• 제어로봇시스템학회논문지
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• 제12권11호
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• pp.1138-1143
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• 2006

Sensor deployment is an important issue in the mobile wireless sensor network. In this paper, we propose a deployment algorithm for mobile sensor network to spread out mobile sensor nodes widely as well as regularly. Since the proposed algorithm uses tree topology in deploying the sensor nodes, calculating power as well as spreading speed can be reduced compare to other deployment algorithms. The performance of the proposed algorithm is simulated using NS-2 simulator and demonstrated.

• 한국정보기술응용학회:학술대회논문집
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• 한국정보기술응용학회 2005년도 6th 2005 International Conference on Computers, Communications and System
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• pp.225-228
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• 2005

A context-aware services platform supporting mobile agents consists of sensor nodes and a sensor coordinator. Sensor nodes collect environmental information and transmit the collected information to the sensor coordinator through wireless sensor networks. The sensor coordinator passes the information to the context-aware service module, and the mobile agent. The context-aware service module or the mobile agent performs services suitable for a user's situation based on the environmental information and a service actuation message is delivered to an actuation node through the sensor coordinator. In this paper, we present a context-aware services platform structure employed in our project, and describe context-aware services platform interfaces with a context-aware service module and mobile agents.

• Journal of information and communication convergence engineering
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• 제7권3호
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• pp.281-285
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• 2009

Mobile robot has various sensors for describing the external world. The ultrasonic sensor widely applied to the most mobile robot to detect the obstacle and environment owing to low cost, its easy to use. However, ultrasonic sensor has major problems: the uncertainty information of sensor, false readings caused by specular reflection, multi path effect, low angular resolution and sensitivity to changes in temperature and humidity. This paper describes a sensor system for map building of mobile robot. It was made of low cost PSD (Position Sensitive Detector) sensor array and high speed RISC MPU. PSD sensor is cost effective and light weighting but its output signal has many noises. We propose heuristic S/W filter to effectively remove these noises. The developed map building sensor system was equipped on a mobile robot and was compared with ultrasonic sensor through field test.

• 한국정보과학회:학술대회논문집
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• 한국정보과학회 2006년도 가을 학술발표논문집 Vol.33 No.2 (D)
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• pp.791-795
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• 2006

하이브리드 센서 네트워크에서 static sensor node들이 초기 배치된 후, coverage-hole을 결정하여, hole을 커버할 mobile sensor node들의 필요한 수 및 위치를 결정하고 배치하는 연구는 상당한 수준에 이르렀다. 그러나 mobile sensor node들을 호출하고 배치하는데 너무 많은 에너지를 소모하고 있다. 본 논문에서는 coverage-hole에서 mobile sensor node들을 호출하기 전에 mobile sensor node들을 최대한 coverage-hole에 가깝게 배치하여, 호출하는데 소요되는 에너지를 획기적으로 절감하였다.

• 한국컴퓨터정보학회논문지
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• 제21권10호
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• pp.99-105
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• 2016

The active rule system is a key element of the rule-based mobile agent middleware system for activeness and autonomy of the sensor network. The rule manager, which is the main components of active rule based mobile agent framework and active rule system, performs the control and management of the rule-related processes. In this paper, we design and implement the roles and functions of the rule manager in detail. The proposed rule manager plays an important role in the sensor network environment. The sensor data server loads the active rule on the mobile agent by the rule manager according to the situations, and the mobile agent migrates to the destination node and performs the designated action. This active rule-based mobile agent middleware system presents the usefulness for the various sensor network applications. Through the rule execution experiment using the rule-based mobile agent, we show the adaptability and applicability of rule-based mobile agent middleware system to the dynamic environmental changes in sensor networks.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.423-423
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• 2000

This paper proposes an effective algorithm for following a wall by an autonomous mobile robot with sonar sensors and infrared sensors in an indoor environment. The proposed method uses deadreckoning to estimate the current position and orientation of a mobile robot. Sonar sensor data are used to estimate shape and position of wall using proposed algorithm. Infrared sensor data are used as assistant when sonar sensor data is uncertain. Simulation results using mobile robot show that the proposed algorithm is proper for the following wall.

• 한국정보과학회논문지:정보통신
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• 제37권3호
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• pp.204-216
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• 2010

고정 싱크를 사용한 센서 네트워크는 싱크 주변 센서 노드에게 많은 부하를 초래하게 되고 이러한 부하는 센서 노드의 배터리 소모로 이어지게 된다. 싱크 주변 센서 노드의 배터리 소모는 전체 센서 네트워크의 수명을 단축시키는 원인이 된다. 이러한 문제를 해결하기 위해 모바일 싱크를 사용하여 싱크주변 노드의 부하를 분산시키는 연구가 활발히 진행되고 있다. 모바일 싱크는 움직이는 특성을 가지고 있기 때문에 센서 노드와 통신 가능한 시간이 제한된다. 또한 통신 중에도 모바일 싱크와 센서 노드 간 거리가 연속적으로 변하기 때문에 통신 환경 역시 변하게 된다. 모바일 싱크를 사용한 센서 네트워크는 이러한 제약 사항을 해결하며 각 센서 노드들로부터 균등한 양의 데이터를 수집할 수 있어야 한다. 균등치 못한 데이터 수집은 실시간적 센서 네트워크 응용분야에서 긴급한 사건 처리를 가능하지 않게 한다. 본 논문에서는 모바일 싱크를 이용한 센서 네트워크에서 센서 노드들로부터 균등한 데이터 수집을 위한 스케줄링 기법인 FQMS를 제안한다. FQMS는 모바일 싱크와 센서 노드 간 통신 환경과 시간 제약을 고려하여 균등한 데이터 수집을 보장한다. 실험을 통해 제안된 FQMS와 기존의 스케줄링 기법들의 성능을 비교 평가한다. 실험 결과를 통해 제안된 기법이 무선 센서 노드들로 부터의 데이터 수집에 있어서 가장 균등한 데이터 수집을 수행함을 보인다.

• Journal of information and communication convergence engineering
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• 제7권4호
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• pp.525-529
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• 2009

On the limited urban area meteorological data are hard to be collected because of the cost problem. The facilities collecting the data require high installment cost. Recently, the sensor network technique comes to the fore as a solution. Furthermore a mobile phone also becomes to be recognized as a sensor. This paper studies an application to service the meteorological map using mobile phone sensor. A design results for system implementation are introduced in this paper.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제6권10호
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• pp.2529-2547
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• 2012

In this paper, we use a quadrotor-based mobile sink to gather sensor data from the terrestrial deployed wireless sensor network. By analyzing the flight features of the mobile sink node, we theoretically study the flight constraints of height, velocity, and trajectory of the mobile sink node so as to communicate with the terrestrial wireless sensor network. Moreover, we analyze the data amount which the mobile sink can send when it satisfies these flight constraints. Based on these analysis results, we propose a data acquisition approach for the mobile sink node, which is discussed detailed in terms of network performance such as the transmission delay, packet loss rate, sojourning time and mobile trajectory when given the flying speed and height of the mobile sink node. Extensive simulation results validate the efficiency of the proposed scheme.

• 한국산업융합학회 논문집
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• 제21권4호
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• pp.167-174
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• 2018

Presently, the exploration of an unknown environment is an important task for the development of mobile robots and mobile robots are navigated by means of a number of methods, using navigating systems such as the sonar-sensing system or the visual-sensing system. To fully utilize the strengths of both the sonar and visual sensing systems, In mobile robotics, multi-sensor data fusion(MSDF) became useful method for navigation and collision avoiding. Moreover, their applicability for map building and navigation has exploited in recent years. In this paper, as the preliminary step for developing a multi-purpose autonomous carrier mobile robot to transport trolleys or heavy goods and serve as robotic nursing assistant in hospital wards. The aim of this paper is to present the use of multi-sensor data fusion such as ultrasonic sensor, IR sensor for mobile robot to navigate, and presents an experimental mobile robot designed to operate autonomously within indoor environments. Simulation results with a mobile robot will demonstrate the effectiveness of the discussed methods.