• Proceedings of the Safety Management and Science Conference
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• 2010.04a
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• pp.393-400
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• 2010

현재까지 USN(Ubiquitous Sensor Network)이라 통칭되어지는 센서망은 불특정 공간에 배포된 무선방식의 센서노드를 통해 유선방식의 센서 인프라를 대체하려는 기술 지향적 및 공급자중심의 구성을 가지고 있다. 본 논문은 기존의 공급자 위주의 기술지향적인 제한적 구성에서 벗어나, u-City에서 제공하고자 하는 서비스들의 목적과 서비스 대상의 요구사항분석을 기반으로 성능, 품질, 비용 등을 고려하도록 다양한 기술들을 융 복합하여 서비스를 제공하는 하이브리드 센서망의 제안을 위한 선행 연구 결과이다. 우선, 센서망과 u-City 서비스와의 관계에 대해 서술한 후, 기존 센서망에 대한 조사, 분석 결과 및 문제점, 그리고 선진국에서의 하이브리드 센서망 적용 사례와 시사점에 대해 논의하도록 한다.

• ETRI Journal
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• v.33 no.5
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• pp.704-711
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• 2011

This paper proposes hybrid distributed stochastic addressing (HDSA), which combines the advantages of distributed addressing and stochastic addressing, to solve the problems encountered when constructing a network in a ZigBee-based wireless sensor network. HDSA can assign all the addresses for ZigBee beyond the limit of addresses assigned by the existing distributed address assignment mechanism. Thus, it can make the network scalable and can also utilize the advantages of tree routing. The simulation results reveal that HDSA has better addressing performance than distributed addressing and better routing performance than other on-demand routing methods.

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.3
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• pp.304-309
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• 2014

In this paper, we design a hybrid wheeled and legged mobile robot with a waist joint. The proposed hybrid mobile robot is designed to have a hybrid structure with leg and wheel for the efficient movement in flat and uneven surfaces. The proposed robot have a waist joint that is used to stably transform from wheeled driving to legged walking of the robot and to overcome non-flat surface. In order to recognize various environments we use LRF sensor, PSD sensor, CCD camera. Also, a motion planning method for hybrid mobile robot with a waist joint is proposed to select wheeled driving motion and legged walking motion of the robot based the environment types. We verify the efficient mobility of the developed hybrid mobile robot through navigation experiments using the proposed motion planning method in various environments.

• Journal of Ocean Engineering and Technology
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• v.17 no.4
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• pp.73-80
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• 2003

This paper presents considerations on the results of the rotating arm test, which was carried out for assessment of an hybrid navigation system for a semi-autonomous underwater vehicle. The navigation system consists of an inertial measurement unit(IMU), an ultra-short baseline(USBL) acoustic navigation sensor and a doppler velocity log(DVL) accompanying a magnetic compass. A navigational systemmodel is derived to include the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters are 25 in the order. The extended Kalman filter was used to propagate the error covariance, The rotating arm tests were carried out in the Ocean Engineering Basin of KRISO, to generate circular motion. The hybrid underwater navigation system shows good tracking performance against the circular planar motion. Additionally this paper checked the effects of the sampling ratio of the navigation system and the possibility of the dead reckoning with the DVL and the magnetic compass to estimate the position of the vehicle.

• Proceedings of the KIEE Conference
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• 2003.11b
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• pp.103-106
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• 2003

In this paper, we present a hybrid inertial and vision-based tracking system for VR applications. One of the most important aspects of VR (Virtual Reality) is providing a correspondence between the physical and virtual world. As a result, accurate and real-time tracking of an object's position and orientation is a prerequisite for many applications in the Virtual Environments. Pure vision-based tracking has low jitter and high accuracy but cannot guarantee real-time pose recovery under all circumstances. Pure inertial tracking has high update rates and full 6DOF recovery but lacks long-term stability due to sensor noise. In order to overcome the individual drawbacks and to build better tracking system, we introduce the fusion of vision-based and inertial tracking. Sensor fusion makes the proposal tracking system robust, fast, accurate, and low jitter and noise. Hybrid tracking is implemented with Kalman Filter that operates in a predictor-corrector manner. Combining bluetooth serial communication module gives the system a full mobility and makes the system affordable, lightweight energy-efficient. and practical. Full 6DOF recovery and the full mobility of proposal system enable the user to interact with mobile device like PDA and provide the user with natural interface.

• Current Optics and Photonics
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• v.2 no.6
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• pp.612-622
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• 2018

In wave-front-sensor-less adaptive optics (WFS-less AO) systems, the Jacopo Antonello (JA) method belongs to the model-based class and requires few iterations to achieve acceptable distortion correction. However, this method needs a lot of measurements, especially when it deals with moderate or severe aberration, which is undesired in free-space optical communication (FSOC). On the contrary, the stochastic parallel gradient descent (SPGD) algorithm only requires three time measurements in each iteration, and is widely applied in WFS-less AO systems, even though plenty of iterations are necessary. For better and faster compensation, we propose a WFS-less hybrid approach, borrowing from the JA method to compensate for low-order wave front and from the SPGD algorithm to compensate for residual low-order wave front and high-order wave front. The correction results for this proposed method are provided by simulations to show its superior performance, through comparison of both the Strehl ratio and the convergence speed of the WFS-less hybrid approach to those of the JA method and SPGD algorithm.

• Proceedings of the KSRS Conference
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• 2007.10a
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• pp.101-104
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• 2007

Efficient Query processing and optimization are critical for reducing network traffic and decreasing latency of query when accessing and manipulating sensor data of large-scale sensor networks. Currently it has been studied in sensor database projects. These works have mainly focused on in-network query processing for sensor networks and assumes homogeneous sensor networks, where each sensor network has same hardware and software configuration. In this paper, we present a framework for efficient query processing over heterogeneous sensor networks. Our proposed framework introduces query processing paradigm considering two heterogeneous characteristics of sensor networks: (1) data dissemination approach such as push, pull, and hybrid; (2) query processing capability of sensor networks if they may support in-network aggregation, spatial, periodic and conditional operators. Additionally, we propose multi-query optimization strategies supporting cross-translation between data acquisition query and data stream query to minimize total cost of multiple queries. It has been implemented in WSN middleware, COSMOS, developed by ETRI.

• The Journal of the Acoustical Society of Korea
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• v.30 no.1
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• pp.33-41
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• 2011

To substitute TLS in the hybrid system which is combined with Sagnac interferometer and fiber bragg grating (FBG) it is necessary to investigate how the laser source (TLS and CW) and sensor material variate the response of fiber optic sensor. Two different hollow cylinder type mandrel materials are proposed which are PTFE and PTFE+carbon and 18 m optical fiber is wounded at the mandrel surface. CW laser source experiments had been done in the oil tank which is filled with transformer oil in the 1 kHz~20 kHz frequency range. Also Sagnac interferometer fiber optic sensor is combined with FBG called hybrid system and TLS used as a light source. Based on the experimental results PTFE sensor showed more higher magnitude of detection signal rather than carbon sensor and this result is agreement with the McMahon's theoretical results. Phase variation is inversely proportional to the elastic modulus of the mandrel material. In PTFE fiber sensor, tunable laser source showed more higher performance rather than CW case. Therefore, TLS fiber optic sensor can be applied to the hybrid system which is combined with Sagnac and FBG.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.37 no.4B
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• pp.258-268
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• 2012

Wireless Sensor Network(WSN) is constituted by low-cost and low-energy, So the most important issue is that the task of the sensor performs successfully by using less energy. In previous WSN, determination of the header and gathering sensor data solution by header give great affection to the performance of network. In this paper, we propose a Hybrid transmission method which considers the direction of data collections. In the proposed hybrid routing method, all of the sensors determine that transmission the data to the sink node directly or indirectly using the head node depend on the location of the head node in the cluster. The performance is compared with the LEACH(Low Energy Adaptive Clustering Hierarchy) by experimental analysis. The results show that the preposed method can reduce the communication distance and energy consumption by avoiding the detour direction of transmission of the data.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2003.05a
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• pp.141-148
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• 2003

This paper presents a rotating ann test for assessment of an underwater hybrid navigation system for a semi-autonomous underwater vehicle. The navigation system consists of an inertial measurement unit (IMU), an ultra-short baseline (USBL) acoustic navigation sensor and a doppler velocity log (DVL) accompanying a magnetic compass. The errors of inertial measurement units increase with time due to the bias errors of gyros and accelerometers. A navigational system model is derived to include the error model of the USBL acoustic navigation sensor and the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters is 25 in the order. The conventional extended Kalman filter was used to propagate the error covariance, update the measurement errors and correct the state equation when the measurements are available. The rotating ann tests are conducted in the Ocean Engineering Basin of KRISO, KORDI to generate circular motion in laboratory, where the USBL system was absent in the basin. The hybrid underwater navigation system shows good tracking performance against the circular planar motion. Additionally this paper checked the effects of the sampling ratio of the navigation system and the possibility of the dead reckoning with the DVL and the magnetic compass to estimate the position of the vehicle.