• 제어로봇시스템학회논문지
• /
• 제12권11호
• /
• pp.1138-1143
• /
• 2006

Sensor deployment is an important issue in the mobile wireless sensor network. In this paper, we propose a deployment algorithm for mobile sensor network to spread out mobile sensor nodes widely as well as regularly. Since the proposed algorithm uses tree topology in deploying the sensor nodes, calculating power as well as spreading speed can be reduced compare to other deployment algorithms. The performance of the proposed algorithm is simulated using NS-2 simulator and demonstrated.

• 한국통신학회논문지
• /
• 제35권2B호
• /
• pp.334-344
• /
• 2010

최근 들어 다양한 휴대 단말과 광대역 무선네트워크의 보급으로 인해 인터넷을 통한 다양한 멀티미디어 스트리밍 서비스에 상당한 관심과 수요가 증가하고 있다. 하지만, 단말 이동시 연속적인 멀티미디어 스트리밍 데이터 전송이 어려운 문제를 가지고 있다. 그래서, 광대역 무선네트워크내 Mobile IPTV 서비스 보급에 있어, 효율적인 무선 자원 활용 및 사용자에게 원활한 QoE (Quality of Experience)를 제공하는 것은 중요한 이슈이다. 본 논문에서는 무선 채널 상태를 인지하여 비디오의 전송률과 품질을 조절하는 네트워크 기반의 품질 적응 스트리밍 기법인 Mobile Adaptive Rate Control (MARC) 기법을 제안한다. 제안하는 기법은 스트리밍 서비스의 품질 향상 이외에도 단말의 이동환경에서 끊김 없는 비디오 재생을 보장 할 수 있도록 무선 채널 상태를 인지하여 현재 무선 채널 및 단말 위치에 적합한 스트리밍 비디오를 전송한다. 제안한 MARC 기법은 광대역 무선 네트워크에서 비디오 재생의 불연속성을 제거하고 안정된 버퍼 할당을 보였다. 시뮬레이션 결과를 통해 제안한 방법의 유효성을 확인하였다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2004년도 ICCAS
• /
• pp.908-911
• /
• 2004

There are various researches on mobile robot systems. Connection method between server and client of mobile robot system is one of them. In the case of mobile robot system, when connection method between server and client is wireless than wire, applications may be expanded. Also in remote monitoring environment using mobile robot system, we are interested in an effective transmission of the image information between server and client. In this paper, Bluetooth is used for connection method between server and client. One of the major applications of Bluetooth is the cable replacement for mobile and peripheral devices. Using Bluetooth, we propose the control method of mobile robot system. Bluetooth offers fast and reliable transmissions of both voice and data over the globally available 2.4GHz ISM (Industrial, Scientific and Medical) band. It has the advantage of small size, low power and low cost. It has the disadvantage of limited range and limited bandwidth. Also in order to transfer effectively image information between remote site(server) and mobile robot system(client) using Bluetooth, we applied to MPEG-2 and MPEG-4 image compression techniques and the results are compared with each other.

• 정보처리학회논문지D
• /
• 제11D권6호
• /
• pp.1213-1220
• /
• 2004

이동 컴퓨팅 기술이 발전함에 따라 실시간으로 트랜잭션을 처리해야 하는 다양한 이동 애플리케이션에 대한 요구가 증가되고 있다. 원격 데이터에 대한 접근을 해야 하는 이동 환경에서 데이터에 대한 접근지연은 실시간 트랜잭션의 시간적인 제약조건 준수에 대한 가장 심각한 문제가 된다. 이동 실시간 트랜잭션은 트랜잭션의 결과의 정확성뿐만 아니라 트랜잭션의 완료 시간을 보장해야 한다. 본 논문에서는 이동 실시간 트랜잭션들 간의 충돌을 해결하기 위한 낙관적인 동시성제어 기법을 제안한다. 제한된 기법은 이동 환경에서의 핸드오버나 단절에 의해 발생되는 트랜잭션의 연속적인 철회와 지연의 영향을 최소화하였다.

• 제어로봇시스템학회논문지
• /
• 제19권7호
• /
• pp.605-613
• /
• 2013

This research proposes a vibration pattern algorithm to implement the haptic joystick to control a mobile robot at the remote site without watching the navigation environment. When the user cannot watch the navigation environment of the mobile robot, the user may rely on the haptic joystick solely to avoid obstacles and to guide the mobile robot to the target. To generate vibration patterns, there is a vibration motor at the bottom of the joystick which is held by the user to control the motion direction of the mobile robot remotely. When the mobile robot approaches to an obstacle, a pattern of vibration is generated by the motor, and by feeling the vibration pattern which is determined by the relative position of the mobile robot to the obstacle, the user can move the joystick to avoid the collision to the obstacle for the mobile robot. To generate the vibration patterns to convey the relative location of the obstacle near the mobile robot to the user, Fuzzy interferences have been utilized. To measure the distance and location of the obstacle near the mobile robot, ultrasonic sensors with the ring structure have been adopted and they are attached at the front and back sides of the mobile robot. The precise location of the obstacle is obtained by fusing the multiple data from ultrasonic sensors. Effectiveness of the proposed algorithm has been verified through the real experiments and the results are demonstrated.

• 제어로봇시스템학회논문지
• /
• 제5권5호
• /
• pp.593-599
• /
• 1999

A mobile robot in FMS environment should be able to nevigate itself. Therefore, path planning is necessary for the mobile robot to perform its tasks without being lost. Path planning using a network model gives oprimal paths to every pair of nodes but building this model demands accurate information of environments. In this paper, a method to build a network model using sonar sensors is presented. The main idea is to build a quad tree model by using sonar sensors and convert the model to a network model for path planning. The new method has been implemented on a mobile robot. Experimental results show that the mobile robot constructs an accurate network model using inaccurate sonar data.

• 제어로봇시스템학회논문지
• /
• 제15권8호
• /
• pp.786-791
• /
• 2009

Recently, digital camera module has been extensively utilized in mobile devices. The digital camera module should be smaller and lighter than digital still camera module to be used in mobile device. But, mobile camera can't get high quality image as good as the one of digital still camera due to the optical limitation of minimized module. Especially, AE system of mobile camera occurs excessive hunting and oscillation due to miniaturization of module. In this paper, improved AE algorithm which is applied fuzzy PI control is suggested to compensate this point.

• 제어로봇시스템학회논문지
• /
• 제2권3호
• /
• pp.200-208
• /
• 1996

This paper describes the mechanism, guidance, sensor system, and navigation algorithm of METRO, a free ranging mobile robot. METRO is designed for use in structured surroundings or factory environments rather than unstructured natural environments. An overview of the physical configuration of the mobile robot is presented as well as a description of its sensor system, an omnidirectional laser range finder. Except for the global path planning algorithm, a guidance and a navigation algorithm with a local path planning algorithm are used to navigate the mobile robot. In METRO the computer support is divided into a supervisor with image processing and local path planning and a slave with motor control. The free ranging mobile robot is self-controlled and all processing being performed on board.

• 제어로봇시스템학회논문지
• /
• 제9권12호
• /
• pp.1033-1041
• /
• 2003

A new visual tracking scheme is proposed for a mobile robot that tracks a moving object in 3D space in real time. Visual tracking is to control a mobile robot to keep a moving target at the center of input image at all time. We made it possible by simplifying the relationship between the 2D image frame captured by a single camera and the 3D workspace frame. To precisely calculate the input vector (orientation and distance) of the mobile robot, the speed vector of the target is determined by eliminating the speed component caused by the camera motion from the speed vector appeared in the input image. The problem of temporary disappearance of the target form the input image is solved by selecting the searching area based on the linear prediction of target motion. The experimental results have shown that the proposed scheme can make a mobile robot successfully follow a moving target in real time.

• 제어로봇시스템학회논문지
• /
• 제12권7호
• /
• pp.679-685
• /
• 2006

In this paper, development of an omni-directional mobile robot with rocker-bogie link structure is addressed. The overall mobile robot system consists of the robot mechanism with embedded control architecture, wireless communication with host graphic monitoring system, and the joy stick tole-controller. In the cluttered environment with various sizes of obstacles, the omni-directionality and the traversality are required for a mobile robot, so that the robot call go around or climb over the obstacles according to the size. The mobile robot mechanism developed in this paper has both of the omni-directionality and the traversality by 4 steerable driving wheels and the 2 additional passive omni-directional wheels linked with the rocker-bogie structure. The kinematic modeling for the mobile robot is described based on the well-known Sheth-Uicker convention and the instantaneous coordinate system.