• 제어로봇시스템학회논문지
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• 제22권8호
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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.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2005년도 추계종합학술대회
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• pp.191-194
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• 2005

본 논문은 이동로봇을 위한 위치 및 물체인식용 지능형 센서 제어 시스템에 대해 기술한다. 개발된 센서시스템은 저가의 광PSD(Position sensitive detector)를 사용하였다. PSD센서는 저가이고, 가볍다는 장점이 있지만 많은 noise를 갖고 있다. 본 논문에서는 이러한 noise를 효과적으로 제거하기 위해 hardware filter와 software filter를 제안한다. 또한 선분기반 map building을 위해 개선된 Hough transform 알고리즘과 이동로봇의 실내 환경에서의 navigation 알고리즘을 제안한다. 개발된 시스템은 실험을 통해 증명하였다.

• 한국정보통신학회논문지
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• 제12권2호
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• pp.385-390
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• 2008

무선 센서 노드의 거대한 네트워크를 통해서 환경을 감시하려는 연구가 매우 활발히 진행되고 있다. 무선 센서 노드들은 매우 작고, 가볍고, 비용이 저렴하여야 한다. 네트워크 안에서 주어진 노드가 어디에 물리적으로 놓여져 있는지를 알아내는 위치인식은 무선 센서 네트워크에서 아주 중요한 문제들 중의 하나이다. 그러나 노드의 크기 제한, 비용 등의 제약조건에 의해 GPS사용을 배제한 간단한 위치인식 방법이 요구된다. 본 논문에서는 RF 통신을 사용하는 건물 밖의 환경에서 위치인식을 위한 아주 단순한 접속성를 이용한 방법을 제안한다. 제안된 방법은 모의실험을 통해 그 효용성을 입증한다.

• Corrosion Science and Technology
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• 제20권6호
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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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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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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.

• 디지털산업정보학회논문지
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• 제10권2호
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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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• 한국신재생에너지학회 2005년도 춘계학술대회
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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.

• 한국정보기술응용학회:학술대회논문집
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• 한국정보기술응용학회 2005년도 6th 2005 International Conference on Computers, Communications and System
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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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• 제32권5호
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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.

• 한국지하수토양환경학회:학술대회논문집
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• 한국지하수토양환경학회 2000년도 창립총회 및 춘계학술발표회
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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.