• The KIPS Transactions:PartC
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• v.15C no.5
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• pp.383-390
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• 2008

The mobile sink is most suitable to guarantee the real time processing to events in ubiquitous environment. However it brings many challenges to wireless sensor networks. In particular, the question of how to transfer the collected data to the mobile sink is an important topic in the aspect of effective management of wireless sensor nodes. In this paper, a new data dissemination model is proposed. Since this method uses the home agent and the access node concepts, it provides reliable and efficient data delivery to mobile sink with minimum overhead. In this proposed method, the information of the mobile sink which is constantly moving is informed only to the home agent node and the access node, instead of all sensor nodes. Thus, the collected data from sensor nodes are transferred to the fixed home agent and it sends these data to the mobile sink. Since the confliction phenomenon between data packets in wireless networks could be reduced, the success ratio of data arriving in the mobile sink is highly enhanced. In our experiments, the proposed method reduces the number of broadcast packets so that it saves the amount of energy consumed for transmitting and receiving the data packets. This effect contributes to prolong the lifetime of the wireless sensor networks operated by batteries.

• The Journal of the Korea Contents Association
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• v.10 no.8
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• pp.51-58
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• 2010

In data collection using a mobile sink, the time that sensor nodes are included in its communication radius is not uniform. The data collection schedule in non-uniform time is needed between a mobile sink and sensor nodes for efficient data collection. The existing data collection schemes using a mobile sink considered staying time in its communication range and data collected by the mobile sink. However, they did not consider the characteristics of data collected in sensor networks. In this paper, we propose a TDMA based schedule scheme that consists of the data collection period by each sensor nodes and the data collection period between a mobile sink and sensor nodes. Moreover, we propose a data collection scheme considering the variability of data in sensor networks. The proposed data collection scheme collects only data that changed larger than the threshold set by the user. In order to show the superiority of the proposed scheme, we compare it with DWEDF that aims to collect data uniformly. As a result, our experimental results show that the proposed scheme reduces about 23% energy consumption and the data collection failure of sensor nodes over the DWEDF.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.434-439
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• 1993

This paper present a sensor based obstacle avoidance method which is based on a VFH(Vector Field Histogram) method. The basic idea of obstacle avoidance is to find a minimum obstacle direction and distance. From the minimum sonar index and the target direction high level system determine steering angle of mobile robot. The sonar sensor system consists of 12 ultra sonic sensor, and each sensor have its direction and safety value. This method has advantage on calculation speed and small memory. This method is implemented on indoor autonomous vehicle'ALiVE-2'.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.91.3-91
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• 2001

A sensor fusion scheme for mobile robot environment recognition that incorporates range data and contour data is proposed. Ultrasonic sensor provides coarse spatial description but guarantees open space with no obstacle within sonic cone with relatively high belief. Laser structured light system provides detailed contour description of environment but prone to light noise and is easily affected by surface reflectivity. Overall fusion process is composed of two stages: Noise elimination and belief updates. Dempster Shafer´s evidential reasoning is applied at each stage. Open space estimation from sonar range measurements brings elimination of noisy lines from laser sensor. Comparing actual sonar data to the simulated sonar data enables ...

• Journal of Korea Society of Industrial Information Systems
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• v.14 no.1
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• pp.64-72
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• 2009

Previous research on sensor networks mainly focused on efficient transmission of data from sensors to fixed sink nodes. Recently there has been active research on mobile sink nodes, but the re-search of an environment where both fixed sink nodes and mobile sinks are present at the same time is rather scarce. This paper proposes a technique for context gathering by mobile devices with the sink functionality added through fixed sinks under a previously built, cluster based multi hop sensor network environment. To this end, clustering of mobile devices were done based on the fixed sinks of a previously built sensor network, and by using appropriate fixed sinks, context gathering was made possible. By mathematical comparison with TTDD routing protocol, which was proposed for mobile sinks, it was conformed that performance increases in energy with the number of mobile sinks, and with the number of movements by mobile devices.

• Journal of KIISE:Information Networking
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• v.36 no.3
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• pp.222-230
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• 2009

A sensor network is an important element of the ubiquitous and it consists of sensor fields that contain sensor nodes and sink nodes that collect data from sensor nodes. Since each sensor node has limited resources, one of the important issues covered in the past sensor network studies has been maximizing the usage of limited energy to extend network lifetime. However, most studies have only considered fixed sink nodes, which created various problems for cases with multiple mobile sink nodes. Accordingly, while maintaining routes to mobile sink nodes, this study aims to deploy the hybrid communication mode that combines single and multi-hop modes for intra-cluster and inter-cluster transmission to resolve the problem of failed data transmission to mobile sink nodes caused by disconnected routes. Furthermore, a 2-level hierarchical routing protocol was used to reduce the number of sensor nodes participating in data transmission, and cross-shape trajectory forwarding was employed in packet transmission to provide an efficient data dissemination method.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.14 no.6
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• pp.1493-1504
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• 2010

The localization service which provides the location information of mobile user, is one of important service provided by sensor network. Many methods to obtain the location information of mobile user have been proposed. However, these methods were developed for only one mobile user so that it is hard to extend for multiple mobile users. If multiple mobile users start the localization process concurrently, there could be interference of beacon or ultrasound that each mobile user transmits. In the paper, we propose LME, the localization technique for multiple mobile nodes in mobile wireless sensor networks. In LME, collision of localization between sensor nodes is prevented by forcing the mobile node to get the permission of localization from anchor nodes. For this, we use CTS packet type for localization initiation by mobile node and RTS packet type for localization grant by anchor node. NTS packet type is uevento reject localization by anchor node for interference avoidance.nghe experimental result shows that the number of interference between nodes are increased in proportion to the number of mobile nodes and LME provides efficient localization.

• The KIPS Transactions:PartC
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• v.16C no.1
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• pp.91-100
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• 2009

Given the increased interest in ubiquitous computing, wireless sensor network has been researched widely. The localization service which provides the location information of mobile user, is one of important service provided by sensor network. Many methods to obtain the location information of mobile user have been proposed. However, these methods were developed for only one mobile user so that it is hard to extend for multiple mobile users. If multiple mobile users start the localization process concurrently, there could be interference of beacon or ultrasound that each mobile user transmits. In the paper, we propose IAL, the localization technique with interference avoidance for multiple mobile nodes in mobile wireless sensor networks. In IAL, interference is prevented by forcing the mobile node to get the permission of localization from anchor nodes. For this, we define LIP packet type for localization initiation by mobile node and LGP packet type for localization grant by anchor node. LRP packet type is used to reject localization by anchor node for interference avoidance. The experimental result shows that the number of interference between nodes are increased in proportion to the number of mobile nodes and IAL provides efficient localization.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.10
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• pp.949-955
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• 2007

This paper proposes an efficient localization algorithm in the RFID sensor space for the precise localization of a mobile robot. The RFID sensor space consists of embedded sensors and a mobile robot. The embedded sensors, that is tags are holding the absolute position data and provide them to the robot which carries a reader and requests the absolute position fur localization. The reader, it is called as antenna usually, gets several tag data at the same time within its readable range. It takes time to read all the tags and to process the data to estimate the position, which is a major factor to deteriorate the localization accuracy. In this paper, an efficient algorithm to estimate the position and orientation of the mobile robot as quickly as possible has been proposed. Along with the algorithm, a new allocation of the tags in the RFID sensor space is also proposed to improve the localization accuracy. The proposed algorithms are demonstrated and verified through the real experiments.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2012.10a
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• pp.934-937
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• 2012

Since a migration method of the mobile agent is a factor that affects the overall performance of the entire distributed system, it is necessary to find efficient migration methods of the mobile agent within the sensor network using the various metadata related on the sensor network. Accordingly, this paper proposes the directional(forward and backward) migration methods of an active rule mobile agent applying the naming method that used the information of the meta_table. The results of the various experiments in this study present the efficacy of mobile agent middleware system and the possibility of constructing efficient sensor network application environment.