Abstract: Provided is a method and device for hand-eye calibration using multi-operation. The method for hand-eye calibration using multi-operation herein is implemented by a processor and comprises the steps of: receiving an input data set for a prescribed period from each of N (N is an integer of at least 2) motions of a robot arm; deriving N preprocessed data sets by preprocessing each of the N input data sets through a probability distribution conversion model; and outputting output data composed of translational values and rotational values from a vision-robot coordinate system conversion matrix generated using the N preprocessed data sets, wherein the step for outputting output data is repeated at least K (K is an integer greater than N) times to generate an output data set, and the output data set is post-processed through the probability distribution conversion model to output a single piece of post-processed data.

Abstract: Disclosed herein are a method of controlling Hierarchical Mobile IPv6 (HMIPv6) network-based handover and an Access Router (AR) and Mobile Node (MN) therefor. The method include the steps of a first AR, to which a MN is connected, receiving an L3 handover initiation message, including a Media Access Control (MAC) address of the MN and the ID of a target Base Station (BS); the first AR creating a Local Care-of Address (LCoA) based on the MAC address of the MN and the ID of the target BS, and performing Binding Update (BU) on a Mobility Anchor Point (MAP) using the created LCoA; when an L2 handover completion message is received from the target BS of the MN, a second AR creating a second LCoA and transmitting the second LCoA to the MN; and the MN receiving the second LCoA from the second AR and configuring the received second LCoA as its own LCoA.

Abstract: Disclosed herein are a sensor network control method for data path establishment and recovery and a sensor network therefor. The sensor network control method includes the steps of (a) the sink node or a first sensor node creating an interest message, including information about a hop count between itself and the sink node, and transmitting the interest message to one or more neighboring nodes; (b) a second sensor node, which has received the interest message, creating a routing table using the hop count information of the interest message and information about the node having transmitted the interest message, (c) the second sensor node determining a data transmission path for data transmission to the sink node using the routing table; and (d) the second sensor node transmitting an interest message, including information about a hop count between itself and the sink node to at least one neighboring node.

Abstract: Disclosed herein are a method of controlling Hierarchical Mobile IPv6 (HMIPv6) network-based handover and an Access Router (AR) and Mobile Node (MN) therefor. The method include the steps of a first AR, to which a MN is connected, receiving an L3 handover initiation message, including a Media Access Control (MAC) address of the MN and the ID of a target Base Station (BS); the first AR creating a Local Care-of Address (LCoA) based on the MAC address of the MN and the ID of the target BS, and performing Binding Update (BU) on a Mobility Anchor Point (MAP) using the created LCoA; when an L2 handover completion message is received from the target BS of the MN, a second AR creating an LCoA and transmitting the LCoA to the MN; and the MN receiving the LCoA from the second AR and configuring the received LCoA as its own LCoA.