• 한국통신학회논문지
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• 제36권12A호
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• pp.994-1005
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• 2011

본 논문에서는 센서 네트워크 환경에서 에너지 효율적인 mobile sink node의 최적의 경로를 설정 할 수 있는 방법인 AMSP(Adaptive Mobile Sink Path)를 제안한다. 기존의 논문들은 mobile sink node 이동시 random way point 방식을 사용하여 불필요한 데이터 전송으로 인한 에너지 소모를 야기했다. 또한, sink node의 이동이 random으로 이동하기 때문에 같은 지역을 중복으로 이동할 수 있는 단점이 있다. 이를 해결하기 위하여 본 논문에서 제안하는 방법은 센서 노드가 설치되어진 필드의 크기에 따라 정적인 그리드를 생성하고 그리드 안에서 mobile sink node가 이동하는 최적의 경로를 설정하여 준다. 이 경로는 네트워크의 크기, 밀도에 따라 효율적인 경로 탐색을 위해 이동 경로를 변경하여 준다. 또한 각각의 노드가 mobile sink node의 주행 경로 및 속도를 인지하고 있음으로 데이터 전송에 대한 에너지 소모량을 감소시킬 수 있다. 이렇게 sink node의 위치를 예상할 수 있기 때문에 에너지의 추가적인 절약을 위해 일정 시간 동안 sleep상태로 두고 active와 교대하는 duty cycle을 사용한다. 이 기법을 사용하여 본 논문에서는 기존의 방법들인 TTDD나 CBPER에 비해 최대 80% 이상의 에너지 소모량을 감소시킬 수 있는 것으로 나타났다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1931-1935
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• 2004

A location estimate problem is critical issues for mobile robot. Because it is basic problem in practical use of the mobile robot which do what, or move where, or reach an aim. Already there are many technologies of robot localization (like GPS, vision, sonar sensor, etc) used on development. But the elevation of accurateness was brought the problem that must consider an increase of a hardware cost and addition electric power in each ways. There is the core in question to develop available and accurate sensing algorithm though it is economical. We used a ultrasonic sensor and was going to implement comparatively accurate localization though economical. Using a sensing data, we could make a grid map and estimate a position of a mobile robot. In this paper, to get a satisfactory answer about this problem using a ultrasonic sensor.

• 로봇학회논문지
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• 제4권4호
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• pp.289-297
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• 2009

This paper presents the development and control of a two wheeled car-like mobile robot using balancing mechanism whose heading control is done by turning the handle. The mobile inverted pendulum is a combined system of a mobile robot and an inverted pendulum system. A sensor fusion technique of low cost sensors such as a gyro sensor and a tilt sensor to measure the balancing angle of the inverted pendulum robot system accurately is implemented. Experimental studies of the trajectory following control task has been conducted by command of steering wheel while balancing.

• Journal of information and communication convergence engineering
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• 제10권4호
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• pp.365-371
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• 2012

In recent years, researchers have been attracted to clustering methods to improve communication and data transmission in a network. Compared with traditional wireless networks, wireless sensor networks are energy constrained and have lower data rates. The concept of implementing a clustering algorithm in an existing project on gateway relocation is being explored here. Low energy adaptive clustering hierarchy (LEACH) is applied to an existing study on relocating a gateway. The study is further improved by moving the gateway to a specific cluster based on the number or significance of the events detected. The protocol is improved so that each cluster head can communicate with a mobile gateway. The cluster heads are the only nodes that can communicate with the mobile gateway when it (the mobile gateway) is out of the cluster nodes' transmission range. Once the gateway is in range, the nodes will begin their transmission of real-time data. This alleviates the load of the nodes that would be located closest to the gateway if it were static.

• 대한임베디드공학회논문지
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• 제4권2호
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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.

• 제어로봇시스템학회논문지
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• 제13권7호
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• pp.656-663
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• 2007

A new dynamic balancing algorithm has been proposed to minimize the number of sensors necessary for the horizontal balancing of the mobile inverted pendulum while maintaining the same level of the commercial performance. The inverted pendulum technique is getting attention and there have been many researches on the Segway since the US inventor Dean Kamen commercialized. One of the major problems of the Segway is that many sensors are required for the control of the Segway, which results in the high price. In this research, a single gyro and a tilt sensor are fused to obtain the absolute tilt information, which is applied for the control of the mobile inverted pendulum. A dynamic balancing technique has been developed and applied for a robust control system against disturbances. The intelligent handling and stable curving of the Segway as a next generation mobile tool are verified with a human loading.

• 한국정보전자통신기술학회논문지
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• 제8권5호
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• pp.405-411
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• 2015

본 논문에서 우리는 모바일 싱크노드를 가지는 모바일 센서 네트워크를 위한 경로배정 프로토콜을 제안합니다. 제안된 논문은 모바일 싱크를 도입하는 것에 의해 확장됩니다. 모바일 싱크는 그 주변의 클러스터 헤드로부터 센싱 데이터를 수집하는 가장 많은 멤버수를 가진 클러스터 헤드로 이동합니다. 이러한 이동은 싱크에 패킷을 보내는데 필요한 에너지소모를 감소시킵니다. 모의실험 결과는 제안된 프로토콜이 에너지 효율면에서 LEACH-ME를 능가하는 것을 보여줍니다.

• Journal of Communications and Networks
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• 제17권2호
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• pp.203-209
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• 2015

Although mobile applications are an essential characteristic of wireless sensor networks, most existing media access control (MAC) protocols focus primarily on static networks. In these protocols, fixed periodic neighbor discovery and schedule updating are used to connect and synchronize neighbors to provide successful data transmission; however, they cannot adapt to mobile speed variation and degrade the network performance dramatically. In this paper, we propose a mobile-supporting mechanism for MAC protocols, in which the decision to update the neighbors of a mobile node is made adaptively according to the mobile speed. Analysis and simulation results demonstrate that the mechanism efficiently avoids the disconnection of amobile node from its neighbors and achieves a better performance as compared with fixed periodic neighbor discovery.

• 대한기계학회논문집
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• 제16권11호
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• pp.2021-2032
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• 1992

본 연구에서는 이동 로보트의 구동모터들의 회전수를 측정하는 두 개의 엔코 더와 로보트의 회전각 속도를 측정하는 자이로센서를 결합하여 주행중인 로보트의 자 세를 정확하게 추정할 수 있는 복수센서 시스템의 신호처리회로 및 알고리즘을 개발하 고 자이로센서의 측정방정식을 모델링하기 위하여 성능시험을 수행하였다. 그리고 확률이론을 유도된 측정방정식에 적용하여 본 복수센서 시스템의 출력 신호들을 효율 적으로 융합할 수 있는 센서데이터 융합알고리즘을 개발하여 사용된 측정센서들에 내 재하는 측정오차의 영향을 최소로 줄이고자 하였다. 제안된 융합알고리즘의 타당성 을 검증하기 위하여 주행실험을 수행하여 이동 로보트의 실제자세와 본 융합알고리즘 의 결과를 비교하였다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1132-1135
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• 1996

The objective of this paper is to make a model-based map for the localization of an autonomous mobile robot(AMR) from ultrasonic sensor measurements, that are acquired when the AMR explores unknown indoors. First, the AMR navigates on unknown space by wall-following and gathers range data from the ultrasonic sensor. Then, the range data are converted to a wall-marked gird map, from which lines representing the walls are extracted using the Hough transform. This process is implemented on an AMR having an ultrasonic sensor, and a preliminary experimental result is presented.