• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.3
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• pp.352-361
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• 2021

An underwater positioning method that can be applied to structures for underwater construction is being developed at the Korea Institute of Ocean Science and Technology. The method uses an extended Kalman filter (EKF) based on an inertial navigation system for precise and continuous position estimation. The observation matrix was configured to be variable in order to apply asynchronous measured sensor data in the correction step of the EKF. A Doppler velocity logger (DVL) can acquire signals only when attached to the bottom of an underwater structure, and it is difficult to install and recover. Therefore, a complex sensor device for underwater structure attachment was developed without a DVL in consideration of an underwater construction environment, installation location, system operation convenience, etc.. Its performance was verified through a water tank test. The results are the measured underwater position using an ultra-short baseline, the estimated position using only a position vector, and the estimated position using position/velocity vectors. The results were compared and evaluated using the circular error probability (CEP). As a result, the CEP of the USBL alone was 0.02 m, the CEP of the position estimation with only the position vector corrected was 3.76 m, and the CEP of the position estimation with the position and velocity vectors corrected was 0.06 m. Through this research, it was confirmed that stable underwater positioning can be carried out using asynchronous sensors without a DVL.

• IE interfaces
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• v.20 no.3
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• pp.288-297
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• 2007

Success of semiconductor/LCD industry depends on its yield and quality of product. For the purpose, FDC (Fault Detection and Classification) system is used to diagnose fault state in main manufacturing processes by monitoring time series data collected by equipment sensors which represent various conditions of the equipment. The data set is segmented at the start and end of each product lot processing by a trigger event module. However, in practice, segmented sensor data usually have the features of data asynchronization such as different start points, end points, and data lengths. Due to the asynchronization problem, false alarm (type I error) and missed alarm (type II error) occur frequently. In this paper, we propose a robust process fault detection system by integrating a process event detection method and a similarity measuring method based on dynamic time warping algorithm. An experiment shows that the proposed system is able to recognize abnormal condition correctly under the asynchronous data situation.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.48 no.11
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• pp.873-880
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• 2020

In this paper, we propose a guidance filter to estimate line of sight rate with strapdown seeker measurements and INS(Inertial Navigation System) information. The measurements of proposed guidance filter consisted of the LOS(Line of Sight) and relative position that can be calculated with the seeker's measurements, INS information and known target position, also the filter is based on an asynchronous filter to use outputs of the two sensors that are out of synchronous and period. Through the proposed filter, we can reduce the effect on parasitic loop that can be caused by using large time delay seeker and improve the estimation performance.

• Journal of Information Processing Systems
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• v.13 no.6
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• pp.1436-1458
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• 2017

Quorum-based algorithms are widely used for solving several problems in mobile ad hoc networks (MANET) and wireless sensor networks (WSN). Several quorum-based protocols are proposed for multi-hop ad hoc networks that each one has its pros and cons. Quorum-based protocol (QEC or QPS) is the first study in the asynchronous sleep scheduling protocols. At the time, most of the proposed protocols were non-adaptive ones. But nowadays, adaptive quorum-based protocols have gained increasing attention, because we need protocols which can change their quorum size adaptively with network conditions. In this paper, we first introduce the most popular quorum systems and explain quorum system properties and its performance criteria. Then, we present a comparative and comprehensive survey of the non-adaptive and adaptive quorum-based protocols which are subsequently discussed in depth. We also present the comparison of different quorum systems in terms of the expected quorum overlap size (EQOS) and active ratio. Finally, we summarize the pros and cons of current adaptive and non-adaptive quorum-based protocols.

• ETRI Journal
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• v.37 no.3
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• pp.480-490
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• 2015

The reliability of sensor networks is generally dependent on the battery power of the sensor nodes that it employs; hence it is crucial for the sensor nodes to efficiently use their battery resources. This research paper presents a method to increase the reliability of sensor nodes by constructing a connected dominating tree (CDT), which is a subnetwork of wireless sensor networks. It detects the minimum number of dominatees, dominators, forwarder sensor nodes, and aggregates, as well as transmitting data to the sink. A new medium access control (MAC) protocol, called Homogenous Quorum-Based Medium Access Control (HQMAC), is also introduced, which is an adaptive, homogenous, asynchronous quorum-based MAC protocol. In this protocol, certain sensor nodes belonging to a network will be allowed to tune their wake-up and sleep intervals, based on their own traffic load. A new quorum system, named BiQuorum, is used by HQMAC to provide a low duty cycle, low network sensibility, and a high number of rendezvous points when compared with other quorum systems such as grid and dygrid. Both the theoretical results and the simulation results proved that the proposed HQMAC (when applied to a CDT) facilitates low transmission latency, high delivery ratio, and low energy consumption, thus extending the lifetime of the network it serves.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.34 no.5
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• pp.93-100
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• 2006

This paper presents a multi-sensor data simulator and a data fusion algorithm for tracking high dynamic flight target from Radar and Telemetry System. The designed simulator generates time-asynchronous multiple sensor data with different data rates and communication delays. Measurement noises are incorporated by using realistic sensor models. The proposed fusion algorithm is designed by a 21st order distributed Kalman Filter which is based on the PVA model with sensor bias states. A fault detection and correction logics are included in the algorithm for bad data and sensor faults. The designed algorithm is verified by using both simulation data and actual real data.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.1008-1013
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• 1992

본 논문에서는 다중 로보느의 협조제어(Coordinated Control)를 위한 로보트 콘트롤러의 설계에 대해서 연구한다. 첫 부분에서는 다중 로보느의 연구배경 및 연구동기에 대해서 논의하고 이어서 Coordinated Task를 묘사하기 위한 Programming Primiitive Set을 정의하며 구현에 대해서도 논의한다. 특히 Motopn Primitive는 synchronous(Coordinated Motion), Asynchronous Motion, Conditional Motion, 특수 Motion으로 분류하고, 각각의 궤적계획 및 구현에 대해서도 간단히 논의한다. 특히 본 논문에서는 외부의 변화하는 환경에 효과적으로 적응할 수 있게 하기 위하여 Vision센서, Encoder신호와 Limit센서, Force센서 등의 다양한 외부 센서를 융합 처리할수 있는 다중 로보트 제어 시스템을 개발하였다.

• Journal of the Korea Society of Computer and Information
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• v.17 no.3
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• pp.41-50
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• 2012

In the monitoring system based on web service application, it is faced with the problems like code reproduction, difficult scalability and error recovery derived from the frequent change of data structure. So we propose a technique of monitoring system by DTD(Document Type Definition) automatic generation. This technique is to use dynamic server-side script to cope with the change of sensor data structure, generate the DTD dynamically. An it also adapt the AJAX(Asynchronous JavaScript and XML) for XML data parsing, it can support mass data transmission and exception processing for data loss and damage. This technique shows the result of recovery time is decreased about 44.8ms in case of temporary data failure by comparing to the conventional XML method.

• Journal of Advanced Navigation Technology
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• v.14 no.1
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• pp.49-56
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• 2010

Severe energy constraints and the low power consumption require the significance of the energy efficient error control mechanisms in wireless sensor network (WSN). In this paper, an automatic repeat request (ARQ) methodology for the analysis of error control schemes in WSN is presented such that the effects of packet length, the modulation scheme and the interference effect of the wireless channel are investigated. Moreover, an analyis of ARQ error control is provided by considering two major architectures for wireless sensor network, i.e., Mica2 and MicaZ sensor nodes. And the throughput performance of WSN with asynchronous FSK signal and DSSS-OQPSK signal with selective repeat ARQ scheme are analyzed in multiple interference environment, and the probability of receiving a correct bit and packet from target node to sink node is evaluated as a function of the channel parameter, the number of wireless sensor node, and the spreading factor.

• Journal of the Korea Convergence Society
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• v.7 no.1
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• pp.9-15
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• 2016

In this paper, we describe the design of a high speed data acquisition system(DAS) with STM32 processor based on Cortex-M4. The system is used for the sensor devices to collect raw data on production lines at factory and send them to the servo computer in real time. The system is designed for multi functions with universal asynchronous receiver and transmitter(UART), analog to digital converter(ADC), digital to analog converter(DAC), and general purpose input output(GPIO). those are well tested for various data acquisition and high speed motor control in real time.