• The Journal of the Korea institute of electronic communication sciences
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• v.11 no.2
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• pp.203-208
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• 2016

This paper presents a fault detection and data processing algorithm for acoustic sensor systems using the multiple sensor algorithm that has originally developed for the wireless sensor nodes. The multiple sensor algorithm can increase the reliability of the sensor systems by utilizing and comparing the measurements of the multiple sensors. In the acoustic sensor system, the equivalent sound level($L_{eq}$) is used to detect the faulty sensor. The experiment was conducted to demonstrate the feasibility of the multiple acoustic sensor algorithm, and the results show that the algorithm can detect the faulty sensor and validate the data.

• International Journal of Control, Automation, and Systems
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• v.3 no.2
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• pp.173-182
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• 2005

In this paper, a target tracking algorithm for tracking maneuvering vehicles is presented. The overall algorithm belongs to the category of an interacting multiple-model (IMM) algorithm used to detect multiple targets using fused information from multiple sensors. First, two kinematic models are derived: a constant velocity model for linear motions, and a constant-speed turn model for curvilinear motions. Fpr the constant-speed turn model, a nonlinear information filter is used in place of the extended Kalman filter. Being equivalent to the Kalman filter (KF) algebraically, the information filter is extended to N-sensor distributed dynamic systems. The model-matched filter used in multi-sensor environments takes the form of a federated nonlinear information filter. In multi-sensor environments, the information-based filter is easier to decentralize, initialize, and fuse than a KF-based filter. In this paper, the structural features and information sharing principle of the federated information filter are discussed. The performance of the suggested algorithm using a Monte Carlo simulation under the two patterns is evaluated.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.8
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• pp.706-712
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• 2012

This paper presents a sensor network and operation for multiple autonomous navigation platform and transport service. Multiple platform navigate with inside sensors and outside sensors while acquiring and process some useful information. Each platform communicates each other by navigational information through central main server. Efficient sensor network systems are considered for the scenario which some passengers call the service and the vehicle accomplish its transport service by transporting each caller to the destination by autonomous manners. In the scenario, all vehicles perform a role of sensor system to the central server and the server handles each information and integrate with faster procedure in the wireless 3G network.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.7
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• pp.564-572
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• 2002

This article describes the ultrasonic range sensor for the recognition of the Indoor environment, especially utilizing the multiple reflection properties of the sonar usually ignored as disturbances or noises. In this paper, we endow the ultrasonic range sensor with the active motion using the stepping servomechanism in order to get the multiple reflections with environment objects. Environment features such as target type, distance and azimuth based on the scanned one frame data of that multiple reflection patterns are recognized simultaneously.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.8
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• pp.633-642
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• 2016

It is important for advanced active safety systems and autonomous driving cars to get the accurate estimates of the nearby vehicles in order to increase their safety and performance. This paper proposes a sensor fusion method for radar and vision sensors to accurately estimate the state of the preceding vehicles. In particular, we performed a study on compensating for the lateral state error on automotive radar sensors by using a vision sensor. The proposed method is based on the Interactive Multiple Model(IMM) algorithm, which stochastically integrates the multiple Kalman Filters with the multiple models depending on lateral-compensation mode and radar-single sensor mode. In addition, a Probabilistic Data Association Filter(PDAF) is utilized as a data association method to improve the reliability of the estimates under a cluttered radar environment. A two-step correction method is used in the Kalman filter, which efficiently associates both the radar and vision measurements into single state estimates. Finally, the proposed method is validated through off-line simulations using measurements obtained from a field test in an actual road environment.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.1
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• pp.85-92
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• 2006

A new silicon micro flow sensor with multiple temperature sensing elements was proposed and fabricated in considering wide range flow velocity measuring device. Thermal mass flow sensor measures the asymmetry of temperature profile around the heater which is modulated by the fluid flow. A micro mass flow sensor was normally composed of a central heater and a pair of temperature sensing elements around it. A new 2-D wide range micro flow sensor structure with three pairs of temperature sensing elements and a central heater was proposed and numerically simulated by Finite Difference Formulation to confirm the feasibility of the wide flow range sensor structure. To confirm the simulation result, the new flow sensor was fabricated on silicon substrate and the basic flow sensing properties of the sensor were measured.

• Journal of the Korea Society of Computer and Information
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• v.22 no.2
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• pp.9-19
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• 2017

Useful continuous sensing applications are increasingly emerging as a new class of mobile applications. Meanwhile, open, multi-use sensor devices are newly adopted beyond smartphones, and provide huge opportunities to expand potential application categories. In this upcoming environment, uncoordinated use of sensor devices would cause severe imbalance in power consumption of devices, and thus result in early shutdown of some sensing applications depending on power-hungry devices. In this paper, we propose EnergyCordy, a novel inter-device energy use coordination system; with a system-wide holistic view, it coordinates the energy use of concurrent sensing applications over multiple sensor devices. As its key approach, we propose a relaxed sensor association; it decouples the energy use of an application from specific sensor devices leveraging multiple context inference alternatives, allowing flexible energy coordination at runtime. We demonstrated the effectiveness of EnergyCordy by developing multiple example applications over custom-designed wearable senor devices. We show that EnergyCordy effectively coordinates the power usage of concurrent sensing applications over multiple devices and prevent undesired early shutdown of applications.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.9
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• pp.779-784
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• 2004

This paper describes a sonic polygonal multiple reflection range sensor (SPMRS), which uses multiple reflection properties usually ignored in ultrasonic sensors as disturbances or noises. Targets such as a plane, corner, edge, or cylinder in indoor environments can easily be detected by the multiple reflection patterns obtained with a SPMRS system. Target classification and feature data extraction, such as distance and azimuth to the target, are computed simultaneously by considering the geometrical relationships between the detected targets, and finally the environment model is generated by refining the detected targets. In addition, the narrow field of view of a sonar range sensor is increased and the scanning time is reduced by active motion of the SPMRS stepping servomechanism.

• Journal of Electrical Engineering and Technology
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• v.10 no.4
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• pp.1830-1835
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• 2015

In this paper, we propose an algorithm for the automatic registration of two rigid parts using multiple 3D sensor systems on a robot. Four sets of structured laser stripe system consisted of a camera and a visible laser stripe is used for the acquisition of 3D information. Detailed procedures including extrinsic calibration among four 3D sensor systems and hand/eye calibration of 3D sensing system on robot arm are presented. We find a best pose using search-based pose estimation algorithm where cost function is proposed by reflecting geometric constraints between sensor systems and target objects. A pose with minimum gap and height difference is found by greedy search. Experimental result using demo system shows the robustness and feasibility of the proposed algorithm.

• ETRI Journal
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• v.42 no.3
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• pp.351-365
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• 2020

Directional sensor networks (DSNs) can significantly improve the performance of a network by employing energy efficient communication protocols. Neighbor discovery is a vital part of medium access control (MAC) and routing protocol, which influences the establishment of communication between neighboring nodes. Neighbor discovery is a challenging task in DSNs due to the limited coverage provided by directional antennas. Furthermore, in these networks, communication can only take place when the beams of the directional antennas are pointed toward each other. In this article, we propose a novel multiple token-based neighbor discovery (MuND) protocol, in which multiple tokens are transmitted based on an area exploration algorithm. The performance of the protocol is evaluated using the Cooja simulator. The simulation results reveal that the proposed MuND protocol achieves lower neighbor discovery latency, with a 100% neighbor discovery ratio, and has a relatively low communication overhead and low energy consumption.