• Journal of Institute of Control, Robotics and Systems
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• v.16 no.3
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• pp.239-244
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• 2010

This paper is to present map building of mobile robot using RFID (Radio Frequency Identification) technology and ultrasonic sensor. For mobile robot to perform map building, the mobile robot needs its localization and accurate driving in space. In this reason, firstly, kinematic modeling of mobile robot under non-holonomic constrains is introduced. Secondly, based on this modeling, a tracking controller is designed for tracking a given path based on backstepping method using Lyapunov function. The Lyapunov function is also introduced for proving the stability of the designed tracking controller. Thirdly, 2D map building is performed by RFID system, mobile robot system and ultrasonic sensors. The RFID mobile robot system is composed of DC motor, encoder, ultra sonic sensor, digital compass, RFID receiver and RFID antenna. Finally, the path tracking simulation results and map building experimental results are presented to show the effectiveness of the designed controller.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.5
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• pp.1-9
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• 2017

Recently, the active research into wireless sensor networks has led to the development of sensor nodes with improved performance, including their mobility and location awareness. One of the most important goals of such sensor networks is to transmit the data generated by mobile sensors nodes. Since these sensor nodes move in the mobile wireless sensor networks (MWSNs), the energy consumption required for them to transmit the sensed data to the fixed sink is increased. In order to solve this problem, the use of mobile sinks to collect the data while moving inside the network is studied herein. The important issues are the mobility and energy consumption in MWSNs. Because of the sensor nodes' limited energy, their energy consumption for data transmission affects the lifetime of the network. In this paper, a mobile-sink based energy-efficient clustering scheme is proposed for use in mobile wireless sensor networks (MECMs). The proposed scheme improves the energy efficiency when selecting a new cluster head according to the mobility of the mobile sensor nodes. In order to take into consideration the mobility problem, this method divides the entire network into several cluster groups based on mobile sinks, thereby decreasing the overall energy consumption. Through both analysis and simulation, it was shown that the proposed MECM is better than previous clustering methods in mobile sensor networks from the viewpoint of the network energy efficiency.

• Journal of Korea Multimedia Society
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• v.20 no.4
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• pp.640-648
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• 2017

Sensors have limited resources in sensor networks, so efficient use of energy is important. In order to use the energy of the sensor node efficiently, researches applying mobile sink to the sensor network have been actively carried out. The sink node moves the sensor network, collects data from each sensor node, which spread the energy concentrated around the sink node, thereby extending the entire life cycle of the network. But, when the sink node moves, it requires a reset of the data transmission path, which causes a lot of control messages and delays. In this paper, we propose a CMS(Cluster-based Mobile Sink) method to support the movement of mobile sink in a cluster sensor environment. The proposed scheme minimizes an amount of control messages without resetting the routing paths of entire sensor networks by supporting the sink mobility path using the neighbor cluster list. And, it simplifies the routing path setup process by setting a single hop path between clusters without a gateway. The experiment results show that the proposed scheme has superior energy efficiency in processing and network structure, compared with existing clustering and mesh routing protocols.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.4 no.3
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• pp.284-288
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• 2003

In this paper, a mobile robot system which have trajectory of metal tape- type is designed and manufactured. The mobile robot for manless-transportation consists of sensor-part with ultrasonic and infrared sensor, motor-part with motor and encoder, user interface-part, central control-part and computer interface-part. The ultrasonic sensor detects obstacles which can appear during the mobile robot is move. The infrared sensor has ability which detect the metal tape trajectory and then lead the robot to a correct position. By using the mobile robot, the flexiblity of a moving trajectory is improved and cost which can happen in using a mobile robot system having trajectory is cut as well.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.9
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• pp.716-722
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• 2016

Coordinate estimation is an essential function for autonomous navigation of a mobile robot. The optical mouse sensor is convenient and cost-effective for the coordinate estimation problem. It is possible to overcome the position estimation error caused by the slip and the model mismatch of robot's motion equation using the optical mouse sensor. One of the simple methods for the position estimation using the optical mouse sensor is integration of the velocity data from the sensor with time. However, the unavoidable noise in the sensor data may deteriorate the position estimation in case of the simple integration method. In general, a mobile robot has ready-to-use motion information from the encoder sensors of driving motors. By combining the velocity data from the optical mouse sensor and the motion information of a mobile robot, it is possible to improve the coordinate estimation performance. In this paper, a coordinate estimation algorithm for an autonomous mobile robot is presented based on the well-known Kalman filter that is useful to combine the different types of sensors. Computer simulation results show the performance of the proposed localization algorithm for several types of trajectories in comparison with the simple integration method.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.2
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• pp.93-100
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• 2007

The mobile robots to rescue a life in a disaster area and to explore planets demand high mobility as well as recognition of the environment. To avoid unknown obstacles exactly in unknown environment, accurate sensing is required. This paper proposes a sensor fusion to recognize unknown obstacles accurately by using low-cost sensors. Ultrasonic sensors and infrared sensors are used in this paper to avoid obstacles. If only one of these sensors is used alone, it is not useful fer the mobile robots to complete their tasks in the real world since the surrounding environment in the real world is complex and composed of many kinds of materials. So infrared sensor may not recognize transparent or reflective obstacles and ultrasonic sensor may not recognize narrow obstacles, far example, columns of small diameter. Therefore, I selected six ultrasonic sensors and five infrared sensors to detect obstacles. Then, I fused ultrasonic sensors with infrared sensors in order that both advantages and disadvantages of each sensor are utilized together. In fusing sensors, fuzzy algorithm is used to cope with the uncertainties of each sensor. TAMRY which is terrain-adaptive mobile robot is used as the mobile robot for experiments.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.34 no.2B
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• pp.151-161
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• 2009

The PULSE protocol can greatly reduce power consumption using a node's sleep state. But this protocol does not consider movement of a sink node in a sensor network. In the mobile sensor network a routing protocol must recover path error by movement of a sink node as quickly as possible. Therefore we have to achieve fast path recovery and power saving to support movement of a sink node in a sensor network. This paper proposes the Mobile PULSE protocol which is a improved routing protocol for a mobile sink node. And we evaluate Mobile PULSE and show that the Mobile PULSE reduces the recovery time about 40% compared with original PULSE protocol. Mobile PULSE increases energy consumption than PULSE as a maximum of 0.8%, which means Mobile PULSE is similar to PULSE in energy consumption. This paper shows mobile PULSE's capability in the mobile sensor network through evaluation of path recovery time and power consumption.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.527-530
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• 1996

The Kalman filter has been used as a self-localization method for the mobile robot. To satisfy the assumptions inherent in the Kalman filter, we should calibrate the sensors of the robot before use of them. However, it is generally hard to find exact sensor parameters, and the parameters may change during the robot task as the environment varies. Thus we need to perform on-line sensor calibration, by which we can obtain more credible location of the mobile robot. In this paper, we present an on-line sensor calibration scheme which estimates the unknown sensor bias and the current position of the robot. To this end, first we find out the calibration errors of the sensor from redundant sensory data using the parity vector and recursive minimum variance estimation. Then we calculate the current position of the robot by weighted least square estimation without internal encoder data. The performance of the proposed method is evaluated through computer simulation.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.9 no.7
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• pp.1524-1528
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• 2005

In this paper, we analyses of a traffic for authentication signaling in third generation mobile sensor network. In universal mobile telecommunication system, authentication functions are utilized to identify and authentication a mobile station and validate the service request network services. The authenticating parties are the authentication the serving general packet radio service support node access the authentication center to obtain the authentication with the mobile station. In this paper, we propose that the automatic cost-effective solution size of the authentication vector array.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.36 no.2B
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• pp.148-158
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• 2011

Stationary nodes and mobile nodes co-exist wireless sensor network(WSN) can provide variety of new services. The stationary sensor node acts not only the gathering the environmental sensing data but also a access point to bidirectional communication with numerous mobile sensor nodes(mobile node), and the mobile sensor nodes are installed inside mobile objects and identify the location in real-time and monitor the internal status of the object. However, only using the legacy WSN protocol, it is impossible to set up the stable network due to the several reasons caused by the free-mobility of the mobile nodes. In this paper, we suggest three methods to increase the hit-ratio of the asynchronous message delivery(AMD) among mobile nodes. We verified the performance of the suggested methods under the stationary-mobile co-existed WSN testbed.