• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2016년도 춘계학술발표대회
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• pp.865-867
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• 2016

본 논문에서는 섬유근접센서를 이용하여 측정한 맥박을 평가하기 위해 Biopac MP150에서 획득한 Electrocardiography(ECG)와의 관계를 보았다. 섬유근접센서는 요골동맥에서의 맥박을 측정하기 위해 $5{\times}5$ 크기로 설계하였고, 전처리 과정과 필터링을 거쳐 획득한 데이터 값은 ECG 데이터와 Peak Point의 개수를 비교하여 올바른 맥박이 측정되었는지를 판단하였다. 그 결과 섬유근접센서와 MP150에서 측정한 두 데이터의 Peak Point가 모두 동일한 결과를 보였다.

• 한국컴퓨터정보학회:학술대회논문집
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• 한국컴퓨터정보학회 2014년도 제50차 하계학술대회논문집 22권2호
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• pp.109-110
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• 2014

본 연구에서는 공공 시설물 관리를 위한 센서 융합 기술을 활용한 M2M 기반의 외부 디바이스 및 내장 미들웨어 시스템을 개발하였다. 시설안전체계의 개선 및 M2M 기반기술을 접목한 기술개발을 통해 시설물 안전수준은 급격히 향상되고. 있다 무인 시설물 관리를 위하여 지속적인 촬영 및 저장방식이 아닌 센서와 영상 데이터를 융합하여 상황인지 방식의 외부 디바이스 및 내장 미들웨어 시스템을 개발하고 정보에 대한 신뢰성을 향상시켜 센서 융합형 외부 디바이스를 활용하여 이벤트 발생시에만 정보 전달을 통해 데이터 전송이 감소되는 효율적인 감시시스템을 개발하였다.

• 전자공학회논문지S
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• 제34S권3호
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• pp.33-45
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• 1997

In this paper, we propsoe a new method of th ecommunication system for cooperative behaviors and works in collective autonomous mobile robots. A communication function among the collective robots is essential to intelligent cooperative works. In genral, global communication is effective for small number of robots. However when the number of robot goes on increasing, this becomes difficult to be realized because of limited communication capacity and increasing amount of information to handle. And also the problems such as communciation interfeence and improper message transmission occur. So we propose local communication system based on infrared sensor to realize the cooperative behavior among robots as the solution of above problem. It is possible to prevent overflow of information and exchange of complex information by fusion sign board model which transmits the information to unspecified robots and message passing model which communicate a specific robot. And we formularize optimal communication range by analysis of information propagation mechanism from the proposed comunication system. At last we verify the effectiveness of the proposed communication system from example of cooperative works.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 D
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• pp.2588-2590
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• 2003

The part of manipulators is normally studied with regularized environmental conditions. however, it is the most difficult that the part of AMR must be studied with uncertainty in the environmental conditions. The part of AMR has skelton, sensor fusion, path planning etc. This paper is the research of the local pass planning that gathers information about external environment using neural network from each sensors and designs the algorithm which can determine which correct direction the robot can find. As the result of the research, AMR has been able to drive similarly as if the expert does and has been able to observe it acting without any control.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1993년도 하계학술대회 논문집 A
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• pp.383-386
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• 1993

In this paper, we propose a sensory data combination method by a fuzzy number approach for multisensor data fusion. Generally, the weighting of one sensory data with respect to another is derived from measures of the relative reliabilities of the two sensory modules. But the relative weight of two sensory data can be approximately determined through human experiences or insufficient experimental data without difficulty. We represent these relative weight using appropriate fuzzy numbers as well as sensory data itself. Using the relative weight, which is subjective valuation, and a fuzzy-numbered sensor data, the fuzzy weighted average method is used for a representative sensory data. The manipulation and calculation of fuzzy numbers can be carried out using the Zadeh's extension principle which can be approximately implemented by the $\alpha$-cut representation of fuzzy numbers and interval analysis.

• 센서학회지
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• 제24권5호
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• pp.348-352
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• 2015

Thin nickel oxide films formed on uncooled and cooled $SiO_2/Si$ substrates using a radio frequency (RF) magnetron sputter powered by 200 W in a mixed atmosphere of argon and oxygen. Grazing-incidence X-ray diffraction and field emission scanning electron microscopy are used for the structural analysis of nickel oxide films. The electrical conductivity required for better bolometric performance is estimated by means of a four-point probe system. Columnar and (200) preferred orientations are discovered in both films regardless of substrate cooling. Electric resistivity, however, is greatly influenced by the substrate cooling. Oxygen partial pressure increase during the nickel oxide deposition leads to a rapid decrease in resistivity, and the resistivity is higher in the cooled nickel oxide samples. Even when small microstructure variations are applied, lower resistivity in favor of low noise performance is acquired in the uncooled samples.

• 전기학회논문지
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• 제63권1호
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• pp.139-144
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• 2014

This paper presents the novel design, implementation and control of a single-wheel mobile robot that can balance by using air power from ducted fans. All of the motions of the single-wheel mobile robot are actuated by air power instead of motor torques. Using air power allows to reduce the total weight of the robot. The complementary sensor fusion algorithm is introduced to estimate the angle correctly. After several design and development, the robot is tested for balancing in the roll direction and yawing motion. In addition, the balancing control of the robot on a single rope is tested to evaluate the control performance.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 제38회 하계학술대회
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• pp.1787-1788
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• 2007

최근 장애물 감지, 경로 생성 등 많은 분야에서 여러 종류의 센서를 사용한 연구가 많이 진행되고 있다. 다중의 센서를 이용하면 개별 센서를 사용한 경우보다 정밀한 데이터의 측정이 가능하다. 이 논문에서는 효율적인 장애물 인식이나, 경로 생성을 위해 다중 센서로부터 측정된 데이터를 융합시키는 알고리즘을 제안하였고, 모의실험을 통해서는 이동 로봇의 기본 경로에 장애물이 존재한 상황에서 하나의 센서를 사용한 경우보다 최적화된 경로를 얻을 수 있다.

• 한국정밀공학회지
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• 제21권7호
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• pp.7-14
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• 2004

In an upcoming ubiquitous era, humankind will live in a ubiquitous space, where everything is connected through communication network. In this ubiquitous space, a ubiquitous robot, which can be used by anyone for any service through any device and any network at anytime and anywhere in a u-space, is expected to be required to serve seamless and context-aware services to humankind. In this paper, we introduce the ubiquitous robot, and define three components of the ubiquitous robot. The first one is "SoBot" which can be connected through the network in anywhere with environment recognition function and communication ability with human. The second one is "EmBot" which is embedded into environments and mobile robots and has localization and certification function with sensor fusion. The last one is "Mobile Robot" which serves overall physical services. This paper also introduces KAIST ITRC-Intelligent Robot Research Center that pursues the implementation of the ubiquitous robot.

• 한국정밀공학회지
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• 제29권7호
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• pp.762-769
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• 2012

The localization system for tour guide robot was developed which is inevitable and important for the guide robot in order to guide the tourists and explain the history or contents of the site. The localization system is based on the non-inertial sensors such as a DGPS, Dead-Reckoning. The information of the DGPS is used to update the estimated positions from Dead Reckoning. The extended Kalman filter was used for the fusion of the measured information from the sensors and estimated positions by Dead Reckoning. The simulation results show that it is very reliable and the position error is bounded within a certain extend.