• The Journal of Korea Robotics Society
• /
• v.1 no.2
• /
• pp.117-124
• /
• 2006

In this paper, we develope the navigation system for patrol robots in indoor environment. The proposed system consists of PDA map modelling, a localization algorithm based on a global position sensor and an automatic charging station. For the practical use in security system, the PDA is used to build object map on the given indoor map. And the builded map is downloaded to the mobile robot and used in path planning. The global path planning is performed with a localization sensor and the downloaded map. As a main controller, we use PXA270 based hardware platform in which embedded linux 2.6 is developed. Data handling for various sensors and the localization algorithm are performed in the linux platform. Also, we implemented a local path planning algorithm for object avoidance with ultra sonar sensors. Finally, for the automatic charging, we use an infrared ray system and develop a docking algorithm. The navigation system is experimented with the two-wheeled mobile robot using North-Star localization system.

• Proceedings of the IEEK Conference
• /
• 2007.07a
• /
• pp.479-480
• /
• 2007

It is study about implementation of the home network system that used an ubiquitous sensor network and an embedded system in this paper. PXA270 and CC2420 were used, and the home server of a wireless sensor home network system composed it. A wireless control system is composed of a gas valve, a DC motor, a lamp and a door rock. A wireless detection system is composed of a gas detection sensor, a movement detection sensor, an extension detection sensor The wireless detection system that was an environment sensing system was composed of temperature, humidity, mic, illuminance, a speed-up, infrared rays temperature sensing module, and modular, other RFID established an USB camera, and an ubiquitous home network was composed.

• Proceedings of the Korea Information Processing Society Conference
• /
• 2009.04a
• /
• pp.655-658
• /
• 2009

본 논문에서는 저전력 모바일 IP 스토리지를 위한 재구성 가능 선반입 버퍼 기반의 WLAN 전력제어 기법을 제안한다. 제안된 기법은 주어진 모바일 IP 스토리지에 있는 멀티미디어 컨텐츠의 품질에 따라 선반입 버퍼의 크기를 자동적으로 결정하고 멀티미디어 컨텐츠가 실행되는 동안 On-Off 동작을 기반으로 WLAN 전력을 동적으로 제어한다. 제안된 기법을 PXA270 기반 모바일 단말, 임베디드 리눅스 2.6.11, 인텔 iSCSI 참조 코드, 그리고 Cisco Aironet 350 PCMCIA WLAN 카드를 사용하여 구현하고 성능을 평가한 결과 모바일 단말의 소모전력이 1.5배 이상 개선됨을 확인하였다.

• The KIPS Transactions:PartA
• /
• v.16A no.5
• /
• pp.357-368
• /
• 2009

Mobile IP storage has been proposed to overcome storage limitation in the flash memory and hard disks. It provides almost capacity-free space for mobile devices over wireless IP networks. However, battery lifetime of the mobile devices is reduced rapidly because of power consumption with continuous use of a WLAN device when multimedia contents are being streamed through the mobile IP storage. This paper proposes an energy-efficient WLAN device power control technique for streaming multimedia contents with the mobile IP storage. The proposed technique consists of a prefetch buffer input/output module, a WLAN device power control module, and a reconfigurable prefetch buffer module. Besides, it adaptively determines the size of the prefetch buffer according to a quality of the multimedia contents, and it dynamically controls the power mode of the WLAN device on the basis of power on-off operations while streaming the multimedia contents. We evaluate the performance of the proposed technique on a PXA270-based mobile device that employs the embedded linux 2.6.11, Intel iSCSI reference codes, and a WLAN device. Extensive experiments reveal that the proposed technique can save the energy consumption of the WLAN device up to 8.5 times with QVGA multimedia contents, as compared with no power control.

• Journal of Institute of Control, Robotics and Systems
• /
• v.13 no.8
• /
• pp.810-816
• /
• 2007

A security robot system named EGIS-SR is a mobile security robot through one of the new growth engine project in robotic industries. It allows home surveillance through an autonomous mobile platform using onboard cameras and wireless security sensors. EGIS-SR has many sensors to allow autonomous navigation, hierarchical control architecture to handle lots of situations in monitoring home surveillance and mighty networks to achieve unmanned security services. EGIS-SR is tightly coupled with a networked security environment, where the information of the robot is remotely connected with the remote cockpit and patrol man. It achieved an intelligent unmanned security service. The robot is a two-wheeled mobile robot and has casters and suspension to overcome a doorsill. The dynamic motion is verified through $ADAMS^{TM}$ simulation. For the main controller, PXA270 based hardware platform based on linux kernel 2.6 is developed. In the linux platform, data handling for various sensors and the localization algorithm are performed. Also, a local path planning algorithm for object avoidance with ultrasonic sensors and localization using $StarGazer^{TM}$ is developed. Finally, for the automatic charging, a docking algorithm with infrared ray system is implemented.