• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.70-75
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• 1993

The performance of the BEWE(Bearing Estimation Without Eigendecomposition) algorithm depends on the sensor outputs which are selected to construct the projection matrix. In this paper, we construct the covariance matrix of the bearing estimates for two targets and propose the criterion to select the sensor outputs which minimize the covariance matrix. The computer simulation conforms that the estimation error is smallest when the sensor outputs are selected based on the proposed criterion.

• Journal of the Korea Society of Computer and Information
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• v.24 no.4
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• pp.169-176
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• 2019

Wireless sensor networks are used to monitor and control areas in a variety of military and civilian areas such as battlefield surveillance, intrusion detection, disaster recovery, biological detection, and environmental monitoring. Since the sensor nodes are randomly placed in the area of interest, separation of the sensor network area may occur due to environmental obstacles or a sensor may not exist in some areas. Also, in the situation where the sensor node is placed in a non-relocatable place, some node may exhaust energy or physical hole of the sensor node may cause coverage hole. Coverage holes can affect the performance of the entire sensor network, such as reducing data reliability, changing network topologies, disconnecting data links, and degrading transmission load. It is possible to solve the problem that occurs in the coverage hole by finding a coverage hole in the sensor network and further arranging a new sensor node in the detected coverage hole. The existing coverage hole detection technique is based on the location of the sensor node, but it is inefficient to mount the GPS on the sensor node having limited resources, and performing other location information processing causes a lot of message transmission overhead. In this paper, we propose an Adjacent Matrix-based Hole Coverage Discovery(AMHCD) scheme based on connectivity of neighboring nodes. The method searches for whether the connectivity of the neighboring nodes constitutes a closed shape based on the adjacent matrix, and determines whether the node is an internal node or a boundary node. Therefore, the message overhead for the location information strokes does not occur and can be applied irrespective of the position information error.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.32.4-32
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• 2002

We consider inertial navigation system (INS) sensor redundancy and propose a method which uses singular value decomposition to detect and isolate faults when even two sensors have faults simultaneously. When redundant sensor configuration is given, such as symmetric configuration in INS, the range space and null space of configuration matrix are determined. We use null space of configuration matrix and define 21 reference fault vectors which include 6 one-fault vectors and 15 two-fault vectors. Measurements are projected into null space of measurement matrix and compared with 21 normalized reference fault vectors, which determines fault detection and isolation.

• The Journal of the Acoustical Society of Korea
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• v.35 no.5
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• pp.395-402
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• 2016

In this paper, a wideband adaptive beamforming approach for an acoustic vector sensor linear array is presented. It is a very important issue to estimate the stable covariance matrix for adaptive beamforming. In the conventional wideband adaptive beamforming based on coherent signal-subspace (CSS) processing, the error of bearing estimates is resulted from the focusing matrix estimation and the large number of data snapshot is necessary. To alleviate the estimation error and snapshot deficiency in estimating covariance matrix, the steered covariance matrix method in the pressure sensor is extended to the vector sensor array, and the subarray technique is incorporated. By this technique, more accurate azimuth estimates and a stable covariance matrix can be obtained with a small number of data snapshot. Through simulation, the azimuth estimation performance of the proposed beamforming method and a wideband adaptive beamforming based on CSS processing are assessed.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.10
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• pp.141-146
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• 2000

We introduce the algorithms of 3-D position estimation using a laser sensor for automatic die remodeling. First, a vision sensor based on the optical triangulation was used to collect the range data of die surface. Second, line vector equations were constructed by the measured range data, and an analytic algorithm was proposed for recognizing the die location with these vector equations. This algorithm could make the transformation matrix without any specific corresponding points. To ascertain this algorithm, folded SUS plate was measured by the laser vision sensor attached to a 3-axis cartesian manipulator and the transformation matrix was calculated.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.15 no.8
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• pp.3011-3024
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• 2021

Pose estimation of the sensor is important issue in many applications such as robotics, navigation, tracking, and Augmented Reality. This paper proposes visual-inertial integration system appropriate for dynamically moving condition of the sensor. The orientation estimated from Inertial Measurement Unit (IMU) sensor is used to calculate the essential matrix based on the intrinsic parameters of the camera. Using the epipolar geometry, the outliers of the feature point matching are eliminated in the image sequences. The pose of the sensor can be obtained from the feature point matching. The use of IMU sensor can help initially eliminate erroneous point matches in the image of dynamic scene. After the outliers are removed from the feature points, these selected feature points matching relations are used to calculate the precise fundamental matrix. Finally, with the feature point matching relation, the pose of the sensor is estimated. The proposed procedure was implemented and tested, comparing with the existing methods. Experimental results have shown the effectiveness of the technique proposed in this paper.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.6
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• pp.631-634
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• 2014

We propose a measurement state feedback controller for a class of nonlinear systems that have uncertain nonlinearity and sensor noise. The new design method based on the matrix inequality approach solves the measurement feedback control problem of a class of nonlinear systems. As a result, the proposed methods using a matrix inequality approach has the flexibility to apply the controller. In addition, the sensor noise can be attenuated for more generalized systems containing uncertain nonlinearities.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.42 no.3
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• pp.604-611
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• 2017

In wireless sensor networks, an energy efficient operation is important since the energy of the sensors is limited. This paper proposes an energy efficient method that reduces a packet generation with Matrix Completion method where sensor value matrix has low-rank and decreases a collision rate and an overhead by transmitting only sensor ID to a time slot corresponding to the sensor value. Computer simulations demonstrates that the proposed method shows 17% of transmission failure and 73% of the packet generation compared to a conventional CSMA/CS. Delay time of transmitting information of the proposed method exhibits 22% of the CSMA/CA and the MSE error after reconstructing sensor values by Singular Value Thresholding(SVT) in Fusion Center is 87% of the CSMA/CA.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.8
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• pp.748-752
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• 2015

We present an output feedback controller for a class of nonlinear systems with uncertain nonlinearity and sensor noise. The sensor noise has both a finite constant component and a time-varying component such that its integral function is finite. The new design and analysis method is based on the matrix inequality approach. With our proposed controller, the states and output can be ultimately bounded even though the structure of nonlinearity is more general than that in the existing results.

• Aerospace Engineering and Technology
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• v.10 no.2
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• pp.49-55
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• 2011

A Direction Cosine Matrix (DCM) of each satellites sensor/actuator which contains an directional information of sensor/actuator is implemented in the on-board flight software. In order to verify the polarity of direction cosine matrix, it is mostly used that an actual sensor/actuator output is compared with the expected output value which responses to the pre-defined external stimulus to the sensor/actuator. For the gyro sensors, the Earth rotational rate can be used as an external input for the polarity verification of DCM, without using an artificial stimulus. In this study, the polarity of gyro DCM is checked and verified using the several test data which have been acquired during the different system level test phases. Finally the polarity of DCM was successfully verified using the Earth rotational rate.