• Journal of Institute of Control, Robotics and Systems
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• v.22 no.8
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• pp.633-642
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• 2016

It is important for advanced active safety systems and autonomous driving cars to get the accurate estimates of the nearby vehicles in order to increase their safety and performance. This paper proposes a sensor fusion method for radar and vision sensors to accurately estimate the state of the preceding vehicles. In particular, we performed a study on compensating for the lateral state error on automotive radar sensors by using a vision sensor. The proposed method is based on the Interactive Multiple Model(IMM) algorithm, which stochastically integrates the multiple Kalman Filters with the multiple models depending on lateral-compensation mode and radar-single sensor mode. In addition, a Probabilistic Data Association Filter(PDAF) is utilized as a data association method to improve the reliability of the estimates under a cluttered radar environment. A two-step correction method is used in the Kalman filter, which efficiently associates both the radar and vision measurements into single state estimates. Finally, the proposed method is validated through off-line simulations using measurements obtained from a field test in an actual road environment.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• v.9 no.2
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• pp.191-194
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• 2005

This paper represents an intelligent sensor controller of mobile robot for object recognition in an indoor known environment. A range finder sensor module has been developed by using optic PSD (Position Sensitive Detector) sensor array at a low price. While PSD sensor is cost effective and light weighting, it has switching noise and while noise. To remove these noises, we propose a heuristic filter. For line-based map building, also we proposed advanced Hough transformation and navigation algorism. Some experiments were illustrated for the validity of the developed system.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.12 no.2
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• pp.385-390
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• 2008

The Study of environment monitoring through huge network of wireless sensor node is worked with activity. The sensor nodes must be very small, light and low cost. The localization which may determine where a given node is physically located in a network is one of the quite important problems for wireless sensor network. But simple localization method is required as excluding the usage of GPS(Global Positioning System) by the limit condition such as the node size, costs, and so on. In this paper, very simple method using connectivity for the outdoor RF communication environment is proposed. The proposed method is demonstrated through simulation.

• Corrosion Science and Technology
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• v.20 no.6
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• pp.403-411
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• 2021

In this study, the reliability of a commercial ER-type corrosion sensor was evaluated under an accelerated corrosion environment to verify its suitability for application in monitoring of ship's seawater piping system. A closed-loop pump piping testbed was designed and constructed to compare the wall thickness reduction of the pipe and the response from the sensor. The sensor was attached inside the pipe near the outlet of the pump that was exposed to a 3.5% NaCl solution with or without copper accelerated acetic acid (CASS). The results demonstrated that the presence of CASS significantly increased the corrosivity of the solution as well as the thickness reduction of the pipe, as expected. On the other hand, the corrosion products formed by the solution with CASS were thicker compared with those without CASS. The sensor response to temperature variation was found to be a clear linear relationship for the solution without CASS but there was a non-linear relationship where CASS was present.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1621-1623
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• 1997

Use of teaching pendant is the most widespread and economical way to teach desired motion to robots. It is also very primitive,time consuming and ineffective way of teaching which has not changed since the early days of robot. In order to reduce the teaching effor, a new efficient form of teaching is needed. Also, the recent robotics research trend into service robots such as home robot, nurse robot and medical robot calls for a new teaching method which is both easy and inexpensive. In this paper, the design and operation principle of a low cost force/moment sensor is presented. The proposed sensor architecture is so simple and inexpensive that it opens the prospect for a new paradigm of robot teaching which is easy and efficinet. Other prospective areas of application are tele-manipulation of robots wher it can be used in master arm, and virtual environment where it can be used as an user input device.

• Journal of Korea Society of Digital Industry and Information Management
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• v.10 no.2
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• pp.47-59
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• 2014

In this paper, I propose a new energy efficient clustering scheme to prolong the network lifetime by reducing energy consumption at the sensor node. It is possible that a node determines whether to participate in clustering with certain probability based on local density. This scheme is useful under the environment that sensor nodes are deployed unevenly within the sensing area. By adjusting the probability of participating in clustering dynamically with local density of nodes, the energy consumption of the network is reduced. So, the lifetime of the network is extended. In the region where nodes are densely deployed, it is possible to reduce the energy consumption of the network by limiting the number of node which is participated in clustering with probability which can be adjusted dynamically based on local density of the node. Through computer simulation, it is verified that the proposed scheme is more energy efficient than LEACH protocol under the environment where node are densely located in a specific area.

• 한국신재생에너지학회:학술대회논문집
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• 2005.06a
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• pp.335-338
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• 2005

Starting with the development of environmentally friendly electric controlled engine, sensors have played an increasing role in automotive technology. Electric power steering (EPS) systems are more and more replacing hydraulic systems. To improve fuel economy, the power assistance is provided by an electric drive. In this paper, development of a unique torque sensor for EPS is introduced. A capacitive type torque sensor is concluded to be suitable for EPS because its output is accurate, linear and robust against the variance of temperature, and patents have not applied so much.

• Proceedings of the Korea Society of Information Technology Applications Conference
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• 2005.11a
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• pp.315-318
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• 2005

Lots of researches have been focusing on ubiquitous computing which means wherever, whenever, whatever the required information must be accessible. In ubiquitous computing environment, ubiquitous sensor network (USN) is the basis technology for gathering and transferring the required information. However sensor network characteristically has more severe vulnerability than the existing networks do. The paper presents operation of secure protocols for delivering information in secure in ubiquitous computing environment and show improvement of the secure transferring protocol.

• ETRI Journal
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• v.32 no.5
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• pp.704-712
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• 2010

Authentication is an important service in wireless sensor networks (WSNs) for an unattended environment. Recently, Das proposed a hash-based authentication protocol for WSNs, which provides more security against the masquerade, stolen-verifier, replay, and guessing attacks and avoids the threat which comes with having many logged-in users with the same login-id. In this paper, we point out one security weakness of Das' protocol in mutual authentication for WSN's preservation between users, gateway-node, and sensor nodes. To remedy the problem, this paper provides a secrecy improvement over Das' protocol to ensure that a legal user can exercise a WSN in an insecure environment. Furthermore, by presenting the comparisons of security, computation and communication costs, and performances with the related protocols, the proposed protocol is shown to be suitable for higher security WSNs.

• Proceedings of the Korean Society of Soil and Groundwater Environment Conference
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• 2000.05a
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• pp.125-128
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• 2000

Recently, development of advanced soil monitoring technology has became essential for effective site remediation. Soil gas evaluation is simple and powerful technology which can reduce the environmental impact during the survey of VOC contaminated area. In this research, the feasibility test of SnO$_2$ceramic gas sensor is conducted to improve soil gas measurement technology. As a result, it is successfully proved that this gas sensor has an possibility for soil gas monitoring.