• Journal of the Korea Institute of Information and Communication Engineering
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• v.12 no.6
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• pp.1120-1127
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• 2008

This paper presents implementation of localization system using UWB (Ultra-Wide Band) sensors and its experimental results along with development of context-aware services. In order for precise measurement of position, we experimented various conditions of pitch angles, yaw angles, number of sensors, height of tags along with measuring errors at each installation. As an application examples of the location tracking system, we developed an intelligent health training management system based on context-aware technology. The system provides appropriate training schedule to a trainee by recognizing position of the trainee and current status of gymnastic equipments and note the usage of the equipment through a personal digital assistant (PDA). Error compensation on position data and moving direction of the trainee was necessary for context-aware service. Hence, we proposed an error compensation algorithm using velocity of the trainee. Experimental results showed that proposed algorithm had made error data reduce by 30% comparing with the data without applying the algorithm.

• Industrial Engineering and Management Systems
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• v.16 no.1
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• pp.92-102
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• 2017

In this paper, we consider a typical health care system via the help of Wireless Sensor Network (WSN) for wireless patient tracking. The wireless patient tracking module of this system performs localization out of samples of Received Signal Strength (RSS) variations and tracking through a Particle Filter (PF) for WSN assisted by multiple transmit-power information. We propose a modified PF, Kullback-Leibler Distance (KLD)-resampling PF, to ameliorate the effect of RSS variations by generating a sample set near the high-likelihood region for improving the wireless patient tracking. The key idea of this method is to approximate a discrete distribution with an upper bound error on the KLD for reducing both location error and the number of particles used. To determine this bound error, an optimal algorithm is proposed based on the maximum gap error between the proposal and Sampling Important Resampling (SIR) algorithms. By setting up these values, a number of simulations using the health care system's data sets which contains the real RSSI measurements to evaluate the location error in term of various power levels and density nodes for all methods. Finally, we point out the effect of different power levels vs. different density nodes for the wireless patient tracking.

• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.39-47
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• 2014

Odometry using wheel encoders is one of the fundamental techniques for the pose estimation of wheeled mobile robots. However, odometry has a drawback that the position errors are accumulated when the travel distance increases. Therefore, position errors are required to be reduced using appropriate calibration schemes. The UMBmark method is the one of the widely used calibration schemes for two wheel differential drive robots. In UMBmark method, it is assumed that odometry error sources are independent. However, there is coupled effect of odometry error sources. In this paper, a new calibration scheme by considering the coupled effect of error sources is proposed. We also propose the test track design for the proposed calibration scheme. The numerical simulation and experimental results show that the odometry accuracy can be improved by the proposed calibration scheme.

• The Journal of the Acoustical Society of Korea
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• v.23 no.4
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• pp.323-332
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• 2004

Sound localization can be controlled by simulating the transfer functions from sound source to listener's ears. Even by using this method. a good performance cannot be expected when a listener slightly moves from the position where the transfer functions were measured. We have already been proposed the multi-point control method to overcome the problem of the listener's small movement. In this method, the transfer functions are simulated at multiple points around the listner's ears so that the points forms an area which covers the small movement of the listener. In this paper. we investigated the effect of applying multi-point control method for the control of sound localization. Results show that multi-point control is effective to keep the perceptual error of the localized direction small when the listener moves up to 6 cm from the original position.

• The Journal of the Acoustical Society of Korea
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• v.36 no.6
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• pp.419-424
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• 2017

TDoA (Time Difference-of Arrival) or DoA (Direction-of-Arrival) can be used for source localization. However, the localizing performance is dependent on relative position between source and receivers, receivers' geometric structure, sound speed, and so on. In this paper we propose a source localization method with enhanced performance that combines multiple information. The proposed method uses the time TDoA, DoA and sound speed as variables. LM (Levenberg-Marquardt) method which is one of nonlinear optimizations is applied. The performances of the proposed method was evaluated by simulation. As result of simulation, the proposed method has the lower average localizing error performance than the previous method.

• Progress in Medical Physics
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• v.10 no.2
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• pp.89-94
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• 1999

We developed a sterotactic radiosurgery system which is comprised of 1) collimators with small circular aperture, 2) an angiographic target localizer, 3) a target localizer used for alignment of planned target position with isocenter of treatment machine, and 4) a treatment planning system named LinaPel. In this study, we performed a series of treatment simulations to specify and analyze geometrical errors contained our in-house radiosurgery system. As results, 1) using Geometrical Phantom(Radionics,USA), the accuracy of target localization by LinaPel was determined as Avg. =(equation omitted) the accuracy of mechanical isocenter was found out to be 0.6 $\pm$ 0.2 mm, 3) the positional difference of target localization which determined by CT and angiography was 0.8 mm, and their size difference was 1.5 mm, and 4) the positional error during whole treatment was found out to be 0.9 $\pm$ 0.3 mm. With these results, we concluded that our in-house radiosurgery system can be used clinically. However, these range of accuracies need periodical quality assurance strongly.

• Journal of Advanced Navigation Technology
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• v.15 no.6
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• pp.1241-1249
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• 2011

There are TOA, TDOA and AOA method to estimate the position of the electromagnetic wave transmitter by using the multiple receivers at the fixed position. Among these methods, AOA method is suitable for the jammer localization system. Because TOA method can be adopted for the clocks of the transmitter and the receiver are synchronized each other, and TDOA method can be only adopted for a broad-band jamming signal. This paper, therefore, analyzes the characteristics of the AOA measurements and the sensitivity of the positioning performance according to the system design parameters. Based on the analyzed results, the jammer localization system to meet the desired performance is designed, and it has been checked that the positioning error for the jammer located at a distance of 10km is lower than 38m through the simulation results.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.33 no.9B
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• pp.832-844
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• 2008

Distributed localization algorithms are necessary for large-scale wireless sensor network applications. In this paper, we introduce an efficient node distribution based localization algorithm that emphasizes simple refinement and low system load for low-cost and low-rate wireless sensors. Each node adaptively chooses neighbor nodes for sensors, update its position estimate by minimizing a local cost function and then passes this update to the neighbor nodes. The update process considers a distribution of nodes for large-scale networks which have same density in a unit area for optimizing the system performance. Neighbor nodes are selected within a range which provides the smallest received signal strength error based on the real experiments. MATLAB simulation showed that the proposed algorithm is more accurate than trilateration and les complex than multidimensional scaling. The implementation on MicaZ using TinyOS-2.x confirmed the practicality of the proposed algorithm.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.2
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• pp.141-147
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• 2014

This paper proposes a robust localization algorithm and optimal number of receivers considering the detection range of underwater targets. The accuracies of the source position, receiver position and sound velocity are improved using the known positions of underwater objects. The accuracies of these parameters influences the performance of the target localization error. Although the source and receiver positions are obtained by the global positioning system (GPS), there are still positional errors due to GPS and variations in sea temperature. First, the influence of those errors are analyzed mathematically and an algorithm is improved to improve the accuracies of source position, receiver position and sound velocity by using geographic points. The performance of the proposed scheme is evaluated in comparison with the conventional algorithm by computer simulations.

• Nuclear Engineering and Technology
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• v.52 no.4
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• pp.846-855
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• 2020

A loose part monitoring system is used to detect unexpected loose parts in a reactor coolant system in a nuclear power plant. It is still necessary to develop a new methodology for the localization and mass estimation of loose parts owing to the high estimation error of conventional methods. In addition, model-based diagnostics recently emphasized the importance of a model describing the behavior of a mechanical system or component. The purpose of this study is to propose a new localization and mass-estimation method based on finite element analysis (FEA) and optimization technique. First, an FEA model to simulate the propagation behavior of the bending wave generated by a metal sphere impact is validated by performing an impact test and a corresponding FEA and optimization for a downsized steam-generator structure. Second, a novel methodology based on FEA and optimization technique was proposed to estimate the impact location and mass of a loose part at the same time. The usefulness of the methodology was then validated through a series of FEAs and some blind tests. A new feature vector, the cross-correlation function, was also proposed to predict the impact location and mass of a loose part, and its usefulness was then validated. It is expected that the proposed methodology can be utilized in model-based diagnostics for the estimation of impact parameters such as the mass, velocity, and impact location of a loose part. In addition, the FEA-based model can be used to optimize the sensor position to improve the collected data quality in the site of nuclear power plants.