• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.582-587
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• 2004

Ultrasonic sensors are widely used in mobile robot applications to recognize external environments, because they are cheap, easy to use, and robust under varying lighting conditions. However, the recognition of objects using a ultrasonic sensor is not so easy due to its characteristics such as narrow beam width and no reflected signal from a inclined object. As one of the alternatives to resolve these problems, use of multiple sensors has been studied. A sequential driving system needs a long measurement time and does not take advantage of multiple sensors. Simultaneous and pulse coding driving system of ultrasonic sensor array cannot measure short distance as the length of the code becomes long. This problem can be resolved by multi-frequency driving of ultrasonic sensors, which allows multi-sensors to be fired simultaneously and adjacent objects to be distinguished. Accordingly, this paper presents a simultaneous and multi-frequency driving system for an ultrasonic sensor array for object recognition. The proposed system is designed and implemented using a DSP and FPGA. A micro-controller board is made using a DSP, Polaroid 6500 ranging modules are modified for firing the multi-frequency signals, and a 5-channel frequency modulated signal generating board is made using a FPGA. To verify the proposed method, experiments were conducted in an environment with overlapping signals, and the flight distances for each sensor were obtained from filtering of the received overlapping signals and calculation of the time-of-flights.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1995년도 하계학술대회 논문집 B
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• pp.699-701
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• 1995

An input estimation technique is derived in multi-sensor environment. The proposed approach distribute the computational burden of input estimation to each local sensor and fusion center without loss of its optimality. The performances of proposed method in 2-sensor system are compared with those in single sensor system. Simulation results show that a reliable maneuvering target tracking system can be constructed in multi-sensor environment via proposed approach.

• 대한임베디드공학회논문지
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• 제11권5호
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• pp.299-304
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• 2016

As public interest in air quality and environment problem is increasing, many researches are being carried out the gas measurement system. Especially, Non-dispersive infrared (NDIR) measurements using Beer-Lambert gas sensing principle with very high selectivity and long life time are noted for reliable method. It is possible to detect various gases such as carbon dioxide (CO2), carbon monoxide (CO), and nitrogen dioxide (NO2), but many researches are mostly concentrated on CO2 sensor. The multi-gas measuring instrument is high price and unwieldy, therefore it is not suitable for wide area required numerous instrument. So we study the NDIR multi-gas measurement system for air quality based on wireless sensor network, and experiment the realized measurement system.

• Journal of information and communication convergence engineering
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• 제11권1호
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• pp.12-16
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• 2013

Sensor network is one of the strongest technologies for various applications including home automation, surveillance system and monitoring system. To ensure secure and robust network communication between sensor nodes, plain-text should be encrypted using encryption methods. However due to their limited computation power and storage, it is difficult to implement public key cryptography, including elliptic curve cryptography, RSA and pairing cryptography, on sensor networks. However, recent works have shown the possibility that public key cryptography could be made available in a sensor network environment by introducing the efficient multi-precision multiplication method. The previous method suggested a broad rule of multiplication to enhance performance. However, various features of sensor motes have not been considered. For optimized implementation, unique features should be handled. In this paper, we propose a fully optimized multiplication method depending on a different specification for sensor motes. The method improves performance by using more efficient instructions and general purpose registers.

• Smart Structures and Systems
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• 제30권6호
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• pp.583-599
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• 2022

In this paper, a multi-objective wireless sensor network configuration optimization method is proposed. The proposed method aims to determine the optimal information and lifespan wireless sensor network for structural health monitoring of large-scale infrastructures. In particular, cluster-based wireless sensor networks with multi-type of sensors are considered. To optimize the lifetime of the wireless sensor network, a cluster-based network optimization algorithm that optimizes the arrangement of cluster heads and base station is developed. On the other hand, based on the Bayesian inference, the uncertainty of the estimated parameters can be quantified. The coefficient of variance of the estimated parameters can be obtained, which is utilized as a holistic measure to evaluate the estimation accuracy of sensor configurations with multi-type of sensors. The proposed method provides the optimal wireless sensor network configuration that satisfies the required estimation accuracy with the longest lifetime. The proposed method is illustrated by designing the optimal wireless sensor network configuration of a cable-stayed bridge and a space truss.

• 한국정밀공학회지
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• 제12권12호
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• pp.100-108
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• 1995

The In-process minitoring of the chatter vibration is necessarily required to an automatic manufacturing system. In this study, we constructed a multi-sensing system using tool dynamoneter, accelerometer and AE(Acoustic Emission) sensor for a more credible detection of chatter vibration. And a new approach using a multiple neural network to extract the features of multi-sensor for the recognition chatter vibration is proposed. With the Back-propagation training process, the neural network memorize and classify the features of multi-sensor signals. As a result, it is shown by multiple neural network that the chatter vibration can be monitored accurately, and it can be widely used in practical unmanned system.

• Smart Structures and Systems
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• 제14권1호
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• pp.55-70
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• 2014

The paper presents a multi-objective optimization strategy for a multi-type sensor placement for Structural Health Monitoring (SHM) of long span bridges. The problem is formulated for simultaneous placement of strain sensors and accelerometers (heterogeneous network) based on application demands for SHM system. Modal Identification (MI) and Accurate Mode Shape Expansion (AMSE) were chosen as the application demands for SHM. The optimization problem is solved through the use of integer Genetic Algorithm (GA) to maximize a common metric to ensure adequate MI and AMSE. The performance of the joint optimization problem solved by GA is compared with other established methods for homogenous sensor placement. The results indicate that the use of a multi-type sensor system can improve the quality of SHM. It has also been demonstrated that use of GA improves the overall quality of the sensor placement compared to other methods for optimization of sensor placement.

• 한국산업융합학회 논문집
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• 제21권4호
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• pp.167-174
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• 2018

Presently, the exploration of an unknown environment is an important task for the development of mobile 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, In mobile robotics, multi-sensor data fusion(MSDF) became useful method for navigation and 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 indoor environments. Simulation results with a mobile robot will demonstrate the effectiveness of the discussed methods.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 심포지엄 논문집 정보 및 제어부문
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• pp.177-179
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• 2006

This paper presents an analysis architecture of embedded operating systems for wireless sensor network. Wireless multi-hop sensor networks use battery-operated computing and sensing device. We expect sensor networks to be deployed in an ad hoc fashion, with very high energy constraints. These characteristics of multi-hop wireless sensor networks and applications motivate an operating system that is different from traditional embedded operating system. These days new wireless sensor network embedded operating system come out with some advances compared with previous ones. The analysis is focusing on understanding differences of dominant wireless sensor network OS, such as TinyOS 2.0 with TinyOS 1.x.

• 로봇학회논문지
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• 제16권4호
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• pp.291-298
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• 2021

In this study, we present a multi-sensor module for snake robot searching survivors in a narrow space. To this end, we integrated five sensor systems by considering the opinions of the first responders: a gas sensor to detect CO₂ gases from the exhalation of survivors, a CMOS camera to provide the image of survivors, an IR camera to see in the dark & smoky environment, two microphones to detect the voice of survivors, and an IMU to recognize the approximate location and direction of the robot and survivors. Furthermore, we integrated a speaker into the sensor module system to provide a communication channel between the first responders and survivors. To integrated all these mechatronics systems in a small, compact snake head, we optimized the positions of the sensors and designed a stacked structure for the whole system. We also developed a user-friendly GUI to show the information from the proposed sensor systems visually. Experimental results verified the searching function of the proposed sensor module system.