• 한국지능시스템학회논문지
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• 제18권2호
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• pp.163-168
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• 2008

이동로봇의 위치인식과 이를 바탕으로 하는 주행시스템은 이동로봇 핵심기술 중의 하나이다. 무선 센서 네트워크는 저전력, 저가, 단순성 등이 주된 특징으로서 실내 위치인식 시스템의 응용에 있어서 많은 가능성을 지니고 있다. 본 논문에서는 ZigBee 기반 무선 센서 네트워크에 퍼지 모델링 방법을 사용하여 이동로봇의 실내 위치인식 알고리즘을 구현하여 이를 주행시스템에 적용하고자 한다. ZigBee 기반 센서 네트워크에서는 노드들 간의 거리를 인식하기 위해서 RSSI (Received Signal Strength Indication) 값을 이용하게 된다. 그러나 이 RSSI 값은 건물 주위 물체에 의해 왜곡되거나 반사되는 수신 신호의 특성에 의해 영향을 받게 된다. 따라서 정확한 거리 정보를 알아내기 위해서는 적절한 교정 방법이 필요하며, RSSI 값에 퍼지 모델링 기법을 이용하여 정확한 거리 정보를 추출하고자 한다. 또한 이 거리 정보를 바탕으로 동적 삼각측량법을 이용하여 이동로봇의 실내 위치를 효율적으로 인식하고 주변 상항 변화에 효과적으로 대처할 수 있는 주행 알고리즘을 개발하고자 한다.

• 센서학회지
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• 제29권3호
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• pp.156-161
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• 2020

In this study, hierarchical mesoporous CuO spheres, ZnO flowers, and heterojunction CuO/ZnO nanostructures were fabricated via a facile hydrothermal method. The as-prepared materials were characterized in detail using various analytical methods such as powder X-ray diffraction, micro Raman spectroscopy, X-ray photoelectron spectroscopy, field-emission scanning electron microscopy, and transmission electron microscopy. The obtained results are consistent with each other. The H₂S-sensing characteristics of the sensors fabricated based on the CuO spheres, ZnO flowers, and CuO/ZnO heterojunction were investigated at different temperatures and gas concentrations. The sensor based on ZnO flowers showed a maximum response of ~141 at 225 ℃. The sensor based on CuO spheres exhibited a maximum response of 218 at 175 ℃, whereas the sensor based on the CuO/ZnO nano-heterostructure composite showed a maximum response of 344 at 150 ℃. The detection limit (DL) of the sensor based on the CuO/ZnO heterojunction was ~120 ppb at 150 ℃. The CuO/ZnO sensor showed the maximum response to H₂S compared with other interfering gases such as ethanol, methanol, and CO, indicating its high selectivity.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제1권1호
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• pp.1-17
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• 2007

This paper proposes and analyzes a scalable and an efficient cluster based group key management protocol by introducing identity based infrastructure for secure communication in mobile wireless sensor networks. To ensure scalability and dynamic re-configurability, the system employs a cluster based approach by which group members are separated into clusters and the leaders of clusters securely communicate with each other to agree on a group key in response to changes in membership and member movements. Through analysis we have demonstrated that our protocol has a high probability of being resilient for secure communication among mobile nodes. Finally, it is established that the proposed scheme is efficient for secure positioning in wireless sensor networks.

• 로봇학회논문지
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• 제15권2호
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• pp.169-176
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• 2020

This paper studied the collision detection of robot manipulators for safe collaboration in human-robot interaction. Based on sensor-based collision detection, external torque is detached from subtracting robot dynamics. To detect collision using joint torque sensor data, a comparative study was conducted using data-based machine learning algorithm. Data was collected from the actual 3 degree-of-freedom (DOF) robot manipulator, and the data was labeled by threshold and handwork. Using support vector machine (SVM), decision tree and k-nearest neighbors KNN method, we derive the optimal parameters of each algorithm and compare the collision classification performance. The simulation results are analyzed for each method, and we confirmed that by an optimal collision status detection model with high prediction accuracy.

• 대한임베디드공학회논문지
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• 제10권3호
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• pp.119-127
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• 2015

In the IoT(Internet of Things) environment, methods that user can access sensor node directly to collect sensing data or manage sensor in a gateway have a limitations. To solve this problem, cloud based sensor network architectures are proposed. In this paper, we proposed CoAP based IoT architecture that a lightweight gateway is used for data gathering instead of using a heavy traditional one and users can request sensing data through IoT applications running in the cloud environment and analyze signaling message cost. By doing so, our system can reduce message cost compared to the traditional gateway based system.

• Journal of Mechanical Science and Technology
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• 제15권3호
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• pp.309-319
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• 2001

This paper demonstrates the development of optical temperature sensor based on the etched silica-based planar waveguide Bragg grating. Topics include design and fabrication of the etched planar waveguide Bragg grating optical temperature sensor. The typical bandwidth and reflectivity of the surface etched grating has been ∼0.2nm and ∼9%, respectively, at a wavelength of ∼1552nm. The temperature-induced wavelength change is found to be slightly non-linear over ∼200$^{\circ}C$ temperature range. Typically, the temperature-induced fractional Bragg wavelength shift measured in this experiment is 0.0132nm/$^{\circ}C$ with linear curve fit. Theoretical models with nonlinear temperature effect for the grating response based on waveguide and plate deformation theories agree with experiments to within acceptable tolerance.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2003년도 추계학술대회논문집
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• pp.602-607
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• 2003

Sensors based bridge monitoring system (SBBMS) is designed to perform real-time monitoring and to store the performance history of in-service bridges. In general, visual inspections play a major role in maintenance of in-service bridges; however, they are not adequate to document the behavior of a bridge. Therefore, visual inspections and sensor based monitoring systems complement each other. Sensor based bridge monitoring systems consist of hardware and software systems. The hardware system contains the sensors and data-loggers to measure the behavior of a structure, the communicational equipment to transmit the measured data from the site to the monitoring center, and the computers to arrange and analyze the data. The software system controls data-loggers, arranges and analyzes the measured data, makes real-time display, stores the performance history.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제8권4호
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• pp.1237-1255
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• 2014

In wireless sensor networks (WSNs), hierarchical clustering is an efficient approach for lower energy consumption and extended network lifetime. In cluster-based multi-hop communications, a cluster head (CH) closer to the sink is loaded heavier than those CHs farther away from the sink. In order to balance the energy consumption among CHs, we development a novel cluster-based routing protocol for corona-structured wireless sensor networks. Based on the relaying traffic of each CH conveys, adequate radius for each corona can be determined through nearly balanced energy depletion analysis, which leads to balanced energy consumption among CHs. Simulation results demonstrate that our clustering approach effectively improves the network lifetime, residual energy and reduces the number of CH rotations in comparison with the MLCRA protocols.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제6권4호
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• pp.314-320
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• 2006

Navigation in environments that are densely cluttered with obstacles is still a challenge for Autonomous Ground Vehicles (AGVs), especially when the configuration of obstacles is not known a priori. Reactive local navigation schemes that tightly couple the robot actions to the sensor information have proved to be effective in these environments, and because of the environmental uncertainties, STSF(Space and Time Sensor Fusion)-based fuzzy behavior systems have been proposed. Realization of autonomous behavior in mobile robots, using STSF control based on spatial data fusion, requires formulation of rules which are collectively responsible for necessary levels of intelligence. This collection of rules can be conveniently decomposed and efficiently implemented as a hierarchy of fuzzy-behaviors. This paper describes how this can be done using a behavior-based architecture. The approach is motivated by ethological models which suggest hierarchical organizations of behavior. Experimental results show that the proposed method can smoothly and effectively guide a robot through cluttered environments such as dense forests.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제6권4호
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• pp.293-298
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• 2006

In this paper, a sensor fusion based robot navigation method for the autonomous control of a miniature human interaction robot is presented. The method of navigation blends the optimality of the Fuzzy Neural Network(FNN) based control algorithm with the capabilities in expressing knowledge and learning of the networked Intelligent Robotic Space(IRS). States of robot and IR space, for examples, the distance between the mobile robot and obstacles and the velocity of mobile robot, are used as the inputs of fuzzy logic controller. The navigation strategy is based on the combination of fuzzy rules tuned for both goal-approach and obstacle-avoidance. To identify the environments, a sensor fusion technique is introduced, where the sensory data of ultrasonic sensors and a vision sensor are fused into the identification process. Preliminary experiment and results are shown to demonstrate the merit of the introduced navigation control algorithm.