• Journal of the Korea Academia-Industrial cooperation Society
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• v.4 no.3
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• pp.284-288
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• 2003

In this paper, a mobile robot system which have trajectory of metal tape- type is designed and manufactured. The mobile robot for manless-transportation consists of sensor-part with ultrasonic and infrared sensor, motor-part with motor and encoder, user interface-part, central control-part and computer interface-part. The ultrasonic sensor detects obstacles which can appear during the mobile robot is move. The infrared sensor has ability which detect the metal tape trajectory and then lead the robot to a correct position. By using the mobile robot, the flexiblity of a moving trajectory is improved and cost which can happen in using a mobile robot system having trajectory is cut as well.

• Proceedings of the KIEE Conference
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• 2003.11b
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• pp.19-22
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• 2003

This paper proposes an algorithm for navigation of an autonomous mobile robot with vision sensor. For obstacle avoidance, we used a curvature trajectory method. Using this method, translational and rotational speeds are controlled independently and the mobile robot traces a smooth curvature trajectory that consists of circle trajectories to a target point. While trying to avoid obstacles, the robot fan be goal-directed using curvature trajectory.

• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.6
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• pp.774-780
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• 2017

The techniques for driving trajectory calculation and driving trajectory distribution calculation are proposed to analyze the durability of ground vehicles effectively. To achieve this aim, the driving trajectory of a vehicle and the driving trajectory distribution of that are needed, in addition to road profile. The road profiles can be measured by a profilometer but a driving trajectory of a vehicle cannot be acquired effectively due to a large position error from a conventional GPS sensor. Therefore two techniques are proposed to reduce the position error of a vehicle and achieve the distribution of driving trajectory of that. The driving trajectory calculation technique produces relative positions by using the velocity, time and heading of a vehicle. The driving trajectory distribution calculation technique produces distributions of the driving trajectory by using axis transformation, estimating reference line, dividing sectors and plotting a histogram of the sectors. As a results of this study, we can achieve the considerably accurate driving trajectory and driving trajectory distribution of a vehicle.

• The KIPS Transactions:PartC
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• v.15C no.1
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• pp.19-30
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• 2008

Sensor nodes are used as a storage space in the data centric storage method for sensor networks. Sensor nodes save the data to the node which is computed by hash table and users also access to the node to get the data by using hash table. One of the problems which the data centric storage method has is that queries from many users who are interested in the popular data could be concentrated to one node. In this case, responses for queries could be delayed and the energy of heavy loaded node could be dissipated fast. This would lead to reduction of network life time. In this paper, ALT, Data Centric Storage based on Adaptive Local Trajectory, is proposed as scalable data centric storage method for sensor network. ALT constructs trajectory around the storage node. The scope of trajectory is increased or decreased based on the query frequency. ALT distributes the query processing loads to several nodes so that delay of response is reduced and energy dissipation is also distributed.

• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.1
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• pp.9-15
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• 2012

This paper shows an effective scanning trajectory for a mine detection device that is one of the mission equipments of unmanned ground vehicle. The mine detection device is composed of a mine-detection sensor, and a 4 DOF manipulator enabling sensor position control. There are three modes that manage the mine detection device: passive, semi-automatic, and automatic. The automatic mode is used the most. This paper suggests a scanning method that makes shape of 8. This method prevents missing target area and enhances scanning speed when the mine detection device scans the ground surface in automatic mode. The suggested method is verified by simulations and experiments.

• Journal of KIISE:Information Networking
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• v.32 no.4
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• pp.525-534
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• 2005

This paper is concerned with the query slipping and its prevention for trajectory-based matchmaking service in wireless sensor networks. The problem happens when a query propagating along a subscribe trajectory moves through a publish trajectory without obtaining desired information, even though two trajectories intersect geometrically. There follows resubmission of the query or initiation of another subscribe trajectory Thus, query slipping results in considerable time delay and in the worst, looping in the trajectory or query flooding the network. We address the problem formally and suggest a solution. First, the area where nodes are distributed is logically partitioned into smaller grids, and a grid-based multicast next-hop selection algorithm is proposed. Our algorithm not only attempts to make the trajectory straight but also considers the nodal density of recipient nodes and the seamless grid-by-grid multicast. We prove that the publishing and subscribing using the algorithm eventually eliminate the possibility of the slipping. It toms out that our algorithm dissipates significantly less power of neighbor nodes, compared to the non grid-based method, as greedy forwarding, and the fixed- sized grid approach, as GAF (Geographical Adaptive Fidelity)

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.95-97
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• 2005

This paper deals with the implementation of walking for a humanoid robot by ZMP measurement using wireless sensor network. ZMP is measured by FSR sensors which are mounted at each corner of a sole. The wireless sensor network collects the sensor data according and exchanges robot information between host PC and a robot system. The master controller mounted on robot body receives trajectory data from the host PC via sensor network and drives the joint motor based on trajectory data. The time scheduler of the master controller controls the events at the ratio of 100ms. With this configuration, the walking of the humanoid robot KHR-1 could be realized successfully.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.11 no.7
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• pp.3480-3500
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• 2017

Accurate locating for the mobile target remains a challenge in various applications of wireless sensor networks (WSNs). Unfortunately, most of the typical localization algorithms perform well only in the WSN with densely distributed sensor nodes. The non-localizable problem is prone to happening when a target moves into the WSN with sparsely distributed sensor nodes. To solve this problem, we propose a collaborative and predictive localization algorithm (CPLA). The Gaussian mixture model (GMM) is introduced to predict the posterior trajectory for a mobile target by training its prior trajectory. In addition, the collaborative and predictive schemes are designed to solve the non-localizable problems in the two-anchor nodes locating, one-anchor node locating and non-anchor node locating situations. Simulation results prove that the CPLA exhibits higher localization accuracy than other tested predictive localization algorithms either in the WSN with sparsely distributed sensor nodes or in the WSN with densely distributed sensor nodes.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.5
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• pp.585-589
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• 2009

In this paper, passive direction-finding localization of the emitter using noisy line-of-bearing (LOB) measurements is considered. The performance of the LOB-based emitter localization using linear LSE algorithm is given. The Dependence of the performance on bias of emitter location and sensor trajectory is illustrated using the numerical results.

• The KIPS Transactions:PartC
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• v.15C no.6
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• pp.513-522
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• 2008

Efficient data dissemination is one of the important subjects for sensor networks. High accessibility of the sensed data can be kept by deploying the data centric storage approach in which data is stored over the nodes in the sensor network itself rather than external storages or systems. The advantage of this approach is its direct accessibility in a real-time without the severe burden on delay and power dissipation on the data path to the external storages or systems. However, if the queries from many users are concentrated to the few nodes with data, then the response time could be increased and it could lead to the reduction of network life time by rapid energy dissipation caused by concentrated network load. In this paper, we propose a adaptive data centric storage scheme based on proxy trajectory (APT) mechanism. We highlight the data centric storage mechanism by taking account of supporting large number of users, and make it feasible to provide high-performance accessibility when a non-uniform traffic pattern is offered. Storing data around the localized users by considering spatial data-access locality, the proxy trajectory of APT provides fast response for the users. The trajectory, furthermore, may help the mobile users to roams freely within the area they dwell.