• IEIE Transactions on Smart Processing and Computing
• /
• v.1 no.2
• /
• pp.106-116
• /
• 2012

The huge success of location-aware applications has called for the rapid development of an alternative positioning system to the global positioning system (GPS) for indoor localization based on existing technologies, such as 802.11 wireless networks. This paper proposes the Wireless MAC Processor Positioning System (WMPS), which is a localization system running on off-the-shelf 802.11 Access Points and based on the time-of-flight ranging of users' standard terminals. This paper proves through extensive experiments that the propagation delays can be measured with the accuracy required by indoor applications despite the different noise components that can affect the result: latencies of the hardware transreceivers, multipath, ACK jitters and timer quantization. Key to this solution is the choice of the Wireless MAC Processor architecture, which enables a straightforward implementation of the ranging subsystem directly inside the commercial cards without affecting the basic DCF channel access algorithm. In addition to the proposed measurement framework, this study developed a simple and effective localization algorithm that can work without requiring any preliminary calibration or device characterization. Finally, the architecture allows the measurement methodology to be adjusted as a function of the network load or propagation environments at the run time, without requiring any firmware update.

• ETRI Journal
• /
• v.37 no.2
• /
• pp.262-272
• /
• 2015

In particular, for a practical mobile robot team to perform such a task as that of carrying out a search and rescue mission in a disaster area, the network connectivity and localization have to be guaranteed even in an environment where the network infrastructure is destroyed or a Global Positioning System is unavailable. This paper proposes the new collective intelligence network management architecture of multiple mobile robots supporting seamless network connectivity and cooperative localization. The proposed architecture includes a resource manager that makes the robots move around and not disconnect from the network link by considering the strength of the network signal and link quality. The location manager in the architecture supports localizing robots seamlessly by finding the relative locations of the robots as they move from a global outdoor environment to a local indoor position. The proposed schemes assuring network connectivity and localization were validated through numerical simulations and applied to a search and rescue robot team.

• The Journal of Korea Robotics Society
• /
• v.11 no.3
• /
• pp.127-132
• /
• 2016

For a practical mobile robot team such as carrying out a search and rescue mission in a disaster area, the localization have to be guaranteed even in an environment where the network infrastructure is destroyed or a global positioning system (GPS) is unavailable. The proposed architecture supports localizing robots seamlessly by finding their relative locations while moving from a global outdoor environment to a local indoor position. The proposed schemes use a cooperative positioning system (CPS) based on the two-way ranging (TWR) technique. In the proposed TWR-based CPS, each non-localized mobile robot act as tag, and finds its position using bilateral range measurements of all localized mobile robots. The localized mobile robots act as anchors, and support the localization of mobile robots in the GPS-shadow region such as an indoor environment. As a tag localizes its position with anchors, the position error of the anchor propagates to the tag, and the position error of the tag accumulates the position errors of the anchor. To minimize the effect of error propagation, this paper suggests the new scheme of full-mesh based CPS for improving the position accuracy. The proposed schemes assuring localization were validated through experiment results.

• Convergence Security Journal
• /
• v.10 no.2
• /
• pp.11-17
• /
• 2010

Recent technological advances allow us to envision a future where large numbers of low-power, inexpensive sensor devices are densely embedded in the physical environment, operating together in a wireless network. This paper considers localization for mobile sensors; localization must be invoked periodically to enable the sensors to track their location. Localizing more frequently allows the sensors to more accurately track their location in the presence of mobility. In this paper, we test and analyze the accuracy of a moving node localization by Received Signal Strength (RSS).

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.39C no.10
• /
• pp.920-929
• /
• 2014

Recently, embedded system which demand is explosively increasing in the fields of communication, traffic, medical and industry facilities, expands to cyber physical system (CPS) which monitors and controls the networked embedded systems. In addition, internet of things(IoT) technology using wearable devices such as Google Glass, Samsung Galaxy Gear and Sony Smart Watch are gaining attention. In this situation, Samsung Smart Home and LG Home Chat are released one after another. However, since these services can be available only between smart phones and home appliances, there is a disadvantage that information cannot be passed to other terminals without commercial global messaging server. In this paper, to solve above issues, we propose the structure of an indoor location network based on unit space, which prevents the information of the devices or each individual person from leaking to outside and can selectively communicate to all existent terminals in the network using IoT chatting. Also, it is possible to control general devices and prevent external leakage of private information.