• 한국산학기술학회논문지
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• 제10권7호
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• pp.1549-1555
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• 2009

무선센서 네트워크에서 노드들의 데이터를 수집하고 기지국에 전달하는 중계노드의 위치(Relay Node Placement)를 구하는 문제는 전체 네트워크의 생존시간에 관련되어 있기 때문에 매우 중요하다. 중계노드 위치문제는 전체 네트워크의 센서노드에서 소비되는 에너지를 최소화시키는데 그 초점이 맞추어져 있다. 그러나 중계노드 위치와 센서노드와의 거리가 모두 다르므로 센서노드에서 소비되는 에너지의 불균형이 초래된다. 본 논문에서는 클러스터링 모델에서 에너지 균형비(Energy Balance Ratio)라는 개념을 제안하고 이 에너지 균형비를 최대화시키는 목적함수를 사용하여 중계노드의 위치를 구한다. 에너지 균형비를 최대화시키는 것은 클러스터에 할당된 센서노드들의 에너지 소비를 클러스터 간에 균형 잡히게 한다. 이것은 궁극적으로 대규모 센서 네트워크의 에너지 소비를 최소화시켜서 네트워크 생존기간을 최대화시키는 효과가 있다. 그러나 이 문제의 해를 구하는 것은 NP-hard 문제이므로 완전해(Exact Solution) 를 구하는 것은 현실적으로 힘들다. 따라서 제약프로그래밍 방법을 사용하여 에너지 균형비와 중계노드 위치를 함께 고려하는 EBR-RNP 문제로 모델링하여 근사해를 구한다.

• 한국해양공학회지
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• 제21권4호
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• pp.45-54
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• 2007

In the context of auto-landing containers from a container ship to a truck or automatic guided vehicle and vice versa, this research investigates three schemes, one in Part I and two in Part II, for measuring the absolute position of a container. Coordinate transformations between the reference-coordinate, sensor-coordinate, and body-coordinate systems are briefly discussed. The scheme explored in Part I aims the use of three laser-slit sensors, which are relatively inexpensive. In this case, nine nonlinear equations are formulated for six unknown variables (three for orientation and three for position), so a closed-form solution is not available. Instead, an approximate solution through linearization was derived. An advantage of the method in Part I is its ability to measure an absolute position in 3D space, while a disadvantage is the computation time required to obtain pseudo-inverses and the approximate nature of the obtained solution. Numerical examples are provided.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2014년도 추계학술대회
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• pp.585-588
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• 2014

본 논문에서는 빛 에너지와 진동에너지 하베스팅을 이용한 자가발전 센서노드 회로를 제안한다. 솔라셀과 진동소자(PZT)에서 변환된 에너지는 저장 커패시터에 저장된다. 저장된 에너지는 PMU(Power Management Unit)를 통해 관리되고, 일정한 전압을 공급하기 위해 LDO(Low Drop Out Regulator)를 사용한다. LDO를 통해 공급된 안정된 전압으로 온도센서와 SAR ADC(Successive Approximate Register Analog-to-Digital Converter)를 구동시켜서 10bit 디지털 신호에 해당하는 온도정보를 출력한다. 제안된 회로는 0.35um CMOS 공정으로 설계되었으며, 설계된 회로의 칩 면적은 패드를 포함하여 $1.1mm{\times}0.95mm$ 이다.

• Journal of information and communication convergence engineering
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• 제16권1호
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• pp.38-42
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• 2018

In this paper, we consider measurement allocation problem in a spatially correlated sensor field. Our goal is to determine the probability of each sensor's being measured based on its contribution to the estimation reliability; it is desirable that a sensor improving the estimation reliability is measured more frequently. We consider a spatial correlation model of a sensor field reflecting transmission power limit, noise in measurement and transmission channel, and channel attenuation. Then the estimation reliability is defined distortion error between event source and its estimation at sink. Motivated by the correlation nature, we model the measurement allocation problem into a cooperative game, and then quantify each sensor's contribution using Shapley value. Against the intractability in the computation of exact Shapley value, we deploy a randomized method that enables to compute the approximate Shapley value within a reasonable time. Besides, we envisage a measurement scheduling achieving the balance between network lifetime and estimation reliability.

• International Journal of Concrete Structures and Materials
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• 제3권1호
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• pp.33-37
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• 2009

Fiber Bragg grating (FBG) sensors already have been the focus for structural health monitoring (SHM) due to their distinguishing advantages. However, as bare optical fiber is very fragile, bare FBG strain sensor without encapsulation can not properly be applied in practical infrastructures. Therefore encapsulation techniques for making encapsulated FBG strain sensor show very important in pushing forward the application of FBG strain sensors in SHM. In this paper, a simplified approximate method to analyze the stress transferring rules for embedded FBG strain sensors in concrete monitoring is put forward according to mechanics of composite materials. Shear lag theory is applied to analyze the stress transferring rule of embedded FBG strain sensor in measured host material at the first time. The measured host objects (concrete) and the encapsulated FBG strain sensor are regarded as a composite, and then the stress transfer formula and stress transfer coefficient of encapsulated FBG strain sensor are obtained.

• 제어로봇시스템학회논문지
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• 제6권12호
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• pp.1086-1092
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• 2000

To realize a visual servo control of slender manipulators, two problems to be solved are analysed. The stability problem on so-called noncolocation control and the infinite order problem of the real Jacobian matrix caused by the elastic deformation are discussed. By considering the dynamic relations between rigid and elastic modes, a Jacobian operator is derived and the physical meaning is also explained. Then, for practical control, a simple control scheme using an approximate Jacobian is proposed and its stable conditions are proven by means of the $L_$2$ stability theory. The scheme is structurally similar to the conventional PD control laws, but external sensors(e. g. visual sensor) are used for positioning and internal sensors for damping. A good performance is obtained via control experiments of a slender two link manipulator.

• 한국정밀공학회지
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• 제18권10호
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• pp.45-52
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• 2001

This paper presents a study on the position tracking control of a robot system on the uncertain elastic base. The elastic bathe is a nonholonomic system but it can be changed into holonomic system, which is much easier to analyze, by modeling an elastic base as a virtual robot that has passive joints. Also, Jacobian operators, which represent the overall robot system including base movement, are defined and applied to the changed model. However, because base movements are not known, the exact Jacobian operators can＇t be estimated. The control algorithm proposed is that uses only Jacobians of a real robot as approximate Jacobian operators. Therefore the approximate Jacobian operators compensate the measured errors from external sensors. The proposed control strategy is evaluated by the simulation and experiment of a single-axis robot system on the elastic base.

• 한국기계가공학회지
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• 제16권2호
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• pp.7-15
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• 2017

Recently, an electricity sensor system has been installed and operated to prevent failures and accidents by identifying whether a transformer is normal in advance of failure. This electricity sensor system is able to both measure and monitor the transformer's power and voltage remotely and send information to a manager when unusual operation is discovered. However, a battery is required to operate power detection devices, and battery systems need ongoing management such as regular replacement. In addition, at a maintenance cost, occasional human resources and worker safety problems arise. Accordingly, we apply a linear electromagnetic generator using vibration energy from a transformer for an electric sensor system's drive in this research and we conduct optimal design to maximize the linear electromagnetic generator's power. We consider design variables using the provided design method from Process Integration, Automation, and Optimization (PIAnO), which is common tool from process integration and design optimization (PIDO). In addition, we analyze the experiment point from the design of the experiments using "MAXWELL," which is a common electromagnet analysis program. We then create an approximate model and conduct accuracy verification. Finally, we determine the optimal model that generates the maximum power using the proven approximate kriging model and evolutionary optimization algorithm, which we then confirm via simulation.

• 한국산학기술학회논문지
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• 제12권1호
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• pp.445-450
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• 2011

본 논문은 무선센서 네트워크의 테스트 베드 구축에 관한 것이다. 웹 인터페이스를 갖는 센서 네트워크 게이트웨이를 개발하고 센서노드 탑재용으로 수집 소스 데이터의 전송과 게이트웨이로 부터의 명령을 멀티 홉 루트로 전송이 가능한 기존의 Surge 프로그램을 개선하여 한번에 전송할 수 있는 데이터의 크기를 증가시키고 전송경로를 수집토록 개선하였다. 개발된 테스트 베드를 통하여 센서필드내 데이터의 수집과 특정 센서노드로의 명령전달이 가능하며 토폴로지 뷰어를 통하여 특정 센서노드로 부터 싱크까지의 데이터 전송경로와 센서노드간 상대적인 위치파악도 가능하다. 마지막으로 본 테스트베드를 활용한 원격 로봇 제어에 관하여 기술하였다.

• 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.