• The Journal of Korea Robotics Society
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• v.1 no.2
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• pp.117-124
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• 2006

In this paper, we develope the navigation system for patrol robots in indoor environment. The proposed system consists of PDA map modelling, a localization algorithm based on a global position sensor and an automatic charging station. For the practical use in security system, the PDA is used to build object map on the given indoor map. And the builded map is downloaded to the mobile robot and used in path planning. The global path planning is performed with a localization sensor and the downloaded map. As a main controller, we use PXA270 based hardware platform in which embedded linux 2.6 is developed. Data handling for various sensors and the localization algorithm are performed in the linux platform. Also, we implemented a local path planning algorithm for object avoidance with ultra sonar sensors. Finally, for the automatic charging, we use an infrared ray system and develop a docking algorithm. The navigation system is experimented with the two-wheeled mobile robot using North-Star localization system.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.46 no.7
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• pp.551-556
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• 2018

A lot of hardwares are allocated on the satellite to perform the attitude control. Sun sensor is very important hardware to acquire the initial attitude after separation from launcher and to maintain the safety attitude from the satellite anomaly operation. So the allocation of the sun sensor to acquire the field of view and the attitude control design using it, are critical work in the beginning of development. Number of Sun sensor for GEO-KOMPSAT2 is reduced with respect to COMS due to star tracker usage. The additional sun sensor using COMS heritage is considered. In this paper, it is described the analysis and the results on the method for the safety improvement which is to enlarge the field of view and to consider the harness connection of P/R-side of the sun sensor.

• International Journal of Aeronautical and Space Sciences
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• v.12 no.1
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• pp.43-56
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• 2011

An integrated system composed of guidance, navigation and control (GNC) system for autonomous proximity operations and the docking of two spacecraft was developed. The position maneuvers were determined through the integration of the state-dependent Riccati equation formulated from nonlinear relative motion dynamics and relative navigation using rendezvous laser vision (Lidar) and a vision sensor system. In the vision sensor system, a switch between sensors was made along the approach phase in order to provide continuously effective navigation. As an extension of the rendezvous laser vision system, an automated terminal guidance scheme based on the Clohessy-Wiltshire state transition matrix was used to formulate a "V-bar hopping approach" reference trajectory. A proximity operations strategy was then adapted from the approach strategy used with the automated transfer vehicle. The attitude maneuvers, determined from a linear quadratic Gaussian-type control including quaternion based attitude estimation using star trackers or a vision sensor system, provided precise attitude control and robustness under uncertainties in the moments of inertia and external disturbances. These functions were then integrated into an autonomous GNC system that can perform proximity operations and meet all conditions for successful docking. A six-degree of freedom simulation was used to demonstrate the effectiveness of the integrated system.

• Current Optics and Photonics
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• v.7 no.4
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• pp.398-407
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• 2023

We explored a method to evaluate imaging performance for the optimal assembly of an endoscopic miniature lens and a sensor constituting an imaging module at the distal end of gastrointestinal endoscopy. For the assembly of the imaging module, the image sensor was precisely located at the focal plane when collimated light passed through the endoscopic lens. As another method, the distance between the lens and sensor was adjusted to obtain the highest focus index from images measured the star chart of the International Organization for Standardization (ISO) standard at various positions. We analyzed the slanted-edge modulation transfer function (MTF), corresponding depth of field, and number of line pairs for MTF 50% and 20% at each working distance within the range of 5-100 mm for imaging modules assembled in different ways. Assembly conditions of the imaging module with better MTF performance were defined for each working distance range of 5-30 mm and 30-100 mm, respectively. In addition to the MTF performance, the focus index of each assembled module was also compared. In summary, we examined the performance of imaging modules assembled with different methods within the suggested working distance and tried to establish the optimal assembly protocol.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.11
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• pp.1036-1042
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• 2013

In this paper, an elderly assistance system is developed based on Xenomai, a real-time development framework cooperating with the Linux kernel. A Kinect sensor is used to recognize the behavior of the elderly and A-star search algorithm is implemented to find the shortest path to the person. The mobile robot also generates a trajectory using a digital convolution operator which is based on a Bezier curve for smooth driving. In order to follow the generated trajectory within the control period, we developed real-time tasks and compared the performance of the tracking trajectory with that of non real-time tasks. The real-time task has a better result on following the trajectory within the physical constraints which means that it is more appropriate to apply to an elderly assistant system.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.32 no.7
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• pp.83-90
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• 2004

This paper describes on-board decentralized data acquisition system that acquires and encodes the numerous sensor data distributed on the big flight vehicles efficiently. The system's sub-units which have one encoder unit and several remote units were designed and simulated according to the communication protocols and the control, sequence logics based on the FPGA chip. And we have made the functional verification of the acquisition, collection and formatting of remote analog and digital data for the manufactured hardwares.

• Journal of the Ergonomics Society of Korea
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• v.31 no.4
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• pp.551-556
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• 2012

Objective: This study presents the effect of visual feedback on one-hand gesture performance in vision-based gesture recognition system when people use gestures to control a screen device remotely. Backgroud: gesture interaction receives growing attention because it uses advanced sensor technology and it allows users natural interaction using their own body motion. In generating motion, visual feedback has been to considered critical factor affect speed and accuracy. Method: three types of visual feedback(arrow, star, and animation) were selected and 20 gestures were listed. 12 participants perform each 20 gestures while given 3 types of visual feedback in turn. Results: People made longer hand trace and take longer time to make a gesture when they were given arrow shape feedback than star-shape feedback. The animation type feedback was most preferred. Conclusion: The type of visual feedback showed statistically significant effect on the length of hand trace, elapsed time, and speed of motion in performing a gesture. Application: This study could be applied to any device that needs visual feedback for device control. A big feedback generate shorter length of motion trace, less time, faster than smaller one when people performs gestures to control a device. So the big size of visual feedback would be recommended for a situation requiring fast actions. On the other hand, the smaller visual feedback would be recommended for a situation requiring elaborated actions.

• Journal of IKEEE
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• v.16 no.3
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• pp.235-243
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• 2012

In this study, we developed two legged multi-joint robot by using wireless servo motor that was applied by wireless sensor network technology, which is widely used recently, and performed an experiment of walking method of two legged multi-joint robot. We constructed the star network with servo motors which were used at each joint of two-legged robot. And we designed the robot for operation by transmission of joint control signal from main control system or by transmission of the status of each joint to the main control system, so it operates with continuously checking the status of joints at same time. We developed the humanoid robot by using wireless digital servo motor which is different from existing servo motor control system, and controlled it by transmitting the information of angles and speeds of robot joints to the motor(node) as a feedback through main control system after connecting power and setting up the IDs to each joint. We solved noisy problem generated from wire and wire length to connection point of the control device by construction of the wireless network instead of using existing control method of wiring, and also solved problem of poor real time response to gait motion by controlling the position with continuous transmission of control signals to each joint. And we found that the effective control of robot is able by performing the simulation on walking motion in advance with the developed control algorithm which was downloaded into installed memory. Also we performed the stable walking with two-legged robot by attaching pressure sensor to robot sole. And we examined the robot gait operated by application of calculated algorithm on robot movement to each joint. In this study, we studied the method of controlling robot gait motion by using wireless servo motors and measured the torque applied to each joint, and found that the developed wireless servo motor by ZigBee sensor network offers easier control of two legged robot gait and better circuit configuration of it than the existing wired control system could do.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.45 no.7
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• pp.53-61
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• 2008

Consider a typical wireless sensor network in which stem nodes form the backbone network of mesh topology while each stem node together with leaf nodes in its vicinity forms a subnetwork of star topology. In such a wireless sensor network, we must heed the following when we design a MAC scheme supporting the packet delivery from a leaf node to a stem node. First, leaf nodes are usually battery-powered and it is difficult to change or recharge their batteries. Secondly, a wireless sensor network is often deployed to collect and update data periodically. Late delivery of a data segment by a sensor node causes the sink node to defer data processing and the data segment itself to be obsolete. Thirdly, extensive signaling is extremely limited and complex computation is hardly supported. Taking account of these facts, a MAC scheme must be able to save energy and support timeliness in packet delivery while being simple and robust as well. In this paper, we propose a version of ALOHA as a MAC scheme for a wireless sensor network. While conserving the simplicity and robustness of the original version of ALOHA, the proposed version of ALOHA possesses a distinctive feature that a sensor node decides between stop and continuation prior to each delivery attempt for a packet. Such a decision needs a stopping rule and we suggest a Bayes stopping rule. Note that a Bayes stopping rule minimizes the Bayes risk which reflects the energy, timeliness and throughput losses. Also, a Bayes stopping rule is practical since a sensor node makes a decision only using its own history of delivery attempt results and the prior information about the failure in delivery attempt. Numerical examples confirm that the proposed version of ALOHA employing a Bayes stopping rule is a useful MAC scheme in the severe environment of wireless sensor network.

• Journal of KIISE:Information Networking
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• v.37 no.5
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• pp.396-402
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• 2010

The tracking of current location of residents is an essential requirement for context-aware service of smart houses. This paper presents a wireless sensor network system which could detect location transition such as entrance and exit to a room and also identify the user who passed the room, without duty of wearing any sort of tag. We designed new sensor node to solve the problem of short operation lifetime of previous work[1] which has two pyroelectric infrared (PIR) sensors and an ultrasonic sensor, as well as a 2.4 GHz radio frequency wireless transceiver. The proposed user identification method is to discriminate a person based on his/her height by using an ultrasonic sensor. The detection idea of entering/exiting behavior is based on order of triggering of two PIR sensors. The topology of the developed wireless sensor network system is simple star structure in which each sensor node is connected to one sink node directly. We evaluated the proposed sensing system with a set of experiments for three subjects in a model house. The experimental result shows that the averaged recognition rate of user identification is 81.3% for three persons. and perfect entering/exiting behavior detection performance.