the simulation.

• Smart Structures and Systems
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• v.26 no.6
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• pp.721-733
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• 2020

The present study investigates the employing of piezoelectric patches in active control of a sandwich plate. Indeed, the active control and optimal patch distribution on this structure are presented together. A sandwich plate with honeycomb core and composite reinforced by carbon nanotubes in facesheet layers is considered so that the optimum position of actuator/sensor patches pair is guaranteed to suppress the vibration of sandwich structures. The sandwich panel consists of a search space which is a square of 200 × 200 mm with a numerous number of candidates for the optimum position. Also, different dimension of square and rectangular plates to obtain the optimal placement of piezoelectric actuator/senor patches pair is considered. Based on genetic algorithm and LQR, the optimum position of patches and fitness function is determined, respectively. The present study reveals that the efficiency and performance of LQR control is affected by the optimal placement of the actuator/sensor patches pair to a large extent. It is also shown that an intelligent selection of the parent, repeated genes filtering, and 80% crossover and 20% mutation would increase the convergence of the algorithm. It is noted that a fitness function is achieved by collection actuator/sensor patches pair cost functions in the same position (controllability). It is worth mentioning that the study of the optimal location of actuator/sensor patches pair is carried out for different boundary conditions of a sandwich plate such as simply supported and clamped boundary conditions.