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REFERENCE LINKING PLATFORM OF KOREA S&T JOURNALS
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Journal of Institute of Control, Robotics and Systems
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Journal DOI :
Institute of Control, Robotics and Systems
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Volume & Issues
Volume 18, Issue 12 - Dec 2012
Volume 18, Issue 11 - Nov 2012
Volume 18, Issue 10 - Oct 2012
Volume 18, Issue 9 - Sep 2012
Volume 18, Issue 8 - Aug 2012
Volume 18, Issue 7 - Jul 2012
Volume 18, Issue 6 - Jun 2012
Volume 18, Issue 5 - May 2012
Volume 18, Issue 4 - Apr 2012
Volume 18, Issue 3 - Mar 2012
Volume 18, Issue 2 - Feb 2012
Volume 18, Issue 1 - Jan 2012
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Infrastructure-based Localization System using Underwater Wireless Sensor Network
Park, Dae-Gil ; Kwak, Kyung-Min ; Chung, Wan-Kyun ; Kim, Jin-Hyun ;
Journal of Institute of Control, Robotics and Systems, volume 18, issue 8, 2012, Pages 699~705
DOI : 10.5302/J.ICROS.2012.18.8.699
In this paper, an infrastructure-based localization method using underwater wireless sensor network (UWSN) is addressed. A localization using the UWSN is necessary to widen the usage of underwater applications, however it is very difficult to establish the UWSN due to the restrictions of water. In this paper, to extend the usage of UWSN at the infrastructure, we propose a sophisticated UWSN localization method using the Received Signal Strength Indicator (RSSI) of the electromagnetic waves. During the electromagnetic waves propagating in underwater, there arises a lot of attenuation according to the distance, while the attenuation shows uniformity according to the distance. Using this characteristics, the localization system in underwater infrastructure is proposed and the experimental results show the effectiveness.
Sensor Network System to Operate Multiple Autonomous Transport Platform
Nam, Choon-Sung ; Gim, Su-Hyeon ; Lee, Suk-Han ; Shin, Dong-Ryeol ;
Journal of Institute of Control, Robotics and Systems, volume 18, issue 8, 2012, Pages 706~712
DOI : 10.5302/J.ICROS.2012.18.8.706
This paper presents a sensor network and operation for multiple autonomous navigation platform and transport service. Multiple platform navigate with inside sensors and outside sensors while acquiring and process some useful information. Each platform communicates each other by navigational information through central main server. Efficient sensor network systems are considered for the scenario which some passengers call the service and the vehicle accomplish its transport service by transporting each caller to the destination by autonomous manners. In the scenario, all vehicles perform a role of sensor system to the central server and the server handles each information and integrate with faster procedure in the wireless 3G network.
Real-time 3-Dimensional Measurement of Lumbar Spine Range of Motion using a Wireless Sensor
Jeong, Woo-Hyuk ; Jee, Hae-Mi ; Park, Jae-Hyun ;
Journal of Institute of Control, Robotics and Systems, volume 18, issue 8, 2012, Pages 713~718
DOI : 10.5302/J.ICROS.2012.18.8.713
Lumber spine range of motion has been used to measure of physical and functional impairment by various tools from a ruler to 3D kinematic devices. However, pre-existing tools have problems in either movement or accuracy and reliability limitations. Accurate devices are limited by fixed space whereas simple devices are limited in measuring complex movements with less accuracy. In order to solve the location, movement and accuracy limitations at once, we have developed a novice measurement device equipped with accelerometer sensor and gyroscope sensor for getting three-dimensional information of motion. Furthermore, Kalman filter was applied to the algorithm to improve accuracy. In addition, RF wireless communication was added for the user to conveniently check measured data in real time. Finally, the measurement method was improved by considering the movement by a reference point. An experiment was conducted to test the accuracy and reliability of the device by conducting a test-retest reliability test. Further modification will be conducted to used the device in various joints range of motion in clinical settings in the future.
Traffic Signal Control Scheme for Traffic Detection System based on Wireless Sensor Network
Hong, Won-Kee ; Shim, Woo-Seok ;
Journal of Institute of Control, Robotics and Systems, volume 18, issue 8, 2012, Pages 719~724
DOI : 10.5302/J.ICROS.2012.18.8.719
A traffic detection system is a device that collects traffic information around an intersection. Most existing traffic detection systems provide very limited traffic information for signal control due to the restriction of vehicle detection area. A signal control scheme determines the transition among signal phases and the time that a phase lasts for. However, the existing signal control scheme do not resolve the traffic congestion effectively since they use restricted traffic information. In this paper, a new traffic detection system with a zone division signal control scheme is proposed to provide correct and detail traffic information and decrease the vehicle`s waiting time at the intersection. The traffic detection system obtains traffic information in a way of vehicle-to-roadside communication between vehicles and sensor network. A new signal control scheme is built to exploit the sufficient traffic information provided by the proposed traffic detection system efficiently. Simulation results show that the proposed signal control scheme has 121 % and 56 % lower waiting time and delay time of vehicles at an intersection than other fuzzy signal control scheme.
Localization for Cooperative Behavior of Swarm Robots Based on Wireless Sensor Network
Tak, Myung-Hwan ; Joo, Young-Hoon ;
Journal of Institute of Control, Robotics and Systems, volume 18, issue 8, 2012, Pages 725~730
DOI : 10.5302/J.ICROS.2012.18.8.725
In this paper, we propose the localization algorithm for the cooperative behavior of the swarm robots based on WSN (Wireless Sensor Network). The proposed method is as follows: First, we measure positions of the L-bot (Leader robot) and F-bots (Follower robots) by using the APIT (Approximate Point In Triangle) and the RSSI (Received Signal Strength Indication). Second, we measure relative positions of the F-bots against the pre-measured position of the L-bot by using trilateration. Then, to revise a position error caused by noise of the wireless signal, we use the particle filter. Finally, we show the effectiveness and feasibility of the proposed method though some simulations.
Bluetooth Synchronous Connection Oriented Link Usage in Networked Control Systems
Umirov, Ulugbek ; Park, Jung-Il ;
Journal of Institute of Control, Robotics and Systems, volume 18, issue 8, 2012, Pages 731~737
DOI : 10.5302/J.ICROS.2012.18.8.731
In this paper the usage of Bluetooth in networked control systems is described. ACL links and commonly used serial port profile built on top of ACL links are analyzed and their problems such as unpredictable latency are discovered. SCO link packet scheduling, latency estimation and setup procedure are examined. SCO link is suggested as proper link for NCS, due to its low latency and low variance. Smith predictor use for latency compensation is described and its impact on control performance is estimated. A number of experiments on DC motor position control are performed and control performance of system utilizing SCO link with and without Smith predictor is proved to be higher than control performance of system utilizing ACL link.
Case Study: Long-term Experiments on a Daily Activity Monitoring System for an Elderly Living Alone
Lee, Seon-Woo ; Ok, Dae-Yoon ; Jung, Phil-Hwan ; Kim, Jeom-Keun ;
Journal of Institute of Control, Robotics and Systems, volume 18, issue 8, 2012, Pages 738~743
DOI : 10.5302/J.ICROS.2012.18.8.738
This paper describes analysis of long-term experiments on a monitoring system to assess the daily activities of the elderly who live alone. The developed system is composed of an in-house sensing system and a server system. The in-house sensing system installed in their own houses is a typical wireless sensor network system including three kinds of wireless sensors. The server system has a database server and an assessment server. We have installed the system into an elderly house, collected data during over two years continuously, then analyze the data. From the analysis, we could measure the energy consumption profile of three kinds of sensor nodes. The experiment shows all kinds of nodes can operate over one year with two AA-size alkaline batteries. Using a measure of reliability of the monitoring system called `deadzone`, the system has showed the failure operation for 842 hours (4.66 %) during over 18,000 hours total operation period.
Study on the Localization Improvement of the Dead Reckoning using the INS Calibrated by the Fusion Sensor Network Information
Choi, Jae-Young ; Kim, Sung-Gaun ;
Journal of Institute of Control, Robotics and Systems, volume 18, issue 8, 2012, Pages 744~749
DOI : 10.5302/J.ICROS.2012.18.8.744
In this paper, we suggest that how to improve an accuracy of mobile robot`s localization by using the sensor network information which fuses the machine vision camera, encoder and IMU sensor. The heading value of IMU sensor is measured using terrestrial magnetism sensor which is based on magnetic field. However, this sensor is constantly affected by its surrounding environment. So, we isolated template of ceiling using vision camera to increase the sensor`s accuracy when we use IMU sensor; we measured the angles by pattern matching algorithm; and to calibrate IMU sensor, we compared the obtained values with IMU sensor values and the offset value. The values that were used to obtain information on the robot`s position which were of Encoder, IMU sensor, angle sensor of vision camera are transferred to the Host PC by wireless network. Then, the Host PC estimates the location of robot using all these values. As a result, we were able to get more accurate information on estimated positions than when using IMU sensor calibration solely.
ZigBee Location-based Human Adaptive HVAC System for Intelligent Building System
Park, Eun-Ju ; Lee, Suk ; Lee, Kyung-Chang ; Kim, Hyun-Hee ;
Journal of Institute of Control, Robotics and Systems, volume 18, issue 8, 2012, Pages 750~757
DOI : 10.5302/J.ICROS.2012.18.8.750
This paper focuses on human adaptive HVAC system that can regulate the thermal comfort of the resident in intelligent buildings. The thermal comfort is represented in this paper by PMV (Predicted Mean Vote) as defined by ISO 7730. This PMV value indicates how hot or cold a resident feels by considering temperature, humidity, resident`s metabolic rate, relative air velocity, and clothing insulation. In order to develop such a system, a location detection system based on ZigBee module was used along with temperature sensors, other environment sensors. The human adaptive HVAC system was evaluated experimentally on a test bed emulating a room.
Design of Communication System for Intelligent Multi Agent Robot System
Kim, Jun-Yeup ; Park, Seung-Min ; Ko, Kwang-Eun ; Jang, In-Hun ; Sim, Kwee-Bo ;
Journal of Institute of Control, Robotics and Systems, volume 18, issue 8, 2012, Pages 758~767
DOI : 10.5302/J.ICROS.2012.18.8.758
In the ad-hoc wireless network environment, that the fixed sensor nodes and the sensor nodes to move are mixed, as the number of the sensor nodes with mobility are getting more, the costs to recover and maintain the whole network will increase more and more. This paper proposed the CDSR (Cost based Dynamic Source Routing) algorithm being motivated from the typical DSR algorithm, that is one of the reactive routing protocol. The cost function is defined through measuring the cost which any sensor node pays to participate in the whole network for communication. It is also showed in this paper that the proposed routing algorithm will increase the efficiency and life of whole sensor network through a series of experiments.
Robust Real-Time Wireless Control Platform Compensating for Packet Loss
Choi, Rock-Hyun ; Lee, Sang-Cheol ; Yoo, Joon-Hyuk ;
Journal of Institute of Control, Robotics and Systems, volume 18, issue 8, 2012, Pages 768~773
DOI : 10.5302/J.ICROS.2012.18.8.768
Packet loss compensation techniques are increasingly important to stable remote control over wireless communication in WNCS (Wireless Networked Control Systems). Its time varying channels, limited bandwidth, interference, and poor signal not only leads to packet loss or latency, but also can negatively affect performance and system stability. This paper presents a compensation technique exploiting an EWMA (Exponentially Weighed Moving Average)-based value estimator to clarify the influence of packet loss on the overall WNCS behavior. As an example of actuator to be remotely controlled, a rotary-type inverted pendulum has been considered, and modeled. Performance evaluation results through Matlab/Simulink and Truetime co-simulation confirm the superiority of the proposed value estimation method over previous approaches.
RTT based TCP Design and Implementation for USN
Yi, Hyun-Chul ; Choi, Joon-Young ;
Journal of Institute of Control, Robotics and Systems, volume 18, issue 8, 2012, Pages 774~779
DOI : 10.5302/J.ICROS.2012.18.8.774
We design and implement a RTT (Round Trip Time) based TCP (Transmission Control Protocol) for USN (Ubiquitous Sensor Network). We adopt a basic update algorithm for window size from FAST TCP that uses the queuing delay at link as the congestion measure. The designed TCP estimates the queuing delay at link from the measured RTT in the network layer, and updates the window size based on the estimated queuing delay. The designed TCP allows to utilize the full capacity of USN links and avoids the waste of the given link capacity that is common without the flow control in the transport layer. The experiment results show that the window size of the sender converges within a small range of variations without any packet loss, and verify the stability and performance of the designed TCP.
Development of Multi-Sensor Station for u-Surveillance to Collaboration-Based Context Awareness
Yoo, Joon-Hyuk ; Kim, Hie-Cheol ;
Journal of Institute of Control, Robotics and Systems, volume 18, issue 8, 2012, Pages 780~786
DOI : 10.5302/J.ICROS.2012.18.8.780
Surveillance has become one of promising application areas of wireless sensor networks which allow for pervasive monitoring of concerned environmental phenomena by facilitating context awareness through sensor fusion. Existing systems that depend on a postmortem context analysis of sensor data on a centralized server expose several shortcomings, including a single point of failure, wasteful energy consumption due to unnecessary data transfer as well as deficiency of scalability. As an opposite direction, this paper proposes an energy-efficient distributed context-aware surveillance in which sensor nodes in the wireless sensor network collaborate with neighbors in a distributed manner to analyze and aware surrounding context. We design and implement multi-modal sensor stations for use as sensor nodes in our wireless sensor network implementing our distributed context awareness. This paper presents an initial experimental performance result of our proposed system. Results show that multi-modal sensor performance of our sensor station, a key enabling factor for distributed context awareness, is comparable to each independent sensor setting. They also show that its initial performance of context-awareness is satisfactory for a set of introductory surveillance scenarios in the current interim stage of our ongoing research.
Introduction to Autonomous Vehicle PHAROS
Ryu, Jee-Hwan ; Park, Jang-Sik ; Ogay, Dmitriy ; Bulavintsev, Segey ; Kim, Hyuk ; Song, Young-wook ; Yoon, Moon-Young ; Kim, Jea-Seok ; Kang, Jeon-Jin ;
Journal of Institute of Control, Robotics and Systems, volume 18, issue 8, 2012, Pages 787~793
DOI : 10.5302/J.ICROS.2012.18.8.787
This paper introduces the autonomous vehicle Pharos, which participated in the 2010 Autonomous Vehicle Competition organized by Hyundai-Kia motors. PHAROS was developed for high-speed on/off-road unmanned driving avoiding diverse patterns of obstacles. For the high speed traveling up to 60 km/h, long range terrain perception, real-time path planning and high speed vehicle motion control algorithms are developed. This paper describes the major hardware and software components of our vehicle.
Improvement of Real-time Performance of ISO 11783 Network by Dynamic Priority Allocation Method
Lee, Sang-Wha ; Kim, Yoo-Sung ; Lee, Seung-Gol ; Park, Jae-Hyun ;
Journal of Institute of Control, Robotics and Systems, volume 18, issue 8, 2012, Pages 794~799
DOI : 10.5302/J.ICROS.2012.18.8.794
The international standard, ISO-11783, was designed for the communication within an agriculture machinery. Even if it is based on the CAN (Control Area Network) protocol, its extended features which include point-to-point communication and large data transmission support show different network performance from the standard CAN. This paper proposes a dynamic priority allocation method to improve the real-time performance of ISO-11783. Computer simulation shows reduction of the deadline-missed cases and community latency via proposed algorithm.