• IEMEK Journal of Embedded Systems and Applications
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• v.4 no.2
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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.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.1
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• pp.19-25
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• 1998

Remote fault diagnosis and maintenance system using general telecommunication network is necessary for an effective fault diagnosis and higher productivity of NC machine tools. In order to monitor machine tool condition and diagnose alarm states due to electrical and mechanical faults, a remote data communication system for monitoring of NC machine fault diagnosis and status is developed. The developed system consists of (1) remote communication module among NC's and host PC using PSTN. (2) 8 channels analog data sensing module, (3) digital I/O module for control or NC machine, (4) communication module between NC machine and remote data communication system via RS-232C, and (5) software man-machine interface. Diagnostic monitoring results generated through a successive type inference engine are displayed in user-friendly graphics. The validity and reliability of the developed system is verified to be a powerful commercial version on a vertical machining center through a series of experiments.

• Proceedings of the KSRS Conference
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• 2008.10a
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• pp.181-184
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• 2008

The quality of orthoimages mainly depends on the elevation information and exterior orientation (EO) parameters. Since LiDAR data directly provides the elevation information over the earth's surface including buildings and trees, the concept of true orthorectification has been rapidly developed and implemented. If a LiDAR-driven digital surface model (DSM) is used for orthorectification, the displacements caused by trees and buildings are effectively removed when compared with the conventional orthoimages processed with a digital elevation model (DEM). This study sequentially utilized LiDAR data to generate orthorectified digital aerial images. Experimental orthoimages were produced using DTM and DSM. For the preparation of orthorectification, EO components, one of the inputs for orthorectification, were adjusted with the ground control points (GCPs) collected from the LiDAR point data, and the ground points were extracted by a filtering method. The orthoimage generated by DSM corresponded more closely to non-ground LiDAR points than the orthoimage produced by DTM.

• Proceedings of the KIEE Conference
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• 2007.04a
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• pp.423-425
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• 2007

In this paper, Medium Access Control(MAC) protocol designed for Wireless Body area Sensor Network(Bio-MAC) is proposed, Because in WBSN, the number of node is limited and each node has different characteristics. Also, reliability in transmitting vital data sensed at each node and periodic transmission should be considered so that general MAC protocol cannot satisfy such requirements of biomedical sensors in WBSN. Bio-MAC aims at optimal MAC protocol in WBSN. For this, Bio-MAC used Pattern -SuperFrame, which modified IEE E 802.15.4-based SuperFrame structurely. Bio-MAC based on TDMA uses Medium Access-priority and Pattern eXchange -Beacon method for dynamic slot allocation by considering critical sensing data or power consumption level of sensor no de etc. Also, because of the least delay time. Bio-MAC is suitable in the periodic transmission of vital signal data. The simulation results demonstrate that a efficient performance in WBSN can be achieved through the proposed Bio-MAC.

• Convergence Security Journal
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• v.8 no.2
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• pp.27-34
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• 2008

In this paper, we designed and implemented mobile object automatic system based on senor networks for telematics. For developing this system, we gather the various sensing data through wireless communication method using zigbee sensor networks and analyze them in monitoring equipment. And we enable the driver to recognize the car state information on the whole by interfacing analyzed data to telematics unit. And, we implemented automatic controller that can control temperature and humidity in car automatically by actuating air conditioner based on the data that was monitored throughout temperature sensor, humidity sensor and brightness sensor based on sensor networks.

• Proceedings of the KSRS Conference
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• v.2
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• pp.791-793
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• 2006

In the satellite camera, the incoming light source is converted to electronic analog signals by the electronic component for example CCD (Charge Coupled Device) detectors. The analog signals are amplified, biased and converted into digital signals (pixel data stream) in the video processor (A/Ds). The outputs of the A/Ds are digitally multiplexed and driven out using differential line drivers (two pairs of wires) for cross strap requirement. The MSC (Multi-Spectral Camera) in the KOMPSAT-2 which is a LEO spacecraft will be used to generate observation imagery data in two main channels. The MSC is to obtain data for high-resolution images by converting incoming light from the earth into digital stream of pixel data. The video data outputs are then MUXd, converted to 8 bit bytes, serialized and transmitted to the NUC (Non-Uniformity Correction) module by the Hotlink data transmitter. In this paper, the video data streams, the video data format, and the image data processing routine for satellite camera are described in terms of satellite camera control hardware. The advanced satellite with very high resolution requires faster and more complex image data chain than this algorithm. So, the effective change of the used image data chain and the fast video data transmission method are discussed in this paper

• Korean Journal of Remote Sensing
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• v.32 no.6
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• pp.657-672
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• 2016

Coastal erosion happens frequently in many different types. To control coastal erosion zone effectively and establish response plans, we need to accumulate data indicating topography changes through monitoring the erosion situation continuously. UAV photogrammetric systems, which can fly autonomously at a low altitude, are recommended as an economical and precision means to monitor the coastal zones. In this study, we aim to verify the accuracy of the generated orthoimages and DEM as a result of processing the UAV data of a coastal zone by comparing them with various reference data. We established a verification routine and examined the possibilities of applying the UAV photogrammetric systems to monitoring coastal erosion by checking the analyzed accuracy by the routine. As a result of verifying the generated the geospatial information from acquired data under various configurations, the horizontal and vertical accuracy (RMSE) were about 2.7 cm and 4.8 cm respectively, which satisfied 5 cm, the accuracy required for coastal erosion monitoring.

• Korean Journal of Remote Sensing
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• v.21 no.2
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• pp.99-111
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• 2005

A fuzzy logic based data integration was applied for geothermal potential mapping in Jeju Island. Several data sets, such as geological map, the density of drainage system, the distribution density of cinder cones, density of lineaments, aerial survey map for total magnetic intensity and total gamma ray, were collected as thematic map for the integration. Fuzzy membership function for all thematic maps were compared to the locations of the spa, which were used as ground-truth control points. The older geology, the lower density of drainage, cinder cones and lineaments, and the lower intensity of magnetic and gamma ray were showed the higher fuzzy membership function values, respectively. After integrating all thematic maps, the results of gamma operator with the gamma value of 0.75 was the highest success rate, and new geothermal potential zone is prospected in western north part of Jeju Island.

• Journal of KIISE:Information Networking
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• v.36 no.5
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• pp.413-424
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• 2009

Wireless sensor network is based on an event driven system. Sensor nodes collect the events in surrounding environment and the sensing data are relayed into a sink node. In particular, when events are detected, the data sensing periods are likely to be shorter to get the more correct information. However, this operation causes the traffic congestion on the sensor nodes located in a routing path. Since the traffic congestion generates the data queue overflows in sensor nodes, the important information about events could be missed. In addition, since the battery energy of sensor nodes exhausts quickly for treating the traffic congestion, the entire lifetime of wireless sensor networks would be abbreviated. In this paper, a new congestion control method is proposed on the basis of genetic algorithm. To apply genetic algorithm, the data traffic rate of each sensor node is utilized as a chromosome structure. The fitness function of genetic algorithm is designed from both the average and the standard deviation of the traffic rates of sensor nodes. Based on dominant gene sets, the proposed method selects the optimal data forwarding sensor nodes for relieving the traffic congestion. In experiments, when compared with other methods to handle the traffic congestion, the proposed method shows the efficient data transmissions due to much less queue overflows and supports the fair data transmission between all sensor nodes as possible. This result not only enhances the reliability of data transmission but also distributes the energy consumptions across the network. It contributes directly to the extension of total lifetime of wireless sensor networks.

• Proceedings of the KSRS Conference
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• 2002.10a
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• pp.183-190
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• 2002

In this paper forest fire statistical information management system is constructed on web environment using web based GIS(Geographic Information System) technology. Though this system, general users can easily access forest fire statistical information and obtain them in visual method such as maps, graphs, and text if they have web browsers. Moreover, officials related to forest fire can easily control and manage all information in domestic by accessing input interface, retrieval interface, and out interface. In order to implement this system, IIS 5.0 of Microsoft is used as web server and Oracle 8i and ASP(Active Server Page) are used for database construction and dynamic web page operation, respectively. Also, Arc IMS of ESRI is used to serve map data using Java and HTML as system development language. Through this system, general users can obtain the whole information related to forest fire visually in real time also recognize forest fire prevention. In addition, Forest officials can manage the domestic forest resource and control forest fire dangerous area efficiently and scientifically by analyzing and retrieving huge forest data through this system. So, they can save their manpower, time and cost to collect and manage data.