• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.4
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• pp.361-368
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• 2015

This paper reports an unscented Kalman filter approach for localization of a mobile robot in an indoor environment. The method proposes a new model of measurement uncertainty which adjusts the error covariance according to the measured distance. The method also uses non-zero off diagonal values in error covariance matrices of motion uncertainty and measurement uncertainty. The method is tested through experiments in an indoor environment of 100*40 m working space using a differential drive robot which uses Laser range finder as an exteroceptive sensor. The results compare the localization performance of the proposed method with the conventional method which doesn't use adaptive measurement uncertainty model. Also, the experiment verifies the improvement due to non-zero off diagonal elements in covariance matrices. This paper contributes to implementing and evaluating a practical UKF approach for mobile robot localization.

• Journal of Advanced Marine Engineering and Technology
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• v.38 no.1
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• pp.92-98
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• 2014

Recently, Fingerprint approach using RSSI based on WLAN has been many studied in order to construct low-cost indoor localization systems. Because this technique is relatively evaluated non-precise positioning technique compared with the positioning of Ultra-Wide-Band(UWB), the performance of the Fingerprint based on WLAN should be continuously improved to implement various indoor location. Therefore, this paper presents a Fingerprint approach which can improve the performance of localization by using RSSI and LQI contained IEEE 802.15.4 standard. The advantages of these techniques are that the characteristics of each location is created more clearly by utilizing RSSI and LQI and Fingerprint technique is improved by using the modified Euclidean distance method. The experimental results which are applied in NLOS indoor environment with various obstacles show that the accuracy of localization is improved to 22% compared to conventional Fingerprint.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.7
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• pp.655-663
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• 2017

With the development of ICT technology, the indoor utilization of robots is increasing. Research on transportation, cleaning, guidance robots, etc., that can be used now or increase the scope of future use will be advanced. To facilitate the use of mobile robots in indoor spaces, the problem of self-location recognition is an important research area to be addressed. If an unexpected collision occurs during the motion of a mobile robot, the position of the mobile robot deviates from the initially planned navigation path. In this case, the mobile robot needs a robust controller that enables the mobile robot to accurately navigate toward the goal. This research tries to address the issues related to self-location of the mobile robot. A robust position recognition system was implemented; the system estimates the position of the mobile robot using a combination of encoder information of the mobile robot and the absolute space coordinate transformation information obtained from external video sources such as a large number of CCTVs installed in the room. Furthermore, vector field histogram method of the pass traveling algorithm of the mobile robot system was applied, and the results of the research were confirmed after conducting experiments.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.3
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• pp.551-560
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• 2011

Recently, There has been increasing concern about WLAN-based indoor positioning system. Most of the existing WLAN-based positioning systems use a fingerprinting method as a main approach. In the fingerprinting approach, the accuracy of the location of a mobile objects is proportional to the number of reference points. However, depending on the increasing number of reference points in the training phase, it requires more time and effort to create fingerprint database. To solve these problems, we propose the new indoor positioning algorithm that calculate the distance between a mobile objects and an AP using the information of surrounding environment WLAN based APs and applied the particle filter to the proposed algorithm in order to improve the accuracy of the estimated location in this paper. To implement this algorithm, at first environmental information database such as wall, iron door, glass door, partition etc. existing in the periphery of the AP should be established. The positioning use attenuation model and path loss model. Our experimental results with proposed algorithm are verified that the positioning accuracy was low but solved the problems with fingerprinting, compared with other positioning algorithms.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2018.05a
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• pp.220-223
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• 2018

스마트폰의 GPS 기능으로 위치 정보를 수집하여 사용자에게 서비스를 제공하는 시스템이 많아지고 있다. 이러한 GPS 기능은 위성에서 송신된 신호로 위도와 경도를 측정하여 위치를 계산한다. 하지만, 이러한 기능은 사용자가 실외에 있을 경우에만 사용이 가능한 것으로, 실내에서는 사용이 불가능하다는 단점이 있다. 최근 상용화 되고 있는 UWB 레이더 센서는 실내외에서 사용이 가능하고, 객체 탐지 및 거리측정이 간단함과 동시에 저렴하다는 장점이 있다. 본 논문에서는 UWB 레이더 센서와 표준편차를 이용하여 거리 측정 방법을 제시하고자 한다. 제시하고 있는 방법은 레이더 센서에서 나오는 raw data를 그래프화 하여 최대 탐지 거리가 몇 m 인지 파악하고, 파악된 최대 감지 거리를 일정 구간으로 나누어 구간별 거리를 측정한다. 그 후 표준편차 공식을 이용하여 객체의 유무를 판단한다. 실험 결과에서는 제시하는 방법으로 최대 거리 9.7m에서 최대 오차 0.27m 이내로 측정되는 것을 확인하였다.

• Journal of the Korea Society for Simulation
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• v.32 no.3
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• pp.43-53
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• 2023

In this detailed and comprehensive study, our primary focus has been placed on accurately gauging the number of visitors and their real-time locations in commercial spaces. Particularly, in a real cafe, using security cameras, we have developed a system that can offer live updates on available seating and predict future congestion levels. By employing YOLO, a real-time object detection and tracking algorithm, the number of visitors and their respective locations in real-time are also monitored. This information is then used to update a cafe's indoor map, thereby enabling users to easily identify available seating. Moreover, we developed a model that predicts the congestion of a cafe in real time. The sophisticated model, designed to learn visitor count and movement patterns over diverse time intervals, is based on Long Short Term Memory (LSTM) to address the vanishing gradient problem and Sequence-to-Sequence (Seq2Seq) for processing data with temporal relationships. This innovative system has the potential to significantly improve cafe management efficiency and customer satisfaction by delivering reliable predictions of cafe congestion to all users. Our groundbreaking research not only demonstrates the effectiveness and utility of indoor location tracking technology implemented through security cameras but also proposes potential applications in other commercial spaces.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.17 no.1
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• pp.25-30
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• 2024

Smart City, a key application area of the AIoT (Artificial Intelligence of Things), provides various services in safety, security, and healthcare sectors through location tracking and location-based services. an IPS (Indoor Positioning System) is required to implement location-based services, and wireless communication technologies such as WiFi, UWB (Ultra-wideband), and BLE (Bluetooth Low Energy) are being applied. BLE, which enables data transmission and reception with low power consumption, can be applied to various IoT devices such as sensors and beacons at a low cost, making it one of the most suitable wireless communication technologies for indoor positioning. BLE utilizes the RSSI (Received Signal Strength Indicator) to estimate the distance, but due to the influence of multipath fading, which causes variations in signal strength, it results in an error of several meters. In this paper, we conducted research on a path loss model that can be applied to BLE IPS for proximity services, and confirmed that optimizing the free space propagation loss coefficient can reduce the distance error between the Tx and Rx devices.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.25 no.11A
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• pp.1672-1681
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• 2000

초광대역 시간 도약 이전 임펄스 무전 전송 시스템의 성능 평가 1672 최근 들어 실내 무선 LAN(local area network)이나 군용 무선 통신 시스템을 위한 새로운 대역 확산 전송방식으로서 초광대역 시간 도약 임펄스 무선 전송(ultra wideband time hopping impulse radio; 이하 IR) 기술이 큰 관심을 모으고 있다. 신호 전송을 위해 연속적인 정현파를 이용하는 기존의 무선 전송 시스템과는 달리 IR 시스템은 1 nese 이하의 매우 짧은 펄스폭의 펄스 위치 변조(pulse position modulation)된 가우시안 모노사이클 멀스 열을 이용하므로서 매우 작은 크기의 수 GHz에 이르는 초광대역 스펙트럼을 가지며 기존의 통신 시스템에 거의 간섭을 미치지 않으며 사용 가능하다. 본 논문에서는 동기식 이진 (synchronous binary) IR 시스템의 성능 분석 및 평가 결과를 제시하고자 한다.이를 위해 의사 잡음 부호 발생기와 decimator로 구성된 시간 도약 패턴을 사용 하여 다원 접속 간섭 이 배제되는 동기식 이진 IR 시스템의 비트 오율에 대한 closed form 결과를 유도하고, 유도된 이론적인 성능 결과를 부가성 백색 가우시안 잡음 채널에 대한 모의 실험을 통해 확인하였다. 또한 모의 실험을 통해 상관 복조기에서 발행한 렌덤 타이밍 지터에 대해 IR 시스템의 강인한 특성을 확인하였다.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.48 no.3
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• pp.60-67
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• 2011

Visible light communication system transmits data by controlling light emission of LED and receives data through photo detecter, which is considered as one of strong candidates of next generation wireless communication systems. The transmission capacity of visible light communication system depends on light intensity emitted from LED, sensitivity of PD, distance between transmitter and receiver, angle of incidence at the receiver. In particular, the receiver's vertical and horizontal movement changes distance between transmitter and receiver and angle of incidence, which may degrades transmission capacity of system. In this paper, we propose an estimation algorithm of receiver's position and angle based on tracking of received light intensity for indoor visible light communication systems. The performance evaluation of proposed algorithm confirms that the estimation algorithm of receiver's position and angle is quite important for visible light communication system to improve its transmission capacity.

• Journal of Advanced Navigation Technology
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• v.18 no.1
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• pp.90-94
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• 2014

This paper suggests the system that allows nearby firefighters to read about the transmission direction of a distress signal and track the location by RSSI of received distress signal which is transmitted wirelessly after sensing the distress signal of a firefighter using the Wireless Sensor Network(WSN) based on IEEE 802.15.4 and Received Signal Strength Indicator(RSSI) in the building. Also, It was confirmed that the location tracking using RSSI is possible because the difference between theoretical value and experimental value is little when experiment using the proposed system.