• Journal of Institute of Control, Robotics and Systems
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• v.22 no.9
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• pp.716-722
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• 2016

Coordinate estimation is an essential function for autonomous navigation of a mobile robot. The optical mouse sensor is convenient and cost-effective for the coordinate estimation problem. It is possible to overcome the position estimation error caused by the slip and the model mismatch of robot's motion equation using the optical mouse sensor. One of the simple methods for the position estimation using the optical mouse sensor is integration of the velocity data from the sensor with time. However, the unavoidable noise in the sensor data may deteriorate the position estimation in case of the simple integration method. In general, a mobile robot has ready-to-use motion information from the encoder sensors of driving motors. By combining the velocity data from the optical mouse sensor and the motion information of a mobile robot, it is possible to improve the coordinate estimation performance. In this paper, a coordinate estimation algorithm for an autonomous mobile robot is presented based on the well-known Kalman filter that is useful to combine the different types of sensors. Computer simulation results show the performance of the proposed localization algorithm for several types of trajectories in comparison with the simple integration method.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.8 no.6
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• pp.141-146
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• 2008

Recently, it is studying to provide to users through internet in the SensorWeb of OGC(Open Geospatial Consortium) saving and maintaining data and image information gathered from sensor network. It is necessary to study about data convergence as binding audio and video for delivering the sensing data and image information to users with real-time system. In this article, it suggests how to convergence sensing data and moving picture collected from the sensor network using index. This program indicates both of them that collected sensing data and information identified of moving picture in the integration index and based on this program provides sensing data moving picture at the same time referencing integration index, if the user asks. To verify suggested method designing real-time multimedia service structure using sensor network and image installation and implementing Ubiquitous realtime multimedia system integrating moving picture and sensing data based on index. As a result of this program, it is confirmed providing real-time multimedia service to request information of application service using integration index collected image and sensing data from wireless sensor network and image installation suggested data convergence method.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.10a
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• pp.158-163
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• 2002

This paper presents a multiple sensor system for rapid and high-precision coordinate data acquisition in the OMM (On-machine measurement) process. In this research, three sensors (touch probe, laser, and vision sensor) are integrated to obtain more accurate measuring results. The touch-type probe has high accuracy, but is time-consuming. Vision sensor can acquire many point data rapidly over a spatial range but its accuracy is less than other sensors. Also, it is not possible to acquire data for invisible areas. Laser sensor has medium accuracy and measuring speed among the sensors, and can acquire data for sharp or rounded edge and the features with very small holes and/or grooves. However, it has range- constraints to use because of its system structure. In this research, a new optimum sensor integration method for OMM is proposed by integrating the multiple-sensor to accomplish mote effective inspection planning. To verify the effectiveness of the proposed method, simulation and experimental works are performed, and the results are analyzed.

• Proceedings of the KSRS Conference
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• 2003.11a
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• pp.1393-1395
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• 2003

In this research, we presented a data integration, which integrates ultra high resolution images and complementary data for 3D building reconstruction. In our method, as the ultra high resolution image, Three Line Sensor (TLS) images are used in combination with 2D digital maps, DSMs and both of them. Reconstructed 3D buildings, correctness rate and the accuracy of results were presented. As a result, optimized combination scheme of data sets , sensors and methods was proposed.

• Bulletin of the Korean Space Science Society
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• 2004.10b
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• pp.296-299
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• 2004

KARI precision attitude determination system has been developed for high accurate geo-coding of KOMPSAT-2 image. Sensor data from two star trackers and a IRU are used as measurement and dynamic data. Sensor data from star tracker are composed of QUEST and unit vector filter. Filter algorithms consists of extended Kalman filter, unscented Kalman filter, and least square batch filter. The type of sensor data and filter algorithm can be chosen by user options. Estimated parameters are Euler angle from 12000 frame to optical bench frame, gyro drift rate bias, gyro scale factor, misalignment angle of star tracker coordinate frame with respect to optical bench frame, and misalignment angle of gyro coordinate frame with respect to optical bench frame. In particular, ground control point data can be applied for estimating misalignment angle of star tracker coordinate frame. Through the simulation, KPADS is able to satisfy the KOMPSAT-2 mission requirement in which geo-location accuracy of image is 80 m (CE90) without ground control point.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2016.10a
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• pp.324-325
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• 2016

The sensor network-based service collects data by using the sensor, the data is aware of the situation via the analysis, and the service provider provides a service suitable for the user via the context-awareness. However, this data is generated, it is difficult to match the metadata and standard units. The data integration is required to use the data generated by the different specifications of the sensor efficiently. Accordingly, in this paper we propose a method using an ontology as a method to integrate the data generated by the existing sensors and the new sensor. The ontology is mapping to the standard item and sensors, also include a type and structural difference. The mapping is comprised of two:data mapping, and metadata mapping. There are standard items that are created in this way, type of data exchange between services. This can solve the heterogeneous problem generated by sensors.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2014.10a
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• pp.354-356
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• 2014

Recently, The sensor technology Has been used in many fields, it is detected data of various types of sensors, is very difficult to integrate due to differences in the standards and each other unit. Also, when we providing a service or program on a data cloud, it is important that integrates of such data in order to take advantage of the detected data in the similar field. In this paper, we propose a approaches to integrating data to be provided as a service in the cloud of data arising from a heterogeneous sensors. The approaches are generating a standard meta-data based on ontology, it is mapping with detected data by the sensor data. Accordingly, the detected data is possible to improve the efficiency of data transfer between the sensor and the application by sending an application in a standard format.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.174-177
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• 1995

Detecting a small threat object either fast moving or floating on shallow water presents a formidable challenge to shipboard sensor systems, which must determine whether or not to launch defensive weapons in a timely manner. An integrated multisensor concept is envisioned wherein the combined use of active and passive sensor is employed for the detection of short duration targets in dense ocean surface clutter to maximize detection range. The objective is to develop multisensor integration techniques that operate on detection data prior to track formation while simultaneously fusing contacts to tracks. In the system concept, detections from a low grazing angle search radar render designations to a sensor-search infrared sensor for target classification which in turn designates an active electro-optical sensor for sector search and target verification.

• Proceedings of the KSRS Conference
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• 2005.10a
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• pp.450-453
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• 2005

A forest fire occurs mainly as natural factor such as wind, temperature or human factor such as light. Recently, the most of forest fire prevention is prediction or prevision against forest fire by using remote sensing technology. However in order to forest fire prevention, the remote sensing has many limitations such as high cost and advanced technologies and so on. Therefore, we need to multisensor integration system that utilize not only remote sensing but also in-situ sensing in order to reduce large damage of forest fire though analysis of happen cause and prediction routing of occurred forest fire. In this paper we propose a multisensor integration system that offers prediction information of factors and route of forest fire by integrates collected data from remote sensor and in-situ sensor for forest fire prevention. The proposed system is based on wireless sensor network for collect observed data from various sensors. The proposed system not only offers great quality information because firstly, raw data level fuse different format of collected data from remote and in-situ sensor but also accomplish information level fusion based on result of first stage. Offered information from our system can help early prevention of factor and early prevision against occurred forest fire which transfer to SMS service or alert service into monitoring interface of administrator.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.16 no.6
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• pp.4228-4236
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• 2015

Due to the rapid advance in web and mobile computing technologies, normal users have become to produce, provide, and share a varied form of spatial data and information. In the domain of spatial information, numerous researches on GIS have been conducted to provide spatial information services based on a geo-sensor network and a data integration and processing technology. However, to provide user-oriented information, a context information model is necessary to associate GIS data with web and sensor data. Context awareness services is designed to provide specific information, minimizing users' interference. For which, the context information model expresses the relationship of various data from sensor networks and mobile applications and provides a user-specific information considering location and area of interest. Thus, this research aims to develops a context information model based air-pollution information system that obtains and analyses air pollution data and reflects the analysis results on an air-pollution policy. Also, this system aims to raise citizens' awareness on air-pollution and to promote citizens' participatory to improve city's air quality.