• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.529-531
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• 2004

For localization, it is very important for an autonomous mobile robot to be able to recognize indoor environment and match an object it detect to an object within a map developed either online or offline. Given the map defining the locations of geometric beacons like wall and comer existing in the robot operation environment, this paper presents a stereo ultrasonic sensor based method that can be conveniently used in recognizing the geometric beacons. The stereo ultrasonic sensor used in the experiment consists of an ultrasonic transmitter and two ultrasonic receivers placed symmetrically about the transmitter. Experiment shows that the proposed method is more efficient in recognizing wall and coner than the conventional method of using multiple number of transmitter-receiver pairs.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 ISIS 2003
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• pp.471-475
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• 2003

This paper proposes a sensor-fusion technique where the data sets for the previous moments are properly transformed and fused into the current data sets to enable accurate measurement, such as, distance to an obstacle and location of the service robot itself. In the conventional fusion schemes, the measurement is dependent on the current data sets. As the results, more of sensors are required to measure a certain physical parameter or to improve the accuracy of the measurement. However, in this approach, instead of adding more sensors to the system, the temporal sequence of the data sets are stored and utilized for the measurement improvement. Theoretical basis is illustrated by examples and the effectiveness is proved through the simulations. Finally, the new space and time sensor fusion (STSF) scheme is applied to the control of a mobile robot in an unstructured environment as well as structured environment.

• Journal of information and communication convergence engineering
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• 제6권4호
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• pp.454-458
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• 2008

It can improve human being's life quality that all people can have more convenient medical service under pervasive computing environment. For a pervasive health care application for diabetes patient, we've implemented a health care system, which is composed of three parts. Various sensors monitor both outer and inner environment of human such as temperature, blood pressure, pulse, and glycemic index, etc. These sensors form zigbee based sensor network. And medical information server accumulates sensing values and performs back-end processing. To simply transfer these sensing values to a medical team is a low level's medical service. So, we've designed a new service model based on back propagation neural network for more improved medical service. Our experiments show that a proposed healthcare system can give high level's medical service because it can recognize human's context more concretely.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2011년도 제42회 하계학술대회
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• pp.2110-2111
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• 2011

Optimal Driving of Photo-Sensor for Control of a Mixed Environment was realized. The control system was carried out to investigate into the characteristics of Real time control of temperature and humidity at sprouts cutivators. Especially, for led's control for the cultivation of sprouts we have composed a Combined Automatic Control System possible for the control of temperature and humidity at the same time. The applied Photo-Sensor measurement are blue, green, red, white, yellow leds. And we had also designed the Web Programming for the automatic control about sprouts plants.

• 센서학회지
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• 제17권2호
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• pp.151-155
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• 2008

In this paper, it was investigated that the pattern recognition of multiplication environment of lactic acid bacteria in the process of curd yogurt preparation using household fermentation system, which was manufactured by combining incubator with sensor module, data processing circuit and computer. It will be sufficiently applicable to determine the maximum ratio of the amount of air to mixed milk for preparation of high quality yogurt.

• 한국자동차공학회논문집
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• 제25권3호
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• pp.309-316
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• 2017

In shuttle vans designed to transport children, the recognition of a child's approach and departure is very important. Ultrasonic sensors are generally used for a short distance around a vehicle. Although ultrasonic sensors are cheaper than other ADAS sensors, the number of sensors installed in a van should be optimized. In order to recognize the presence of a child around a shuttle van, this paper proposes the placement of ultrasonic sensors in the van. Considering the turning radius of the van and the distance from each sensor to a child, collision risk is classified as 'safe', 'warning', and 'danger'. The sensor placement and the recognition algorithm are verified in a virtual driving environment.

• 한국산업융합학회 논문집
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• 제21권3호
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• pp.125-131
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• 2018

In this paper, we propose a homogeneous multisensor-based navigation algorithm for a mobile robot, which is intelligently searching the goal location in unknown dynamic environments with moving obstacles using multi-ultrasonic sensor. Instead of using "sensor fusion" method which generates the trajectory of a robot based upon the environment model and sensory data, "command fusion" method by fuzzy inference is used to govern the robot motions. The major factors for robot navigation are represented as a cost function. Using the data of the robot states and the environment, the weight value of each factor using fuzzy inference is determined for an optimal trajectory in dynamic environments. For the evaluation of the proposed algorithm, we performed simulations in PC as well as real experiments with mobile robot, AmigoBot. The results show that the proposed algorithm is apt to identify obstacles in unknown environments to guide the robot to the goal location safely.

• 로봇학회논문지
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• 제5권1호
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• pp.23-31
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• 2010

This paper suggests a multiple robot simulator which considers the uncertainties in robot motion and sensing. A mobile robot moves with errors due to some kinds of uncertainties from actuators, wheels, electrical components, environments. In addition, sensors attached to a mobile robot can't make accurate output information because of uncertainties of the sensor itself and environment. Uncertainties in robot motion and sensing leads researchers find difficulty in building mobile robot navigation algorithms. Generally, a robot algorithm without considering unexpected uncertainties fails to control its action in a real working environment and it leads to some troubles and damages. Thus, the authors propose a simulator model which includes robot motion and sensing uncertainties to help making robust algorithms. Sensor uncertainties are applied in range sensors which are widely used in mobile robot localization, obstacle detection, and map building. The paper shows performances of the proposed simulator by comparing it with a simulator without any uncertainty.

• 대한전자공학회논문지
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• 제26권7호
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• pp.30-41
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• 1989

본 논문은 이동 로보트가 실제 환경속에서 주행할 수 있도록 하기 위한 간단한 structured light 센서의 개발과 이용에 관한 연구로써, 이동로보트에 이 센서를 부착하였을 경우 그 적용범위는 첫째, 복잡한 3차원 물체들 속에서의 실시간 주행경로 주변 물체의 모델링과 인식을 위한 것으로 나뉠 수 있다. 개발된 센서가 갖추고 있는 데이타 습득 속도와 정확도는 실용화 하기에 충분하며, 여러 다양한 상황속에서의 실험을 통하여 이를 확인하였다.

• 대한임베디드공학회논문지
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• 제7권4호
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• pp.187-191
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• 2012

In these days, there are huge increases of concerning underwater acoustic sensor networks (UWASNs) to explore marine resources and to monitor climate change. To collect information from sensor nodes which are randomly deployed in underwater, Multi-Dimensional Scaling (MDS) based locating methods have been recently introduced, which consider sound speed to be constant in underwater. However, underwater sound speed tends to vary depending on underwater environment factors, such as depth, temperature, and salinity. In this paper, we propose a method considering environment factors, can influence upon sound speed in underwater, and introduce experimental setup which can follow up environmental factors.