• Journal of Information Processing Systems
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• 제6권2호
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• pp.147-162
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• 2010

In this paper, we present a fine-grained localization algorithm for wireless sensor networks using a mobile beacon node. The algorithm is based on distance measurement using RSSI. The beacon node is equipped with a GPS sender and RF (radio frequency) transmitter. Each stationary sensor node is equipped with a RF. The beacon node periodically broadcasts its location information, and stationary sensor nodes perceive their positions as beacon points. A sensor node's location is computed by measuring the distance to the beacon point using RSSI. Our proposed localization scheme is evaluated using OPNET 8.1 and compared with Ssu's and Yu's localization schemes. The results show that our localization scheme outperforms the other two schemes in terms of energy efficiency (overhead) and accuracy.

• 한국통신학회논문지
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• 제36권5A호
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• pp.521-528
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• 2011

센서 네트워크 환경에서 센서 노드의 위치를 추정하는 일은 매우 중요하다. 센서 네트워크에서 GPS 신호 없이 노드의 위치 알아내기 위한 방법으로는 앵커 로봇을 활용하는 방법이 대표적이다. 따라서 본 논문은 4대의 이동형 앵커 로봇을 활용하여 빠른 시간 안에 효율적으로 센서 노드의 위치를 확정하는 4-Robot Localization Scheme(4RLS)방법을 제안한다. 그리고 실제 구현과 분석을 통해 4RLS 기법이 3 대의 이동로봇을 활용하는 기존 방법에 비해 성능이 개선됨을 보인다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.900-903
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• 1996

The objective of this paper is to make the weighted graph map for path planning using the ultrasonic sensor measurements that are acquired when an A.M.R (autonomous mobile robot) explores the unknown circumstance. First, The A.M.R navigates on unknown space with wall-following and gathers the sensor data from the environments. After this, we constructs the occupancy grid map by interpreting the gathered sensor data to occupancy probability. For the path planning of roadmap method, the weighted graph map is extracted from the occupancy grid map using morphological image processing and thinning algorithm. This methods is implemented on an A.M.R having a ultrasonic sensor.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2008년도 제39회 하계학술대회
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• pp.1731-1732
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• 2008

Recently, many researchers have developed various service robots, in which the position estimation and path following of mobile objects have been raised an important problem. We should know where a mobile robot so that there are many introduced localization and path following schemes. In this paper, we propose an efficient localization algorithm for the precise localization of a mobile robot with the glaser stream sensor. We use the glaser stream sensor for following a given path in indoor environments. Since the glaser stream sensor utilizes precise optical motion estimation technology, we can achieve high speed motion detection and high resolution. The experimental results show that the glaser stream sensor may be a good sensor for many indoor service robots.

• International Journal of Advanced Culture Technology
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• 제11권1호
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• pp.370-375
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• 2023

As we enter a super-aged society, studies are being conducted to reduce complications and deaths caused by falls in elderly adults. Research is being conducted on interventions for preventing falls in the elderly, wearable devices for detecting falls, and methods for improving the performance of fall detection algorithms. Wearable devices for detecting falls of the elderly generally use gyro sensors. In addition, to improve the performance of the fall detection algorithm, an artificial intelligence algorithm is applied to the x, y, z coordinate data collected from the gyro sensor. In this paper, we develop a wearable device that uses a gyro sensor, body temperature, and heart rate sensor for health management as well as fall detection for the elderly. In addition, we develop a fall detection and health management system that works with wearable devices and a guardian's mobile app to improve the performance of the fall detection algorithm and provide health information to guardians.

• 한국공간정보시스템학회 논문지
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• 제11권2호
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• pp.1-6
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• 2009

Localization of nodes is a key technology for application of wireless sensor network. Having a GPS receiver on every sensor node is costly. In the past, several approaches, including range-based and range-free, have been proposed to calculate positions for randomly deployed sensor nodes. Most of them use some special nodes, called anchor nodes, which are assumed to know their own locations. Other sensors compute their locations based on the information provided by these anchor nodes. This paper uses a single mobile anchor node to move in the sensing field and broadcast its current position periodically. We provide a weighted centroid localization algorithm that uses coefficients, which are decided by the influence of mobile anchor node to unknown nodes, to prompt localization accuracy. We also suggest a criterion which is used to select mobile anchor node which involve in computing the position of nodes for improving localization accuracy. Weighted centroid localization algorithm is simple, and no communication is needed while locating. The localization accuracy of weighted centroid localization algorithm is better than maximum likelihood estimation which is used very often. It can be applied to many applications.

• 전자공학회논문지
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• 제53권4호
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• pp.87-93
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• 2016

본 논문에서는 모바일 애드혹 무선 센서 네트워크에서 RF 에너지 하베스팅 기반 라우팅 프로토콜을 제안한다. 제안된 라우팅 프로토콜의 주요한 특징 및 기여도는 다음과 같다. 첫째, 모바일 센서 노드의 잔여에너지와 RF 에너지 하베스팅을 기반으로 한 라우팅 경로 설정. 둘째, 네트워크 및 경로의 생존시간을 증가시키기 위해서 모바일 센서 노드들의 에너지를 기반으로 한 경로의 평균 가용성과 안정성을 고려하여 경로를 설정한다. OPNET을 사용한 제안된 라우팅 프로토콜의 성능평가 결과는 RF 에너지 하베스팅을 기반으로 하여 경로의 가용성과 안정성을 고려한 라우팅 방법이 경로의 라이프타임을 효과적으로 향상 시키는 것을 확인 할 수 있음을 보여준다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 학술회의 논문집 정보 및 제어부문 A
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• pp.19-22
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• 2003

This paper proposes an algorithm for navigation of an autonomous mobile robot with vision sensor. For obstacle avoidance, we used a curvature trajectory method. Using this method, translational and rotational speeds are controlled independently and the mobile robot traces a smooth curvature trajectory that consists of circle trajectories to a target point. While trying to avoid obstacles, the robot fan be goal-directed using curvature trajectory.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 G
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• pp.2200-2202
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• 1998

Autonomous mobile robot provide many functions such as sensing, processing, and driving. For more intelligent jobs, more intelligent functions are to be added and the existing functions may be updated. To execute a job autonomous mobile robot has a information of surrounding environment. So, robot uses sonar sensor, vision sensor and so on. Obtained sensor information is used map generation. This paper is focused on map generation using stereo vision system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.37.3-37
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• 2002

$\textbullet$ Mobile robots $\textbullet$ Sensor-based motion planning $\textbullet$ Potential field $\textbullet$ Local minimum-free motion $\textbullet$ Virtual target point $\textbullet$ Set of linked line segments $\textbullet$ We build a sensor-based motion planning using virtual target point for free of local minimum