• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.4
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• pp.448-453
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• 2012

There are many researches to develop robots that improve its mobility to adapt in various uneven environments. In the paper, a hybrid wheeled and legged mobile robot is designed and a obstacle avoidance algorithm is proposed based on low power walking using LRF(Laser Range Finder). In order to stabilize the robot's motion and reduce energy consumption, we implement a low-power walking algorithm through comparison of the current value of each motors and correction of posture balance. A low-power obstacle avoidance algorithm is proposed by using LRF sensor. We improve walking stability by distributing power consumption and reduce energy consumption by selecting a shortest navigation path of the robot. The proposed methods are verified through walking and navigation experiments with the developed hybrid robot.

• Aerospace Engineering and Technology
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• v.6 no.2
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• pp.150-156
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• 2007

In this paper, we focus on the fault detection and isolation(FDI) method for inertial navigation system with three two-degree of freedom dynamically tuned gyros(DTG) on orthogonal sensor configuration. we propose the FDI method which can detect the fault of each DTGs rather than the fault of each sensing axis. The proposed FDI method is separated into two FDI modules according to the fault magnitude in order to improve the reliability of fault detection information. For large fault detection, only instantaneous DTG measurement is used to detect a fault DTG within a short time. For small fault detection, the integrated value of DTG measurements are used to detect a fault DTG. It takes a more time to detect a fault but it serves more reliable fault detection information. Using the proposed FDI method with consideration of DTG fault characteristic, we could find out a fault DTG successfully.

• Journal of Advanced Navigation Technology
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• v.19 no.4
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• pp.311-317
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• 2015

This paper is a study on how to develop service robots can easily complex software development services robot control system. User created contents based on the robot control system developed in this study is a robot drive control circuit, a sensor data processing, the status, the monitoring systems and modular system to configure the service robot operation screen from a user perspective and that can control the service robot operation As in the text-based features that can be operated to have freedom to the robot control service content. In addition, the user has the advantage that changes position by the development as well as user created contents desired by the user operating the robot control GUI (graphic user interface) also changes are possible. As a result, the service robot operator to offer a way to make the service robot can be conveniently presented in a user's point of view how to enable the development of the service robot.

• Journal of Advanced Navigation Technology
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• v.19 no.4
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• pp.305-310
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• 2015

A controlling system for airport refueling facilities is connected to sensors which collect various informations. Informations which are transmitted at a high speed in various sensors are processed by a dedicated software in the controlling system. The problems of system maintenance and network traffic caused by the use of dedicated software reduce the efficiency of the system operation. Therefore, a web-based system that can be accessed using the Internet environment is required. In this paper, we propose a system showing web-based real-time informations. To do this, we change the function of the communication by each sensor to a facade structure, and design a system for transferring web-based real-time informations. Also we propose data-driven infographics for displaying the real-time big data information at a high speed on the web. Finally, we compare and analyse the proposed system between the existing system and show that our system can effectively display the real-time information on the web.

• Journal of Advanced Navigation Technology
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• v.19 no.4
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• pp.330-337
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• 2015

A service in the environments of internet of things (IoT) exist various types with automation facilities and sensors. There can configure so many communication protocols to networking facilities and sensors. To provide efficient various kind of service, a middleware platform, is based on the internet protocol network, is needed a unified access with devices, controlling and monitoring huge kind of facilities and sensors, to provide a efficient IoT service and application configurations. In this paper, we propose a middleware that an application and service interact with automation facilities and monitor sensors. The proposed middleware is designed with adapter pattern that one of the software engineering design pattern. The adapter pattern is to ensure communication with each sensor and to make sure of service scalability. Finally, the proposed component middleware shows that variety sensors can be easily configure the service in the IoT environment.

• Journal of Advanced Navigation Technology
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• v.16 no.2
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• pp.351-359
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• 2012

This paper deals with the design and development of the remote control and measurement systems using CDMA(Code Division Multiple Access) data modem. We propose a bi-directional data communication link without the public IP address in CDMA modem device by the TCP/IP packet and SMS(Short Message Service) communication. The remote control and measurement systems are implemented by a Telit WM-800 modem as DCE(Data Communication Equipment), and Atmel AT89C51 microcontroller as DTE(Data Terminal Equipment). The user application software for the control and measurement system user, and the firmware software of device drivers for peripherals such as a digital input/output device, AD/DAC(Analog to Digital/Digital to Analog Converter), LCD, and temperature/humidity sensor are written in Microsoft C and Keil C language respectively for further various applications. The experimental result of the proposed control and measurement systems implemented in this paper is evaluated via real-time experiments, which works well as designed.

• Journal of Advanced Navigation Technology
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• v.19 no.1
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• pp.85-90
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• 2015

In this paper, a novel Internet-of-things (IoT) based telecare system is proposed to provide high-quality care services to silver generations. It consists of various sensor nodes including activity sensors, wearable emergency pagers, emergency telephone as a home gateway, and a server as a telecare service platform. Especially, an activity index as a qualification method is presented to analyze the activities of daily living. By using the activity index, the daily/weekly/monthly activity information can be obtained, from which we infer the activity pattern, notice the abrupt change of the activity, and take appropriate actions in abnormal situations.

• Journal of Advanced Navigation Technology
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• v.19 no.1
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• pp.66-73
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• 2015

In this paper, an architecture of a perpetual smart video device and its energy control model for the internet of things (IoT) are proposed. The smart video device consists of a processor, an image sensor, a video codec, and a network controller. In the proposed energy control model, energy consumed by image sensing, video encoding, and transmission and energy harvested by solar panels are defined as an input and an output of a battery, an energy buffer. Frame rate, quantization parameter, and operating frequency of processor are defined as the energy control parameters, and these parameters control the input and the output energy of the energy buffer, finally control the energy left in the battery. The proposed energy control model is validated by the energy consumption measurement of the smart phone based platform for various combinations of energy control parameters, and can be used for the design of perpetual smart video device.

• Journal of Advanced Navigation Technology
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• v.21 no.3
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• pp.294-299
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• 2017

Home network service is evolving into a service that can receive contents such as remote education, home automation, remote meter reading and various entertainment anytime and anywhere by connecting all household appliances in home with wired and wireless network. In this paper, an intelligent home gateway installed at home is connected to the mobile communication terminal from the outside to solve the problems of the existing home network and configure and maintain a more efficient and comfortable home network environment for the user, In the window, the login page is activated to confirm the user access authority, and the user proceeds the authentication procedure through own login information. When the normal authentication procedure is performed, the intelligent home gateway maintains only the network connection with the user, and the user presents the intelligent home network system using the RFID which is accessed by the intelligent home network system.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.36 no.2
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• pp.75-84
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• 2018

The purpose of this study is that the low-cost mobile mapping system using INS (Inertial Navigation System) based on MEMS (Micro Electro Mechanical System) could decipher the interpretation of road facility with the accuracy of x, y 0.546m plane error. Even though the MMS (Mobile Mapping System) technology as a new measurement technology has been used vividly to set up geographic information by some world leading surveying equipment manufacturers, the domestic technology is still in its beginning stage. Several domestic institutes and companies tried to catch up the leading technology but they just produced prototypes which needs more stabilization. Through this thesis, we developed low-cost mobile mapping system installed with INS based on MEMS after time synchronizing sensors for MMS such as LiDAR (Light Detection And Ranging), CCD (Charge Coupled Device), GPS/INS (Global Positioning System / Inertial Navigation System) and DMI (Distance Measurement Instrument).