• Proceedings of the Korean Information Science Society Conference
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• 2007.06b
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• pp.437-440
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• 2007

최근 환경 문제를 해결하기 위하여 환경 문제의 많은 컴퓨터 기술들이 응용되고 있다. 환경 정보는 환경오염원 및 주위에 미치는 영향과 오염된 농도에 대한 정보를 연구 및 분석 할 수 있는 분야이다. 최근 환경에 관련 연구가 일부에서 수행되고 있으나 이를 IT기술과 접목하여 다양한 정보를 효율적으로 저장 및 검색 할 수 있는 시스템은 부족한 실정이다. 또한 현재 환경오염의 측정방법으로는 수작업으로 이루어지는 경우가 많아서 공간적 및 물리적 제약이 있는 따르는 실정이다. 환경오염에 관한 정보를 센서를 사용하여 사용자에게 실시간으로 효과적으로 저장 관리하여 관련된 연구자들 간에 서로가 필요한 정보를 쉽게 공유할 수 있도록 본 논문에서는 Ubiquitous Sensor Network(USN), Java Message Service(JMS) 및 Webservice를 이용한 환경 모니터링 서비스를 제안 한다. 본 논문에서 제안한 시스템은 환경정보와 사용자간에 유연성, 확장성 및 실시간을 보장해 주는 시스템을 구현한다.

• ETRI Journal
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• v.33 no.3
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• pp.310-319
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• 2011

In this paper, a new soft-fusion approach for multiple-receiver wireless communication systems is proposed. In the proposed approach, each individual receiver provides the central receiver with a confidence level rather than a binary decision. The confidence levels associated with the local receiver are modeled by means of soft-membership functions. The proposed approach can be applied to wireless digital communication systems, such as amplitude shift keying, frequency shift keying, phase shift keying, multi-carrier code division multiple access, and multiple inputs multiple outputs sensor networks. The performance of the proposed approach is evaluated and compared to the performance of the optimal diversity, majority voting, optimal partial decision, and selection diversity in case of binary noncoherent frequency shift keying on a Rayleigh faded additive white Gaussian noise channel. It is shown that the proposed approach achieves considerable performance improvement over optimal partial decision, majority voting, and selection diversity. It is also shown that the proposed approach achieves a performance comparable to the optimal diversity scheme.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.8
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• pp.1476-1483
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• 2007

In a multi-sensor target tracking systems, the local sensors have the role of tracking the target and transferring the measurements to the fusion center. The measurements from the same target can arrive out of sequence called, the out-of-sequence measurements(OOSMs). The OOSM can arise in a form of single-lag or multi-lag throughout the transfer at the fusion center. The recursive retrodiction step was proposed to update the current state estimates with the multi-lag OOSM from the several previous papers. The real world has the possible situations that the maneuvering target informations can arrive at the fusion center with the random clutter in the possible OOSMs. In this paper, we incorporate the IMM-MPDA(Interacting Multiple Model - Most Probable Data Association) into the multi-lag OOSM update. The performance of the IMM-MPDA filter with multi-lag OOSM update is analyzed for the various clutter densities, OOSM lag numbers, and target maneuvering indexes. Simulation results show that IMM-MPDA is sufficient to be used in out of sequence environment and it is necessary to correct the current state estimates with OOSM except a very old OOSM.

• Smart Structures and Systems
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• v.24 no.2
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• pp.257-266
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• 2019

The benefit of data fusion in improving the performance of Higher Order Sliding Mode (HOSM) observer is brought out in this paper. This improvement in the performance of HOSM observer, resulted in the improvement of active vibration control of a piezo actuated structure, when controlled by a Discrete Sliding Mode Controller (DSMC). The structure is embedded with two piezo sensors for measuring the first two vibrating modes. The fused output of sensors is applied to the HOSM observer for generating state estimates, these states generated are applied to the DSMC, designed for the fourth order linear time invariant model of the structure. In the simulation study, the structure is excited at the first and second mode resonance. It is found that better vibration suppression is obtained, when the states generated by the fused output of sensors is applied as controller input, than the vibration suppression obtained by applying the states generated by using individual sensor output. The closed loop performance of DSMC obtained with HOSM observer is compared with the closed loop performance obtained with the conventional observer. Results obtained shows that better vibration suppression is obtained when the states generated by HOSM observer is applied as controller input.

• Journal of the Microelectronics and Packaging Society
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• v.25 no.4
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• pp.25-34
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• 2018

In this paper, we review the latest technical progress and commercialization of stretchable interconnectors, stretchable strain sensors, and stretchable substrates for stretchable electronics. The development of stretchable electronics can pave a way for new applications such as wearable devices, bio-integrated devices, healthcare and monitoring, and soft robotics. The essential components of stretchable electronic devices are stretchable interconnector and stretchable substrate. Stretchable interconnector should have high stretchability and high electrical conductivity as well as stability under severe mechanical deformation. Therefore several nanocomposite-based materials using CNT, graphene, nanowire, and metal flake have been developed. Geometric engineering such as wavy, serpentine, buckled and mesh structure has been well developed. Stretchable substrate should also pose high stretchability and compatibility with stretchable sensing or interconnecting material. We summarize the recent research results of new materials for stretchable interconnector and substrate as well as strain sensors. The Important challenges in development of the stretchable interconnector and substrate are also briefly discussed.

• Smart Structures and Systems
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• v.23 no.1
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• pp.61-69
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• 2019

Offshore structures are generally exposed to harsh environments such as strong tidal currents and wind loadings. Monitoring the structural soundness and integrity of offshore structures is crucial to prevent catastrophic collapses and to prolong their lifetime; however, it is intrinsically challenging because of the difficulties in accessing the critical structural members that are located under water for installing and repairing sensors and data acquisition systems. Virtual sensing technologies have the potential to alleviate such difficulties by estimating the unmeasured structural responses at the desired locations using other measured responses. Despite the usefulness of virtual sensing, its performance and applicability to the structural health monitoring of offshore structures have not been fully studied to date. This study investigates the use of virtual sensing of offshore structures. A Kalman filter based virtual sensing algorithm is developed to estimate responses at the location of interest. Further, this algorithm performs a multi-sensor data fusion to improve the estimation accuracy under non-stationary tidal loading. Numerical analysis and laboratory experiments are conducted to verify the performance of the virtual sensing strategy using a bottom-fixed offshore structural model. Numerical and experimental results show that the unmeasured responses can be reasonably recovered from the measured responses.

• The Journal of Korea Robotics Society
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• v.19 no.2
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• pp.149-158
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• 2024

This paper presents a robust autonomous navigation and reconnaissance system for tracked robots, designed to handle complex multi-floor indoor environments with stairs. We introduce a localization algorithm that adjusts scan matching parameters to robustly estimate positions and create maps in environments with scarce features, such as narrow rooms and staircases. Our system also features a path planning algorithm that calculates distance costs from surrounding obstacles, integrated with a specialized PID controller tuned to the robot's differential kinematics for collision-free navigation in confined spaces. The perception module leverages multi-image fusion and camera-LiDAR fusion to accurately detect and map the 3D positions of objects around the robot in real time. Through practical tests in real settings, we have verified that our system performs reliably. Based on this reliability, we expect that our research team's autonomous reconnaissance system will be practically utilized in actual disaster situations and environments that are difficult for humans to access, thereby making a significant contribution.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.8
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• pp.703-710
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• 2016

In robotics research, accurate estimation of current robot position is important to achieve motion control of a robot. In this research, we focus on a sensor fusion method to provide improved position estimation for a wheeled mobile robot, considering two different sensor measurements. In this case, we fuse camera-based vision and encode-based odometry data using Kalman filter techniques to improve the position estimation of the robot. An external camera-based vision system provides global position coordinates (x, y) for the mobile robot in an indoor environment. An internal encoder-based odometry provides linear and angular velocities of the robot. We then use the position data estimated by the Kalman filter as inputs to the motion controller, which significantly improves performance of the motion controller. Finally, we experimentally verify the performance of the proposed sensor fused position estimation and motion controller using an actual mobile robot system. In our experiments, we also compare the Kalman filter-based sensor fused estimation with two different single sensor-based estimations (vision-based and odometry-based).

• The KIPS Transactions:PartC
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• v.15C no.4
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• pp.273-280
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• 2008

In WSN(Wireless Sensor Network) many routing algorithms such as LEACH, PEGASIS and PEDEP consisting of sensor nodes with limited energy have been proposed to extend WSN lifetime. Under the assumption of perfect fusion, these algorithms used convergecast that periodically collects sensed data from all sensor nodes to a base station. But because these schemes studied less energy consumption for a convergecast as well as fairly energy consumption altogether, the minimum energy consumption for a convergecast was not focused enough nor how topology influences to energy consumption. This paper deals with routing topology and energy consumption for a single convergecast in the following ways. We chose major WSN topology as MSC(Minimum Spanning Chain)s, MSTs, PEGASIS chains and proposed LECSEN chains. We solved the MSC length by Linear Programming(LP) and propose the LECSEN chain to compete with MST and MSC. As a result of simulation by Monte Carlo method for calculation of the topology length and standard deviation of link length, we learned that LECSEN is competitive with MST in terms of total energy consumption and shows the best with the view of even energy consumption at the sensor nodes. Thus, we concluded LECSEN is a very useful routing topology in WSN.

• Journal of Sensor Science and Technology
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• v.23 no.4
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• pp.217-223
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• 2014

Nerve agents are major chemical warfare agents with the "G series" and "V series" being the most widely known because of their lethal effect. Although not conspicuously used in major wars, the potential detrimental impact on modern society had been revealed from the sarin terror attack on Tokyo subway, which affected thousands of people. In this mini-review, major nerve agents of the "G series" and "V series" have been described along with various types of their detection methods. The physical properties and hydrolysis mechanisms of the major nerve agents are discussed since these are important factors to be considered in choosing detection methods, and specifying the procedures for sample preparations in order to enhance detection precision. Various types of extraction methods, including liquid-phase, solid-phase, gas-phase and solid-phase microextraction (SPME), are described. Recent development in the use of gas sensors for detecting nerve agents is also summarized.