• Journal of Institute of Control, Robotics and Systems
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• v.9 no.2
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• pp.145-151
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• 2003

A global ultrasonic sensor system for self-localization of a mobile robot is proposed in this paper. The global ultrasonic sensor system consists of three or more ultrasonic transmitters fixed at some positions in the world coordinate and receivers in the moving coordinate of a mobile robot. In this global sensor system it is easy to get state vector of the mobile robot in the world coordinate from the distance information between each ultrasonic transmitter and receiver. An extended kalman filter algorithm is used to process the noisy ultrasonic signal and to estimate the state vector. In case of using several independent ultrasonic transmitters, it is necessary to avoid the cross talk among the ultrasonic waves and to synchronize between each ultrasonic transmitter and receiver. The small sized radio frequency modules are adopted to solve the cross talk and the synchronization problem Computer simulation and experiments are carried out to verify the effectiveness of the proposed ultrasonic sensor system.

• Journal of the Korean Institute of Intelligent Systems
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• v.12 no.1
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• pp.27-32
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• 2002

This paper describes a fuzzy steering controller for an outdoor autonomous mobile robot using MR(magneto-resistive) sensor. Using the magnetic field difference values(dBy, dBz) obtained from the MR sensor, we designed fuzzy logic controller for driving the robot on the road center and proposed a method to eliminate the Earth magnetic field. To develop an autonomous mobile robot simulation program, we have done modeling MR sensor, mobile robot and coordinate transformation. A computer simulation of the robot including mobile robot dynamics and steering was used to verify the driving performance of the mobile robot controller using the fuzzy logic. So, we confirmed the robustness of the proposed fuzzy controller by computer simulation.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.7 no.3
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• pp.198-204
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• 2007

In mobile robotics, ultrasonic sensors became standard devices for collision avoiding. Moreover, their applicability for map building and navigation has exploited in recent years. In this paper, as the preliminary step for developing a multi-purpose autonomous 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 ultrasonic sensor, IR sensor for mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within both indoor and outdoor environments. The global map building based on multi-sensor data fusion is applied for recognition an obstacle free path from a starting position to a known goal region, and simultaneously build a map of straight line segment geometric primitives based on the application of the Hough transform from the actual and noisy sonar data. We will give an explanation for the robot system architecture designed and implemented in this study and a short review of existing techniques, Hough transform, since there exist several recent thorough books and review paper on this paper. Experimental results with a real Pioneer DX2 mobile robot will demonstrate the effectiveness of the discussed methods.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.2
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• pp.488-494
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• 2013

For the activeness and autonomy of a sensor network, the efficient migration method of a mobile agent and the consistent naming services are the required components of a sensor network. Accordingly, this paper presented the implementation of backward migration of an active rule mobile agent applying the naming method based on RMI that used the meta_table including the informations about the components of a sensor network. This study implemented based on the extension of the forward migration[12], and the results of the various experiments present the efficacy of mobile agent middleware system and the possibility of constructing efficient sensor network application environment. And, the results of this study are able to enhance the adaptability on dynamic changes of environment in sensor network application development.

• KIPS Transactions on Computer and Communication Systems
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• v.4 no.1
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• pp.11-14
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• 2015

WSN (Wireless Sensor Network) based on low-power is one of the core technologies in the ubiquitous society. In this paper, we present a border surveillance and control system in WSN environment. The system consists of static sensor node, mobile sensor node, static gateway, mobile gateway, server and mobile application. Mobile applications are divided into user mode and manager mode. So users monitor border surveillance through mobile phone and get information of border network environment without time and space constraints. In manager mode, for the flexible operation of nodes, manager can update to the software remotely and adjust the position of the mobile node. And also we implement a suitable multi-hop routing protocol for scalable low-power sensor nodes and confirm that the system operates well in WSN environment.

• Journal of the Korea Society of Computer and Information
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• v.23 no.2
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• pp.35-43
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• 2018

In this paper, we propose a grid-based efficient routing protocol for a mobile sink in wireless sensor networks. In the proposed protocol, the network is partitioned into grids and each grid has a grid head. For the efficient routing to a mobile sink, the proposed protocol uses a mobile sink representative node to send the data to a mobile sink and grid heads are used as a mobile sink representative node. Furthermore, the proposed protocol uses nodes in the boundary of the center grid as position storage nodes. The position storage nodes store the position of a mobile sink representative node and provide source nodes with it for data delivery. With these features, the proposed protocol can reduce a lot of overhead to update the position information and improve the delay of data delivery to a mobile sink. The proposed protocol performs better than other protocols in terms of the delay and the energy consumption per node in the performance evaluation.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.10 no.9
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• pp.4044-4062
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• 2016

We investigate the optimization of energy consumption in Mobile Cloud environment in this paper. In order to optimize the energy consumed by the CPUs in mobile devices, we put forward using the asymptotic time complexity (ATC) method to distinguish the computational complexities of the applications when they are executed in mobile devices. We propose a multi-scale scheme to quantize the channel gain and provide an improved dynamic transmission scheduling algorithm when offloading the applications to the cloud center, which has been proved to be helpful for reducing the mobile devices energy consumption. We give the energy estimation methods in both mobile execution model and cloud execution model. The numerical results suggest that energy consumed by the mobile devices can be remarkably saved with our proposed multi-scale scheme. Moreover, the results can be used as a guideline for the mobile devices to choose whether executing the application locally or offloading it to the cloud center.

• Journal of Information Processing Systems
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• v.16 no.4
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• pp.743-749
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• 2020

Internet of Things (IoT) is a growing technology along with artificial intelligence (AI) technology. Recently, increasing cases of developing knowledge services using information collected from sensor data have been reported. Communication is required to connect the IoT and AI, and 5G mobile networks have been widely spread recently. IoT, AI services, and 5G mobile networks can be configured and used as sensor-mobile edge-server. The sensor does not send data directly to the server. Instead, the sensor sends data to the mobile edge for quick processing. Subsequently, mobile edge enables the immediate processing of data based on AI technology or by sending data to the server for processing. 5G mobile network technology is used for this data transmission. Therefore, this study examines the challenges, opportunities, and solutions used in each type of technology. To this end, this study addresses clustering, Hyperledger Fabric, data, security, machine vision, convolutional neural network, IoT technology, and resource management of 5G mobile networks.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1597-1600
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• 1997

Most autonomous mobile robots view things only in front of them. As a result they may collide against objects moving from the side or behind. To overcome the problem we have built an Active Omni-directional Range Sensor that can obtain omni-directional depth data by a laser conic plane and a conic mirror. Also we proposed a self-localization algorithm of mobile robot in unknown environment by fusion of Odometer and Active Omn-directional Range Sensor.

• Journal of Information Processing Systems
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• v.12 no.2
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• pp.275-294
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• 2016

A primary task in wireless sensor networks (WSNs) is data collection. The main objective of this task is to collect sensor readings from sensor fields at predetermined sinks using routing protocols without conducting network processing at intermediate nodes, which have been proved as being inefficient in many research studies using a static sink. The major drawback is that sensor nodes near a data sink are prone to dissipate more energy power than those far away due to their role as relay nodes. Recently, novel WSN architectures based on mobile sinks and mobile relay nodes, which are able to move inside the region of a deployed WSN, which has been developed in most research works related to mobile WSN mainly exploit mobility to reduce and balance energy consumption to enhance communication reliability among sensor nodes. Our main purpose in this paper is to propose a solution to the problem of deploying mobile data collectors for alleviating the high traffic load and resulting bottleneck in a sink's vicinity, which are caused by static approaches. For this reason, several WSNs based on mobile elements have been proposed. We studied two key issues in WSN mobility: the impact of the mobile element (sink or relay nodes) and the impact of the mobility model on WSN based on its performance expressed in terms of energy efficiency and reliability. We conducted an extensive set of simulation experiments. The results obtained reveal that the collection approach based on relay nodes and the mobility model based on stochastic perform better.