• The Journal of Korea Robotics Society
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• v.4 no.4
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• pp.289-297
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• 2009

This paper presents the development and control of a two wheeled car-like mobile robot using balancing mechanism whose heading control is done by turning the handle. The mobile inverted pendulum is a combined system of a mobile robot and an inverted pendulum system. A sensor fusion technique of low cost sensors such as a gyro sensor and a tilt sensor to measure the balancing angle of the inverted pendulum robot system accurately is implemented. Experimental studies of the trajectory following control task has been conducted by command of steering wheel while balancing.

• Journal of information and communication convergence engineering
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• v.10 no.4
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• pp.365-371
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• 2012

In recent years, researchers have been attracted to clustering methods to improve communication and data transmission in a network. Compared with traditional wireless networks, wireless sensor networks are energy constrained and have lower data rates. The concept of implementing a clustering algorithm in an existing project on gateway relocation is being explored here. Low energy adaptive clustering hierarchy (LEACH) is applied to an existing study on relocating a gateway. The study is further improved by moving the gateway to a specific cluster based on the number or significance of the events detected. The protocol is improved so that each cluster head can communicate with a mobile gateway. The cluster heads are the only nodes that can communicate with the mobile gateway when it (the mobile gateway) is out of the cluster nodes' transmission range. Once the gateway is in range, the nodes will begin their transmission of real-time data. This alleviates the load of the nodes that would be located closest to the gateway if it were static.

• IEMEK Journal of Embedded Systems and Applications
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• v.4 no.2
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• pp.69-78
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• 2009

Localization is a very important technique for the mobile robot to navigate in outdoor environment. In this paper, the development of the sensor fusion algorithm for controlling mobile robots in outdoor environments is presented. The multi-sensorial dead-reckoning subsystem is established based on the optimal filtering by first fusing a heading angle reading data from a magnetic compass, a rate-gyro, and two encoders mounted on the robot wheels, thereby computing the dead-reckoned location. These data and the position data provided by a global sensing system are fused together by means of an extended Kalman filter. The proposed algorithm is proved by simulation studies of controlling a mobile robot controlled by a backstepping controller and a cascaded controller. Performances of each controller are compared.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.7
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• pp.656-663
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• 2007

A new dynamic balancing algorithm has been proposed to minimize the number of sensors necessary for the horizontal balancing of the mobile inverted pendulum while maintaining the same level of the commercial performance. The inverted pendulum technique is getting attention and there have been many researches on the Segway since the US inventor Dean Kamen commercialized. One of the major problems of the Segway is that many sensors are required for the control of the Segway, which results in the high price. In this research, a single gyro and a tilt sensor are fused to obtain the absolute tilt information, which is applied for the control of the mobile inverted pendulum. A dynamic balancing technique has been developed and applied for a robust control system against disturbances. The intelligent handling and stable curving of the Segway as a next generation mobile tool are verified with a human loading.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.8 no.5
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• pp.405-411
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• 2015

In this paper, we propose routing protocol for mobile wireless sensor networks with a mobile sink in cluster configuration. The proposed protocol extends LEACH-ME by introducing a mobile sink. The mobile sink moves to the cluster head with the highest number of member nodes to collect sensed data from cluster heads within its vicinity, which results in reducing energy consumption in forwarding packets to the sink. The simulation results show that the proposed protocol outperform LEACH-ME in terms of energy efficiency.

• Journal of Communications and Networks
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• v.17 no.2
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• pp.203-209
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• 2015

Although mobile applications are an essential characteristic of wireless sensor networks, most existing media access control (MAC) protocols focus primarily on static networks. In these protocols, fixed periodic neighbor discovery and schedule updating are used to connect and synchronize neighbors to provide successful data transmission; however, they cannot adapt to mobile speed variation and degrade the network performance dramatically. In this paper, we propose a mobile-supporting mechanism for MAC protocols, in which the decision to update the neighbors of a mobile node is made adaptively according to the mobile speed. Analysis and simulation results demonstrate that the mechanism efficiently avoids the disconnection of amobile node from its neighbors and achieves a better performance as compared with fixed periodic neighbor discovery.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.11
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• pp.2021-2032
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• 1992

A redundant sensor system, which consists of two incremental encoders and a gyro sensor, has been proposed for the estimation of the posture of mobile robots. A hardware system was built for estimating the heading angle change of the mobile robot from outputs of the gyro sensor. The proposed hardware system of the gyro sensor produced an accurate estimate for the heading angle change of the robot. A sensor data fusion algorithm has been developed to find the optimal estimates of the heading angle change based on the stochastic measurement equations of our readundant sensor system. The maximum likelihood estimation method is applied to combine the noisy measurement data from both encoders and gyro sensor. The proposed fusion algorithm demonstrated a satisfactory performance, showing significantly reduced estimation error compared to the conventional method, in various navigation experiments.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1132-1135
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• 1996

The objective of this paper is to make a model-based map for the localization of an autonomous mobile robot(AMR) from ultrasonic sensor measurements, that are acquired when the AMR explores unknown indoors. First, the AMR navigates on unknown space by wall-following and gathers range data from the ultrasonic sensor. Then, the range data are converted to a wall-marked gird map, from which lines representing the walls are extracted using the Hough transform. This process is implemented on an AMR having an ultrasonic sensor, and a preliminary experimental result is presented.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2421-2423
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• 2002

A global ultrasonic sensor system for self-localization of an indoor mobile robot is proposed in this paper. By the global ultrasonic sensor system, it is meant several ultrasonic transmitters fixed at some positions in the world coordinate and the receiver in the moving coordinate of a mobile robot. In order to achieve the synchronization between an ultrasonic transmitter and receiver and to avoid the crosstalk among the ultrasonic transmitters, simple radio frequency transmitters and receivers are adopted. Experiments are carried out to verify the effectiveness of the proposed ultrasonic sensor system.

• International Journal of Control, Automation, and Systems
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• v.3 no.1
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• pp.1-14
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• 2005

This paper presents an obstacle detection algorithm based on the consecutive and the cooperative range sensor scanning schemes. For a known environment, a mobile robot scans the surroundings using a range sensor that can rotate 3600°. The environment is rebuilt using nodes of two adjacent walls. The robot configuration is then estimated and an obstacle is detected by comparing characteristic points of the sensor readings. In order to extract edges from noisy and inaccurate sensor readings, a filtering algorithm is developed. For multiple robot localization, a cooperative scanning method with sensor range limit is developed. Both are verified with simulation and experiments.