• Journal of the Korea Institute of Information Security & Cryptology
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• v.31 no.6
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• pp.1247-1260
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• 2021

For more efficient energy management of nodes in wireless sensor networks, research has been conducted on mobile sink nodes that deliver data from sensor nodes to server recently. UAV (Unmanned Aerial vehicle) is used as a representative mobile sink node. Also, most studies on UAV propose algorithms for calculating optimal paths and have produced rapid advances in the IoD (Internet of Drones) environment. At the same time, some papers proposed mutual authentication and secure key exchange considering nature of the IoD, which requires efficient creation of multiple nodes and session keys in security perspective. However, most papers that proposed secure communication in mobile sink nodes did not protect end-to-end data privacy. Therefore, in this paper, we propose integrated security model that authentication between mobile sink nodes and sensor nodes to securely relay sensor data to base stations. Also, we show informal security analysis that our scheme is secure from various known attacks. Finally, we compare communication overhead with other key exchange schemes previously proposed.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.46 no.3
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• pp.116-122
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• 2009

Mobile Wireless Sensor Network is an organized collection of sensor nodes and mobile sink nodes, in which the sensor node transmits the signal to the sink node. In real environment, there are many cases in which sinks have mobility caused by the people, the vehicle and etc. Since all nodes in the sensor networks have limited energy, many researches have been done in order to prolong the lifetime of the entire network. In this paper we propose Dynamic Local Update-based Routing Protocol(D-LURP) that prolong the lifetime of the entire network to efficiently maintain frequent location update of mobile sink static sensor nodes in Mobile WSNs. When the sink node moves out of the local broadcasting area the proposed D-LURP configures dynamically the local update area consisted of the new local broadcasting area and the previous dissemination node(DN) and find the path between the DN and the sink node, instead of processing a new discovering path like LURP. In this way the processing of broadcasting sink node's location information in the entire network will be omitted. and thus less energy will be consumpted. We compare the performances of the proposed scheme and existing Protocols.

• Journal of the Korea Society of Computer and Information
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• v.14 no.10
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• pp.123-131
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• 2009

In this paper, we design ZigBee RF based framework for mobile web service on collected data by sensor node and transmitting data to data base by sensor network and remote sensing server through wireless connection. The proposed system is an integrated platform of sensor network for the sensor management and providing SOA based sensor web access. This paper combines SOA technology with sensor network. composes sensor node as web view, and provides high capability. extensiveness, reliability, and usability to the user who accesses to sensor web. The mobile message conversion module, SOAP message processing module. WSDL message generator, and mobile web service module is embodied for improving the capacity of the framework. The capacity evaluation of local wireless communication system which is proposed in this paper is analyzed through NS-2 simulation.

• ETRI Journal
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• v.34 no.6
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• pp.922-931
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• 2012

With the increasing demands for mobile wireless sensor networks in recent years, designing an energy-efficient clustering and routing protocol has become very important. This paper provides an analytical model to evaluate the power consumption of a mobile sensor node. Based on this, a clustering algorithm is designed to optimize the energy efficiency during cluster head formation. A genetic algorithm technique is employed to find the near-optimal threshold for residual energy below which a node has to give up its role of being the cluster head. This clustering algorithm along with a hybrid routing concept is applied as the near-optimal energy-efficient routing technique to increase the overall efficiency of the network. Compared to the mobile low energy adaptive clustering hierarchy protocol, the simulation studies reveal that the energy-efficient routing technique produces a longer network lifetime and achieves better energy efficiency.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.240-243
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• 2003

In this study, as the preliminary step far developing a multi-purpose Autonomous robust carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as sonar, IR sensor for map-building mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. Smart sensory systems are crucial for successful autonomous systems. We will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, since there exist several recent thorough books and review paper on this paper. It is first dealt with the general principle of the navigation and guidance architecture, then the detailed functions recognizing environments updated, obstacle detection and motion assessment, with the first results from the simulations run.

• The Journal of Korea Robotics Society
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• v.5 no.1
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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.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.7
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• pp.635-641
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• 2008

In this paper, we used a laser range finder (LRF) to detect both the static and dynamic obstacles for the safe navigation of a mobile robot. LRF sensor measurements containing the information of obstacle's geometry are first processed to extract the characteristic points of the obstacle in the sensor field of view. Then the dynamic states of the characteristic points are approximated using kinematic model, which are tracked by associating the measurements with Probability Data Association Filter. Finally, the collision avoidance algorithm is developed by using fuzzy decision making algorithm depending on the states of the obstacles tracked by the proposed obstacle tracking algorithm. The performance of the proposed algorithm is evaluated through experiments with the experimental mobile robot.

• Journal of the Korean Institute of Telematics and Electronics
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• v.26 no.7
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• pp.30-41
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• 1989

In this paper, a robust and simple structured light sensory system has been studied to endow mobile robots with the ability of navigating in real world. A mobile robot with this sensor can be applied in two ways: first, real time navigation in 3-dimensional world, second, modeling and recognition of environment. Range data obtained with this sensor are fairy accurate, and the data aquisition speed is satisfactory. Experiments in diverse situation show effectiveness of the structured light sensor for the mobile robot.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.55 no.2
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• pp.65-67
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• 2006

To make the autonomous mobile robot move in the unknown space, we have to know the information of current location of the robot. So far, the location information that was obtained using Encoder always includes Dead Reckoning Error, which is accumulated continuously and gets bigger as the distance of movement increases. In this paper, we analyse the effect of the size of the two wheels of the mobile robot and the wheel track of them among the factors of Dead Reckoning Error. And after this, we compensate this Dead Reckoning Error by Kalman filter using Gyro Sensors. To accomplish this, we develop the controller to analyse the error components of Gyro Sensor and to minimize the error values. We employ the numerical approach to analyse the error components by linearizing them because each error component is nonlinear. And we compare the improved result through simulation.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2010.04a
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• pp.281-284
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• 2010

Recently the development of digital based measurement sensor with which a variety of surveying equipment and methods are being developed. In the field of aerial mapping using GPS, INS and Digital Camera instead of Film based Camera. In case of aerial photogrammetry for mapping, it is effective on wide area. But it is ineffective on narrow area. Therefore, the research experimented that used LiDAR sensor based mobile mapping systems for modify and update about region of Suwon and Yeouido. From these results a possibility and an effectiveness analyzed and evaluated LiDAR sensor based mobile mapping systems.