• Proceedings of the Korea Information Processing Society Conference
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• 2009.11a
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• pp.547-548
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• 2009

The development of USN(Ubiquitous Sensor Network) technology is creating numerous application areas. Although a network configuration with fixed sensors was the norm in the past, the coexistence of mobile and fixed sensor nodes is a new trend. Fixed sensor networks focused on the energy efficiency of nodes, but the latest studies consider guaranteeing the mobility of nodes and maintaining their connectivity, while remaining energy efficient at the same time. This paper proposes a routing protocol for a mobile ad-hoc sensor network that improves the mobility, connectivity and energy efficiency of nodes while allowing for the management and maintenance of a large number of nodes even in a complex communication environment where mobile and fixed nodes coexist. An algorithm for multi-hop multi-paths, a technique for topology reconfiguration by node movement prediction and vibration sensors, path setting for a large number of nodes, and efficient data transfer technology have been introduced to implement the modified LEAHC-AOMDV protocol. Furthermore, the excellence of this protocol was verified through a comparative experiment with the conventional LEACH protocol.

• Journal of Sensor Science and Technology
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• v.32 no.2
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• pp.118-123
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• 2023

This study presents sensor system for autonomous mobile robot capable of floor-to-floor self-navigation. The robot was modified using the Turtlebot3 hardware platform and ROS2 (robot operating system 2). The robot utilized the Navigation2 package to estimate and calibrate the moving path acquiring a map with SLAM (simultaneous localization and mapping). For elevator boarding, ultrasonic sensor data and threshold distance are compared to determine whether the elevator door is open. The current floor information of the elevator is determined using image processing results of the ceiling-fixed camera capturing the elevator LCD (liquid crystal display)/LED (light emitting diode). To realize seamless communication at any spot in the building, the LoRa (long-range) communication module was installed on the self-navigating autonomous mobile robot to support the robot in deciding if the elevator door is open, when to get off the elevator, and how to reach at the destination.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.4
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• pp.686-691
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• 2008

This paper proposes the concept of "virtual sensor data" and its application for real time obstacle avoidance. The virtual sensor data is virtual distance which takes care of the movement of the obstacle as well as that of the robot. In practical application, the virtual sensor data is calculated from the odometry data and the range sensor data. The virtual sensor data can be used in all the methods which use distance data for collision avoidance. Since the virtual sensor data considers the movement of the robot and the obstacle, the methods utilizing the virtual sensor data results in more smooth and safer collision-free motion.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.5
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• pp.434-443
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• 2007

Presently, the exploration of an unknown environment is an important task for thee new generation of mobile service robots and mobile robots are navigated by means of a number of methods, using navigating systems such as the sonar-sensing system or the visual-sensing system. To fully utilize the strengths of both the sonar and visual sensing systems. This paper presents a technique for localization of a mobile robot using fusion data of multi-ultrasonic sensors and vision system. The mobile robot is designed for operating in a well-structured environment that can be represented by planes, edges, comers and cylinders in the view of structural features. In the case of ultrasonic sensors, these features have the range information in the form of the arc of a circle that is generally named as RCD(Region of Constant Depth). Localization is the continual provision of a knowledge of position which is deduced from it's a priori position estimation. The environment of a robot is modeled into a two dimensional grid map. we defines a vision-based environment recognition, phisically-based sonar sensor model and employs an extended Kalman filter to estimate position of the robot. The performance and simplicity of the approach is demonstrated with the results produced by sets of experiments using a mobile robot.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.2
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• pp.209-218
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• 2019

This study proposes a new approach to Control the Orientation and position based on obstacle avoidance technology by multi sensors fusion and autonomous travelling control of mobile robot system for implimentation of Smart FA. The important focus is to control mobile robot based on by the multiple sensor module for autonomous travelling and obstacle avoidance of proposed mobile robot system, and the multiple sensor module is consit with sonar sensors, psd sensors, color recognition sensors, and position recognition sensors. Especially, it is proposed two points for the real time implementation of autonomous travelling control of mobile robot in limited manufacturing environments. One is on the development of the travelling trajectory control algorithm which obtain accurate and fast in considering any constraints. such as uncertain nonlinear dynamic effects. The other is on the real time implementation of obstacle avoidance and autonomous travelling control of mobile robot based on multiple sensors. The reliability of this study has been illustrated by the computer simulation and experiments for autonomous travelling control and obstacle avoidance.

• Proceedings of the Korea Society of Information Technology Applications Conference
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• 2005.11a
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• pp.81-84
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• 2005

Various design schemes for network using wireless sensor nodes have been widely studied on the several application areas ranging from the real world information collection to environmental monitor. Currently, the schemes are focused on the design of sensor network for low power consumption, power-aware routing protocol, micro miniature operating system and sensor network middleware. The indoor localization system that identifies the location of the distributed nodes in a wireless sensor network requires features dealing with mobility, plurality and other environmental constraints of a sensor node. In this paper, we present an efficient location system to cope with mobility of multiple mobile nodes by designing a location handler that processes location information selectively depending on the nodes' density in a specific region. In order to resolve plurality of multiple mobile nodes, a routing method for the location system is also proposed to avoid the occurrence of overlapped location data.

• The KIPS Transactions:PartA
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• v.18A no.4
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• pp.159-164
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• 2011

In this paper, we suggest the active multi-agent middleware for the sensor network application. For this, firstly we design and implement the active rule based mobile agent middleware. The mobile agent in the proposed system visits the destination sensor nodes according to the migration list offered by the meta table in the name space of the naming agent, acquires and transmits sensor data according to the purpose and needs through the active rules, and directly executes the actions corresponding to the optional events(changed sensor data and/or time etc.). And then, we show the potential applicability of the active rule based mobile agent middleware in various active sensor networks through the interaction with the rule base system and context database system.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.995-1005
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• 2011

An efficient outdoor local localization method is suggested using multi-sensor fusion with MU-EKF (Multi-Update Extended Kalman Filter) for car-like mobile robots. In outdoor environments, where mobile robots are used for explorations or military services, accurate localization with multiple sensors is indispensable. In this paper, multi-sensor fusion outdoor local localization algorithm is proposed, which fuses sensor data from LRF (Laser Range Finder), Encoder, and GPS. First, encoder data is used for the prediction stage of MU-EKF. Then the LRF data obtained by scanning the environment is used to extract objects, and estimates the robot position and orientation by mapping with map objects, as the first update stage of MU-EKF. This estimation is finally fused with GPS as the second update stage of MU-EKF. This MU-EKF algorithm can also fuse more than three sensor data efficiently even with different sensor data sampling periods, and ensures high accuracy in localization. The validity of the proposed algorithm is revealed via experiments.

• Journal of the Korea Society of Computer and Information
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• v.26 no.11
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• pp.93-99
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• 2021

The sensor networks should be appropriately designed by applied network purpose, so that they can support proper application functions. Based on the design of suitable network model, the network lifetime can be maximized than using other general strategies which have not the consideration of specific network environments. In this paper, we propose a non-deterministic agent scheme to the mobile sink in distributed wireless sensor networks. The sensor network area can be divided into several sensor regions. Hence, to these such networks, the specified suitable scheme is requested by the applied network model to implement satisfactory network management. In this paper, we theoretically represent the proposed scheme, and provide the evaluation with the simulation results.

• The KIPS Transactions:PartA
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• v.16A no.3
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• pp.169-180
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• 2009

With fixed sinks, the network stability could be improved while the network life time could be decreased by the rapid energy dissipation around the fixed sink because of the concentrated network traffic from sensor nodes to the fixed sink in wireless sensor network. To address this problem, mobile sinks, which decentralize the network traffic, has received a lot of attention from many researchers recently. Since a mobile sink has a limited period to communicate with each sensor nodes, it is necessary for a scheduling algorithm to provide the fairness of data collection from each sensor nodes. In the paper, we propose the new scheduling algorithm, ASF(Availability based Scheduling scheme for Fair data collection), for the fair data collection by a mobile in the sensor networks. The ASF takes account of the distance between each sensor nodes and the mobile sink as scheduling metric, as well as the amount of collected data from each sensor nodes. Experiment results shows that the ASF improves the fairness of data collection among the sensor nodes, comparing to existing algorithm.