• Journal of Institute of Control, Robotics and Systems
• /
• v.16 no.5
• /
• pp.433-439
• /
• 2010

This paper proposes a beacon color code scheduling algorithm for the localization of multiple robots in a multi-block workspace. With the developments of intelligent robotics and ubiquitous technology, service robots are applicable for the wide area such as airports and train stations where multiple indoor GPS systems are required for the localization of the mobile robots. Indoor localization schemes using ultrasonic sensors have been widely studied due to its cheap price and high accuracy. However, ultrasonic sensors have some shortages of short transmission range and interferences with other ultrasonic signals. In order to use multiple robots in wide workspace concurrently, it is necessary to resolve the interference problem among the multiple robots in the localization process. This paper proposes an indoor localization system for concurrent multiple robots localization in a wide service area which is divided into multi-block for the reliable sensor operation. The beacon color code scheduling algorithm is developed to avoid the signal interferences and to achieve efficient localization with high accuracy and short sampling time. The performance of the proposed localization system is verified through the simulations and the real experiments.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.2
• /
• pp.119-124
• /
• 2013

Recent increasing demand on the indoor localization requires more advanced and hybrid technology. This paper proposes an application of the hybrid indoor localization method based on a position-coded pattern that can be used with other existing indoor localization techniques such as vision, beacon, or landmark technique. To reduce the pattern-recognition error rate, the error detection and correction algorithm was applied based on Hamming code. The indoor localization experiments based on the proposed algorithm were performed by using a QCIF-grade CMOS sensor and a position-coded pattern with an area of $1.7{\times}1.7mm^2$. The experiments have shown that the position recognition error ratio was less than 0.9 % with 0.4 mm localization accuracy. The results suggest that the proposed method could be feasibly applied for the localization of the indoor mobile service robots.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.34 no.8A
• /
• pp.575-582
• /
• 2009

The localization algorithm(LAtu) using the IDentification Code($C_{ID}$) is suggested in RSS(Received Signal Strength) based Wireless Sensor Network(WSN), and the localization system using the suggested algorithm is designed and implemented in this paper. In addition to this, the performance of ranging correction quality and localization error of the localization system(System(LAtu)) that is developed using the LAtu is analyzed and compared with that of the localization system(System(LAieee)) using the channel model of IEEE 802.15.4 standard(LAieee) by the actual experimentation. From the experimentation, the ranging correction quality is analyzed that the LAtu is highly better than the channel model of LAieee about 34% under the distance between the moving module and the beacon module($D_{MM-BM}$) is 2m, and is also a few better than that of the LAieee about average 5% under the $D_{MM-BM}$ is above 5m. The localization error quality of the System(LAtu) is lower than that of the System(LAieee)) about 1cm under the lecture room and 4cm in the large lecture room.

• Journal of Advanced Marine Engineering and Technology
• /
• v.39 no.9
• /
• pp.959-966
• /
• 2015

In this paper, we propose an indoor visible light communication(VLC) localization using Walsh code which can identify overlapped signals transmitted from the different LED sources as each of orthogonal signal at a receiver and using Manchester code which can eliminate the flicker of LED light and maintain a constant brightness. The proposed system can estimate the relative position of the receiver by using Lambertian radiation properties and trilateration method that are applied to the location information of fixed LED sources and the received signals from them. In order to verify the feasibility of the proposed system, we carried out the simulation in an indoor space with $6{\times}6{\times}1.5m^3$ installed LED lamps of 16. The simulation result shows that the proposed method achieves an average positioning error of 0.0536 m and a maximum positioning error of 0.2977 m.

• International Journal of Aeronautical and Space Sciences
• /
• v.14 no.2
• /
• pp.112-121
• /
• 2013

An approach for composing a performance optimized computational code is suggested for the latest microprocessors. The concept of the code optimization, termed localization, is maximizing the utilization of the second level cache that is common to all the latest computer systems, and minimizing the access to system main memory. In this study, the localized optimization of the LU-SGS (Lower-Upper Symmetric Gauss-Seidel) code for the solution of fluid dynamic equations was carried out in three different levels and tested for several different microprocessor architectures widely used these days. The test results of localized optimization showed a remarkable performance gain of more than two times faster solution than the baseline algorithm for producing exactly the same solution on the same computer system.

• IEMEK Journal of Embedded Systems and Applications
• /
• v.13 no.3
• /
• pp.161-167
• /
• 2018

The improvement of the social environment and the rapid development of medicine are making possible the age of 100. So a great number of countries including Korea are rapidly becoming the aged society or the super aged society. The elderly are accompanied by discomfort and disability. A variety of systems are developed and distributed to overcome them. The electric wheelchair is an electric motorized system for people who can not manipulate a manual wheelchair. In this paper, we propose an autonomous driving platform for an electric wheelchair. Here we use QR (Quick Response) code for self-localization. We also present real test results of the proposed system.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.7
• /
• pp.614-619
• /
• 2013

In multi-robot systems, ultrasonic sensors are widely used for localization and/or obstacle detection. However, conventional ultrasonic sensors have a drawback, that is, the interference problem among ultrasonic transmitters. There are some previous studies to avoid interferences, such as TDMA (Time Division Multiple Access) and CDMA (Code Division Multiple Access). In multiple autonomous mobile robots systems, the Doppler-effect has to be considered because ultrasonic transceivers are attached to the moving robots. To overcome this problem, we find out the ASK (Amplitude Shift Keying)-CDMA technique is more robust to the Doppler-effect than the BPSK (Binary Phase Shift Keying)-CDMA technique. In this paper, we propose a new code-expression method and a Monte-Carlo based algorithm that optimizes the ultrasonic code combination in the ASK-CDMA ultrasonic system. The experimental results show that the proposed algorithm improves the performance of the ultrasonic multiple accessing capacity in the ASK-CDMA ultrasonic system.

• The Journal of the Korea Contents Association
• /
• v.5 no.4
• /
• pp.150-159
• /
• 2005

With the increase of interest in ubiquitous computing, image code is attracting attention in various areas. Image code is important in ubiquitous computing in that it can complement or replace RFID (radio frequency identification) in quite a few areas as well as it is more economical. However, because of the difficulty in reading precise colors due to the severe distortion of colors, its application is quite restricted by far. In this paper, we present an efficient method of image code recognition including automatically locating the image code using the hue and saturation values. In our experiments, we use an image code whose design seems most practical among currently commercialized ones. This image code uses six safe colors, i.e., R, G, B, C, M, and Y. We tested for 72 true-color field images with the size of $2464{\times}1632$ pixels. With the color calibration based on the histogram, the localization accuracy was about 96%, and the accuracy of color classification for localized codes was about 91.28%. It took approximately 5 seconds to locate and recognize the image code on a PC with 2 GHz P4 CPU.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.2
• /
• pp.156-160
• /
• 2008

A localization system to estimate the position as well as movement direction of mobile robots is proposed in this paper. This system implements a camera fixed on a robot and color patches evenly distributed and mounted on the planar ceiling. Different permutations of patch colors code information about robot localization. Thus, extraction of color information from patch images leads to estimation of robot position. Additionally, simple geometric indicators are combined with patch colors to estimate robot's movement direction. Since only the distribution of patch colors has to be known, the analysis of patch images to is relatively fast and simple. The proposed robot localization system has been successfully tested for navigation of sample mobile robot. Obtained test results indicate the robustness and reliability of proposed technique for robot navigation.

• Advances in concrete construction
• /
• v.1 no.1
• /
• pp.103-119
• /
• 2013

The applicability of limit analysis methods in design and assessment of concrete structures generally requires a certain plastic deformation capacity. The latter is primarily provided by the ductility of the reinforcement, being additionally affected by the bond properties between reinforcing steel and concrete since they provoke strain localization in the reinforcement at cracks. The bond strength of reinforcing bars is not only governed by concrete quality, but also by construction details such as bar ribbing, bar spacing or concrete cover thickness. For new concrete structures, a potentially unfavorable impact on bond strength can easily be anticipated through appropriate code rules on construction details. In existing structures, these requirements may not be necessarily satisfied, consequently requiring additional considerations. This two-part paper investigates in a theoretical study the impacts of the most frequently encountered construction details which may not satisfy design code requirements on bond strength, steel strain localization and plastic deformation capacity of cracked structural concrete. The first part introduces basic considerations on bond, strain localization and plastic deformation capacity as well as the fundamentals of the Tension Chord Model underlying the further investigations. It also analyzes the impacts of the hardening behavior of reinforcing steel and concrete quality. The second part discusses the impacts of construction details (bar ribbing, bar spacing, and concrete cover thickness) and of additional structure-specific features such as bar diameter and crack spacing.