• 한국산업융합학회 논문집
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• 제21권3호
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• pp.125-131
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• 2018

In this paper, we propose a homogeneous multisensor-based navigation algorithm for a mobile robot, which is intelligently searching the goal location in unknown dynamic environments with moving obstacles using multi-ultrasonic sensor. Instead of using "sensor fusion" method which generates the trajectory of a robot based upon the environment model and sensory data, "command fusion" method by fuzzy inference is used to govern the robot motions. The major factors for robot navigation are represented as a cost function. Using the data of the robot states and the environment, the weight value of each factor using fuzzy inference is determined for an optimal trajectory in dynamic environments. For the evaluation of the proposed algorithm, we performed simulations in PC as well as real experiments with mobile robot, AmigoBot. The results show that the proposed algorithm is apt to identify obstacles in unknown environments to guide the robot to the goal location safely.

• Journal of Electrical Engineering and Technology
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• 제12권1호
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• pp.335-345
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• 2017

Recently, location systems using RFID technology have been studied in indoor environments. However, the existing techniques require high computational cost to compute the location of a moving object because they compare the location proximity of all reference tags and objects. In this paper, we propose an RFID based location positioning scheme using event filtering, which reduces the computation cost of calculating the locations of moving objects while maintaining the accuracy of location estimation. In addition, we propose an incremental location update policy to reduce the location update cost for moving objects. We also compare the proposed scheme with one of the localization schemes, LANDMARC using a performance evaluation. As a result, the proposed scheme outperforms LANDMARC in terms of the computational cost of location estimation. The proposed scheme also reduces the cost of location update by using the RFID-based update policy.

• 산업기술연구
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• 제28권A호
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• pp.97-104
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• 2008

Recently, interests on positioning system for location-based services have been significantly increased. Many indoor environment systems using fingerprint scheme have been designed to take more accuracy of positioning, but they are inefficient in adapting to change of environments. In this paper, we focus on a client-based positioning system over WLAN for decreasing installation cost and adapting to change of environments. In the proposed system, APs with stable RSSI are selected as base APs independently for each reference point. Experimental results show that proposed system expands service area approximately 20% much than traditional systems using K-NN algorithm and needs only 20% modification process to fingerprint data compare with traditional systems whenever environment conditions are changed.

• 한국정보과학회논문지:정보통신
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• 제30권2호
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• pp.167-178
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• 2003

이동 컴퓨팅 환경에서는 이동 클라이언트의 위치에 따라서 질의에 대한 결과 값이 달라지는 상황이 발생하는데 그러한 결과의 데이타를 위치종속 데이타(LDD: Location Dependent Data)라 한다. 따라서 그러한 질의는 지리적인 거리를 고려하여 처리되어야 하며 또한 데이타의 관계성 등을 함께 고려하여 처리 효율을 높일 수 있다. 그러나 위치종속 질의에 나타나는 거리를 평가하고 영역별 위치종속 데이타를 구성할 때의 모호성으로 인해 정확히 평가하고 표현하기 어려운 점이 존재한다. 본 논문은 질의에 거리 정보를 사용함에 있어서 발생할 수 있는 문제점을 고려하고 위치종속 데이타간의 관련성 및 질의되는 이동 글라이언트의 위치 그리고 요구되는 지형물에 대한 거리간의 관계를 정량화하여 위치종속 데이타를 위한 데이타 영역인 LDD 영역을 제안한다. 모의 실험에서는 이동 클라이언트가 요청하는 위치종속질의 및 위치의 성향들 그리고 영역의 두 가지 조밀도 설정하여 제안하는 LDD 영역에서 질의 처리가 지리적인 지역만을 고려한 데이타 영역에서보다 데이타베이스 접근 수를 줄일 수 있음을 보인다.

• Journal of Information Processing Systems
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• 제13권6호
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• pp.1640-1651
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• 2017

To make an unmanned aerial vehicle (UAVs) fly in indoor environments, the indoor locations of the UAV are required. One of the approaches to calculate the locations of an UAV in indoor environments is enhanced trilateration using one Bluetooth-based beacon and three or more access points (APs). However, the locations of the UAV calculated by the common chord-based trilateration has errors due to the distance errors of the beacon measured at the multiple APs. This paper proposes a method that corrects the errors that occur in the process of applying the common chord-based trilateration to calculate the locations of an UAV. In the experiments, the results of measuring the locations using the proposed method in an indoor environment was compared and verified against the result of measuring the locations using the common chord-based trilateration. The proposed method improved the accuracy of location measurement by 81.2% compared to the common chord-based trilateration.

• Journal of Communications and Networks
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• 제3권4호
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• pp.351-360
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• 2001

This paper introduces an approach for providing Location Based Services (LBS) using Spatial Location (SLO) information within the Session Initiation Protocol (SIP). The aim of the paper is to set up the framework for providing LBS services in devices connected to wire and wireless IP networks. This method uses SIP as transport and the SLO as data formal inserted in the SIP pay-load. It analyses the relationship among the network elements involved in the architecture, and its functionality fur providing access to network services regardless of the user location. In conclusion, this proposal enables SIP to support location-related services such as messaging, location-based commerce, and any location-based computing. Furthermore, it describes the advantage of adding the user location information network resources optimization in mobile environments and future networks.

• 전자공학회논문지CI
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• 제42권5호
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• pp.9-20
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• 2005

본 논문에서는 실내에서 이동하는 사용자를 적외선에 기반을 둔 근접방법으로 추적하는 시스템인 ubiTrack을 제안한다. 현재까지 개발된 대부분의 실내 위치 추적 시스템들은 성능 및 정확도 향상을 위해 중앙 집중적인 방식으로 사용자를 추적하고 있다. 그러나 이와 같은 방식은 수많은 센서들이 환경에 편재되는 유비쿼터스 컴퓨팅 환경에서 프라이버시 문제를 야기할 수 있으며 다수의 사용자로 위치 추적을 확장하는 경우 연산의 부하가 크다는 문제점이 있다. 제안된 ubiTrack은 사용자의 모바일 기기에서 위치정보를 획득하는 passive mobile 구조로 설계되어 프라이버시 문제를 완화하며, 이동하는 사용자에 적합한 영역기반의 근접방법을 사용하여 위치 추적을 위한 연산의 효율을 높인다. 이를 위해 ubiTrack은 센싱 영역을 시분할 방식 (Time-Division Multiplexing)으로 중첩시켜 사용자에게 적합한 영역을 생성하며, 시분할 방식에 따른 성능 저하를 막기 위해 짧은 발신 주기를 가지는 적외선 통신 방식을 사용한다. 아울러 ubiTrack은 위치 추적의 정확도와 정밀도를 높이기 위해 하드웨어로 구현된 수신기와 소프트웨어로 구현된 활용 모듈에서 외부로부터의 충격이나 신호 강도 약화에 의해 발생하는 노이즈를 필터링하는 방법들을 각각 사용한다. ubiTrack은 유비쿼터스 컴퓨팅 환경에서 서로 다른 어플리케이션들의 통신을 지원하는 네트워크 모듈과 연계되어 있어, 단순히 위치 정보에 의존적인 어플리케이션뿐만 아니라 사용자 컨텍스트 정보를 활용하는 어플리케이션 등의 다양한 서비스들에서 쉽게 응용될 수 있다.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2003년도 Proceedings of ACRS 2003 ISRS
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• pp.651-653
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• 2003

As a result of the project 'Development of core technology for open LBS', we developed several solutions such as personal navigation system, mobile game, and emergency system. In this paper, we explain the approach and architecture of these solutions and consider their meaning on spatial information bases and expectation in the future computing environments. The final goal of this suggested solution is to test the efficiency of our open LBS system and verify the applicability and usability in real application environments. Our approaches will be headed to the future ubiquitous computing environments.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.2
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• pp.311-315
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• 2006

Precision location and positioning of Asset within a network is an attractive feature with various applications, especially in indoor environments. Such a demand is met by the standard task group, IEEE 802.15.4a. Several methods, that is, pulse, chirp and chaotic communications have been proposed so far to satisfy the requirements of the standard. Among them, ultra wideband direct chaotic communications has advantageous features such as low hardware complexity, low cost, lower power consumption and flexible frequency band plan. In this paper, the feasibility of the ranging system using non-coherent chaotic transceiver is investigated by designing and implementing the system and the performance is proved by conducting location experiments in real indoor environments.

• ETRI Journal
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• 제29권1호
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• pp.107-109
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• 2007

In location-based services, most trigger technologies have been implemented on the server side by periodically requesting the locations of mobile phones from mobile network servers. However, bottlenecks and communication interruptions occur when the servers are overloaded by trigger requests. In this letter, we propose a new multilevel location trigger specification which distributes the event detecting role to mobile phones and redesigns the location triggering into a multilevel step. Our suggested location trigger specification can reduce bottlenecks caused by triggers in a mobile core network and reduce power consumption caused by embedded GPS devices in mobile phones.