• The Journal of Korea Robotics Society
• /
• v.3 no.3
• /
• pp.176-185
• /
• 2008

In this paper, new filtering method for sensor registration is provided to estimate and correct error of registration parameters in multiple sensor environments. Sensor registration is based on filtering method to estimate registration parameters in multiple sensor environments. Accuracy of sensor registration can increase performance of data fusion method selected. Due to various error sources, the sensor registration has registration errors recognized as multiple objects even though multiple sensors are tracking one object. In order to estimate the error parameter, new nonlinear information filtering method is developed using minimum mean square error estimation. Instead of linearization of nonlinear function like an extended Kalman filter, information estimation through unscented prediction is used. The proposed method enables to reduce estimation error without a computation of the Jacobian matrix in case that measurement dimension is large. A computer simulation is carried out to evaluate the proposed filtering method with an extended Kalman filter.

• Journal of Korea Multimedia Society
• /
• v.19 no.5
• /
• pp.808-817
• /
• 2016

Recently, the wearable computing technology with bio-sensors has been rapidly developed and utilized in various areas such as personal health, care-giving for senior citizens who live alone, and sports activities. In particular, the wearable computing equipment to measure vital signs by means of digital yarns and bio sensors is noticeable. The wearable computing devices help users monitor and manage their health in their daily lives through the customized healthcare service. In this paper, we suggest a system for monitoring and analyzing vital signs utilizing smart healthcare clothing with bio-sensors. Vital signs that can be continuously acquired from the clothing is well-known as unstructured data. The amount of data is huge, and they are perceived as the big data. Vital sings are stored by Hadoop Distributed File System(HDFS), and one can build data warehouse for analyzing them in HDFS. We provide health monitoring system based on vital sings that are acquired by biosensors in smart healthcare clothing. We implemented a big data platform which provides health monitoring service to visualize and monitor clinical information and physical activities performed by the users.

• Journal of KSNVE
• /
• v.10 no.6
• /
• pp.1048-1058
• /
• 2000

Thipaper presents a methodology to suppress the vibration of thin rectangular plate clamped all edges using piezo-ceramic material as actuators and sensors. Dynamic characteristics of the structure bonded with distributed actuators/sensors are identified by the Multi-Input Multi-Output (MIMO) frequency domain modeling technique based on the experimental data. Hybrid control scheme is adopted and feedback controller is designed by LQG(Linear Quadratic Gaussian). Feedforward controller is adapted by multiple filtered -$x$ LMS(least mean square) algorithm. Experiment result demonstrates the effective reduction of the vibration label for both the transient and persistent external disturbances.

• Journal of Institute of Control, Robotics and Systems
• /
• v.11 no.12
• /
• pp.984-990
• /
• 2005

The aim of this paper is to investigate a control framework for mobile robots, operating in shared environment with humans. The Intelligent Space (iSpace) can sense the whole space and evaluate the situations in the space by distributing sensors. The mobile agents serve the inhabitants in the space utilizes the evaluated information by iSpace. The iSpace evaluates the situations in the space and learns the walking behavior of the inhabitants. The human intelligence manifests in the space as a behavior, as a response to the situation in the space. The iSpace learns the behavior and applies to mobile agent motion planning and control. This paper introduces the application of fuzzy-neural network to describe the obstacle avoidance behavior teamed from humans. Simulation results are introduced to demonstrate the efficiency of this method.

• Journal of the Korean Operations Research and Management Science Society
• /
• v.35 no.2
• /
• pp.53-69
• /
• 2010

This paper proposes an ant-based routing algorithm, Ant System-Routing in wireless Senor Networks(AS-RSN), for wireless sensor networks. Using a transition rule in Ant System, sensors can spread data traffic over the whole network to achieve energy balance, and consequently, maximize the lifetime of sensor networks. The transition rule advances one of the original Ant System by re-defining link cost which is a metric devised to consider energy-sufficiency as well as energy-efficiency. This metric gives rise to the design of the AS-RSN algorithm devised to balance the data traffic of sensor networks in a decentralized manner and consequently prolong the lifetime of the networks. Therefore, AS-RSN is scalable in the number of sensors and also robust to the variations in the dynamics of event generation. We demonstrate the effectiveness of the proposed algorithm by comparing three existing routing algorithms: Direct Communication Approach, Minimum Transmission Energy, and Self-Organized Routing and find that energy balance should be considered to extend lifetime of sensor network and increase robustness of sensor network for diverse event generation patterns.

• Proceedings of the KIEE Conference
• /
• 2011.07a
• /
• pp.1916-1917
• /
• 2011

A development of a new moving obstacle avoidance algorithm using a delay-time Compensation for a network-based autonomous mobile robot is proposed in this paper. The moving obstacle avoidance algorithm is based on a Kalman filter through moving obstacle estimation and a Bezier curve for path generation. And, the network-based mobile robot, that is a unified system composed of distributed environmental sensors, mobile actuators, and controller, is compensated by a network delay compensation algorithm for degradation performance by network delay. The network delay compensation method by a sensor fusion using the Kalman filter is proposed for the localization of the robot to compensate both the delay of readings of an odometry and the delay of reading of environmental sensors. Through some simulation tests, the performance enhancement of the proposed algorithm in the viewpoint of efficient path generation and accurate goal point is shown here.

• Journal of Korea Multimedia Society
• /
• v.17 no.6
• /
• pp.687-696
• /
• 2014

An integrated ship area network has functionality of remote control and autonomous management of various sensors and instruments embedded or boarded in a ship. For such environment, an wireless bridge is essential to transmit control and/or managing information to sensors or instruments from a central integrated ship area network station. In this paper, one of reliable schemes of WiMedia based wireless bridge using relay cooperative transmission using WiMedia distributed MAC protocol is proposed to increase a communication reliability between cluster headers, irrespective of channel variation. Simulation results show that the proposed wireless bridge using relay cooperative transmission scheme increases communication reliability.

• Smart Structures and Systems
• /
• v.1 no.1
• /
• pp.1-12
• /
• 2005

This paper describes the area of intelligent systems research as funded by the Civil and Mechanical Systems (CMS) Division of the National Science Foundation (NSF). With developments in computer science, information technology, sensing and control the design of typical machines and structures by civil and mechanical engineers is evolving toward intelligent systems that can sense, decide and act. This trend toward electro-mechanical design is well-established in modern machines (e.g. vehicles, robots, disk drives) and often referred to as mechatronics. More recently intelligent systems design is becoming an important aspect of structures, such as buildings and bridges. We briefly review recent developments in structural control, including the role that NSF has played in their development, and discuss on-going CMS activities in this area. In particular, we highlight the interdisciplinary initiative on Sensors and Sensor Networks and the Network for Earthquake Engineering Simulation (NEES). NEES is a distributed cyberinfrastructure to support earthquake engineering research, and provides the pioneering NEES grid computing environment for simulation, teleoperation, data collection and archiving, etc.

• Journal of Communications and Networks
• /
• v.7 no.3
• /
• pp.284-293
• /
• 2005

A critical issue in applications involving networks of wireless sensors is their ability to synchronize, and mitigate the fading propagation channel effects. Especially when distributed 'slave' sensors (nodes) reach-back to communicate with the 'master' sensor (gateway), low power cooperative schemes are well motivated. Viewing each node as an antenna element in a multi-input multi-output (MIMO) multi-antenna system, we design pilot patterns to estimate the multiple carrier frequency offsets (CFO), and the multiple channels corresponding to each node-gateway link. Our novel pilot scheme consists of non-zero pilot symbols along with zeros, which separate nodes in a time division multiple access (TDMA) fashion, and lead to low complexity schemes because CFO and channel estimators per node are decoupled. The resulting training algorithm is not only suitable for wireless sensor networks, but also for synchronization and channel estimation of single- and multi-carrier MIMO systems. We investigate the performance of our estimators analytically, and with simulations.

• Proceedings of the Korean Society For Composite Materials Conference
• /
• 2004.10a
• /
• pp.282-285
• /
• 2004

The main purpose of this study is the vibration suppression of rotating composite blade containing distributed piezoelectric sensors and actuators. The blade is modeled by thin-walled, single cell composite beam including the warping function, centrifugal force, Coriolis acceleration and piezoelectric effect. Further, the numerical study is performed m ing finite element method. The vibration of composite rotor is suppressed by piezocomposite actuators and PVDF sensors that are embedded between composite layers. A velocity feedback control algorithm coupling the direct and converse piezoelectric effect is used to actively control the' dynamic response of an integrated structure through a closed control loop. Responses of the rotating blade are investigated. Newmark time integration method is used to calculate the time response of the model. In the numerical simulation, the effect of parameters such as rotating speed, fiber orientation of the blade and size of actuators are studied in detail.