• 한국정밀공학회지
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• 제17권9호
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• pp.158-165
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• 2000

Reverse engineering is reproducing products by directly extracting geometric information from physical objects such as clay model wooden mock-up etc. The fundamental work in the reverse engineering is to acquire the geometric data for modeling the objects. This research proposes a novel method for data acquisition aiming at unmanned fast and precise measurement. This is come true by the sensor fusion with CCD camera using structured light beam and touch trigger sensor. The vision system provides global information of the objects data. In this case the number of data and position allocation for touch sensor is critical in terms of the productivity since the number of vision data is very huge. So we applied wavelet transform to reduce the number of data and to allocate the position of the touch probe. The simulated and experimental results show this method is good enough for data reduction.

• 한국정보과학회논문지:데이타베이스
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• 제37권6호
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• pp.324-332
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• 2010

실시간 임베디드 센서 네트워크 시스템에서의 이벤트 감지는 대부분 현실세계에서 수집된 센서 데이터들의 조합에 기반한다. 이에 최근에 이루어진 연구들에선 센서 데이터들을 수집, 집계하는 낮은 수준의 다양한 메커니즘들을 제안하였다. 그러나 실시간에서 연속적으로 발생하는 복잡한 이벤트들의 감지와 다양한 종류의 센서들로부터 입력되는 실시간 데이터의 처리를 위한 시스템에 대한 솔루션은 보다 많은 연구를 필요로 한다. 즉, 경량의 데이터 혼합이 가능하고 많은 컴퓨팅 자원을 필요로 하지 않는 실시간 이벤트 감지 기법이 필요하다. 이벤트 감지 프레임워크는 실시간 모니터링과 센서 데이터의 도착으로 일어나는 데이터 융합 메커니즘을 통하여 적시성과 임베디드 센서 네트워크의 자원 요구량을 감소시킬 수 있는 잠재력을 지니고 있다. 또한 임베디드 센서 네트워크 시스템이 신뢰성을 지닐 수 있도록 하기 위한 기반 기술인 프라이버시를 보장할 수 있는 익명화 기술을 설명한다.

• 한국항공우주학회지
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• 제48권7호
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• pp.513-522
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• 2020

본 논문은 PSD와 이종 센서 융합을 이용한 상대 항법 알고리즘에 대해 기술한다. 추종 시스템(Chaser)과 목표 시스템(Target) 간의 상대 항법을 수행하기 위해 하드웨어 시스템을 구축하고 알고리즘을 설계하여 시뮬레이션을 수행하였다. 이를 통해 상대 거리에 따른 오차 발생 경향을 확인하여 이종 센서 융합에 대한 분석을 수행하였다. 이후 구축한 하드웨어 시스템으로 지상 시험 환경을 구성하여 측정값을 획득하고 이를 후처리하여 상대 항법 알고리즘의 성능을 최종적으로 확인하였다.

• Smart Structures and Systems
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• 제31권3호
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• pp.301-309
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• 2023

Tilt is a key indicator of structural safety. Real-time monitoring of tilt responses helps to evaluate structural condition, enable cost-effective maintenance, and enhance lifetime resilience. This paper presents a prototype wireless sensing system for structural tilt measurement. Long range (LoRa) technology is adopted by the sensing system to offer long-range wireless communication with low power consumption. The sensor integrates a gyroscope and an accelerometer as the sensing module. Although tilt can be estimated from the gyroscope or the accelerometer measurements, these estimates suffer from either drift issue or high noise. To address this challenging issue and obtain more reliable tilt results, two sensor fusion algorithms, the complementary filter and the Kalman filter, are investigated to fully exploit the advantages of both gyroscope and accelerometer measurements. Numerical simulation is carried out to validate and compare the sensor fusion algorithms. Laboratory experiment is conducted on a simply supported beam under moving vehicle load to further investigate the performance of the proposed wireless tilt sensing system.

• 제어로봇시스템학회논문지
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• 제22권8호
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• pp.633-642
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• 2016

It is important for advanced active safety systems and autonomous driving cars to get the accurate estimates of the nearby vehicles in order to increase their safety and performance. This paper proposes a sensor fusion method for radar and vision sensors to accurately estimate the state of the preceding vehicles. In particular, we performed a study on compensating for the lateral state error on automotive radar sensors by using a vision sensor. The proposed method is based on the Interactive Multiple Model(IMM) algorithm, which stochastically integrates the multiple Kalman Filters with the multiple models depending on lateral-compensation mode and radar-single sensor mode. In addition, a Probabilistic Data Association Filter(PDAF) is utilized as a data association method to improve the reliability of the estimates under a cluttered radar environment. A two-step correction method is used in the Kalman filter, which efficiently associates both the radar and vision measurements into single state estimates. Finally, the proposed method is validated through off-line simulations using measurements obtained from a field test in an actual road environment.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제7권3호
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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.

• Smart Structures and Systems
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• 제7권3호
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• pp.229-240
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• 2011

Recent developments in Smart Structures with very large scale embedded sensors and actuators have introduced new challenges in terms of data processing and sensor fusion. These smart structures are dynamically classified as a large-scale system with thousands of sensors and actuators that form the musculoskeletal of the structure, analogous to human body. In order to develop structural health monitoring and diagnostics with data provided by thousands of sensors, new sensor informatics has to be developed. The focus of our on-going research is to develop techniques and algorithms that would utilize this musculoskeletal system effectively; thus creating the intelligence for such a large-scale autonomous structure. To achieve this level of intelligence, three major research tasks are being conducted: development of a Bio-Inspired data analysis and information extraction from thousands of sensors; development of an analytical technique for Optimal Sensory System using Structural Observability; and creation of a bio-inspired decision-making and control system. This paper is focused on the results of our effort on the first task, namely development of a Neuro-Morphic Engineering approach, using a neuro-symbolic data manipulation, inspired by the understanding of human information processing architecture, for sensor fusion and structural diagnostics.

• 대한임베디드공학회논문지
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• 제4권2호
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• pp.69-78
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• 2009

Localization is a very important technique for the mobile robot to navigate in outdoor environment. In this paper, the development of the sensor fusion algorithm for controlling mobile robots in outdoor environments is presented. The multi-sensorial dead-reckoning subsystem is established based on the optimal filtering by first fusing a heading angle reading data from a magnetic compass, a rate-gyro, and two encoders mounted on the robot wheels, thereby computing the dead-reckoned location. These data and the position data provided by a global sensing system are fused together by means of an extended Kalman filter. The proposed algorithm is proved by simulation studies of controlling a mobile robot controlled by a backstepping controller and a cascaded controller. Performances of each controller are compared.

• Computers and Concrete
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• 제20권5호
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• pp.521-527
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• 2017

This paper proposes using the multi-type sensor vibration measurements, such as from a relative displacement sensors and a traditional accelerometer for the damage detection of shear connectors in composite bridge under moving loads. Hilbert-Huang Transform (HHT) spectra of these responses will be fused with a data fusion approach i.e., Dempster-Shafer method, to detect the damage of shear connectors. Experimental studies on a composite bridge model in the laboratory are conducted to demonstrate the effectiveness and performance of using the proposed approach in detecting the damage of shear connectors in composite bridges. Both undamaged and damaged scenarios are considered. The detection results with the data fusion of multi-type sensor measurements show a more reliable and robust performance and accuracy, avoiding the false identifications.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2002년도 하계종합학술대회 논문집(1)
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• pp.283-286
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• 2002

For the satisfying performance of a oil lubricator, design of a oil controller for the system which meets the required specifications and its supporting hardware that keep their functioning is important. Among the hardware of a control system, oil system are most vulnerable to malfunction. Thus it is necessary to keep track of accurate and reliable oil readings for good fusion oil lubricator performance. In case of oil lubricator ,data loss, ssr trigger error faults, they are detected by examining the data system output values and the major values of the system, and then the faults are recognized by the analysis of symptoms of faults. If necessary electronic -sensor values are synthesized according to the types of faults, and then they are used for the controller instead of the raw data. In this paper, a fast-32bit cpu micorprocessor applied to the control of flexible link system with the sensor fault problems in the error module fer exact positioning to show the applicability. It is shown that the fusion oil lubricator can provide a satisfactory loop performance even when the sensor faults occure