• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.1
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• pp.197-203
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• 2010

The problem of location awareness in wireless sensor networks where nodes use GPS (Global Positioning System), remains challenging problem, when considering the required large energy consumption during the localization phase. In this paper we designed hardware for GPS based localization and propose a framework, called ELS, to consume low cost energy. In the ELS framework, sensor nodes are equipped with GPS. Because GPS spends large energy for position awareness, conventional localization algorithms cannot use GPS-device. We try to find a solution for efficient energy expenditure of GPS. Finally, we derive optimal transmission power of GPS data and a scheme of localization through experiment and simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.9
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• pp.861-867
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• 2006

This paper presents the robust mobile robot localization method exploiting redundant motion information acquired from three optical mice that are installed at the bottom of a mobile robot in a regular triangular form. First, we briefly introduce a low-cost optical motion sensor, HDNS-2000, and a commercial device driver development tools, WinDriver, to be used in this research. Second, we explain the basic principle of the mobile robot localization using the motion information from three optical mice, and propose the least squares based localization algorithm which is robust to the noisy measurement and partial malfunctioning of optical mice. Third, we describe the development of the experimental optical odometer using three PC optical mice and the user-friendly graphic monitoring program. Fourth, simulations and experiments are performed to demonstrate the validity of the proposed localization method and the operation of the developed optical odometer. Finally, along with the conclusion, we suggest some future work including the installation parameter calibration, the optical mouse remodelling, and the high-performance motion sensor adoption.

• Journal of information and communication convergence engineering
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• v.17 no.3
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• pp.205-212
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• 2019

Motion tracking and localization devices are an important building block of motion tracking systems in a virtual reality (VR) environment. This study is about improving the accuracy of motion and location for enhancing user immersion in experience type VR environment to position tracking technique. In this study, we propose and test a design of such a device. The module data test of the attitude and heading reference system shows that the implementation with the MPU-9250 sensor is successful and adequate to be used with short operation time. We consider various sensor hardware dependencies of VR, and compare various correction methods and filtering methods to lower the motion to photon (MTP) time that user movement is fully reflected on the display using sensor devices. The Kalman filter is used to combine the accelerometer with the gyroscope in the sensing unit.

• Advances in nano research
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• v.13 no.3
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• pp.259-267
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• 2022

Two-dimensional (2D) transition metal carbides/nitrides or "MXenes" belong to a diverse-class of layered compounds, which offer composition- and electric-field-tunable electrical and physical properties. Although the majority of the MXenes, including Ti₃C₂T_x, are metallic, they typically show semiconductor-like behaviour in their percolated thin-film structure; this is also the most common structure used for fundamental studies and prototype device development of MXene. Magnetoconductance studies of thin-film MXenes are central to understanding their electronic transport properties and charge carrier dynamics, and also to evaluate their potential for spin-tronics and magnetoelectronics. Since MXenes are produced through solution processing, it is desirable to develop deposition strategies such as inkjet-printing to enable scale-up production with intricate structures/networks. Here, we systematically investigate the extrinsic negative magnetoconductance of inkjetprinted Ti₃C₂T_x MXene thin-films and report a crossover from weak anti-localization (WAL) to weak localization (WL) near 2.5K. The crossover from WAL to WL is consistent with strong, extrinsic, spin-orbit coupling, a key property for active control of spin currents in spin-orbitronic devices. From WAL/WL magnetoconductance analysis, we estimate that the printed MXene thin-film has a spin orbit coupling field of up to 0.84 T at 1.9 K. Our results and analyses offer a deeper understanding into microscopic charge carrier transport in Ti₃C₂T_x, revealing promising properties for printed, flexible, electronic and spinorbitronic device applications.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.3
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• pp.249-255
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• 2007

Under the situation of a fire, it is difficult for a rescue robot to use sensors such as vision sensor, ultrasonic sensor or laser distance sensor because of diffusion, refraction or block of light and sound by dense smoke. But, braille blocks that are installed for the visaully impaired at public places such as subway stations can be used as a map for autonomous mobile robot's localization and navigation. In this paper, we developed a laser sensor stan device which can detect braille blcoks in spite of dense smoke and integrated the device to the robot developed to carry out rescue mission in various hazardous disaster areas at KIST. We implemented MCL algorithm for robot's attitude estimation according to the scanned data and transformed a braille block map to a topological map and designed a nonlinear path tracking controller for autonomous navigation. From various simulations and experiments, we could verify that the developed laser sensor device and the proposed localization method are effective to autonomous tracking of braille blocks and the autonomous navigation robot system can be used for rescue under fire.

• Journal of Internet of Things and Convergence
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• v.2 no.4
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• pp.35-39
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• 2016

This paper is about IoT(Internet of Things)-based indoor localization scheme. GPS and WiFi are widely used to estimate the location of things. However, GPS has drawback of poor reception and radio disturbance in doors. To estimate the location in WiFi-based method, the user collects the information by scanning nearby WiFi(s) and transferring the information to WiFi database server. This is a fingerprint method with disadvantage of having an additional DB server. IoT is the internetworking of things, and this is on rapid rise. I propose the IoT-based indoor localization scheme. Under the proposed method, a device internetworking with another device with its own location information like GPS coordinate can estimate its own location through RSSI. With more devices localizing its own, the localization accuracy goes high. The proposed method allows the user to estimate the location without GPS and WiFi DB server.

• Journal of Drive and Control
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• v.19 no.4
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• pp.97-103
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• 2022

Low fertility rates and increased life expectancy further exacerbate the process of an aging society. This is also reflected in the gradual increase in the proportion of vulnerable groups in the social population. The demand for improved mobility among vulnerable groups such as the elderly or the disabled has greatly driven the growth of the electric-assisted mobility device market. However, such mobile devices generally require a certain operating capability, which limits the range of vulnerable groups who can use the device and increases the cost of learning. Therefore, autonomous driving technology needs to be introduced to make mobility easier for a wider range of vulnerable groups to meet their needs of work and leisure in different environments. This study uses mini PC Odyssey, Velodyne Lidar VLP-16, electronic device and Linux-based ROS program to realize the functions of working environment recognition, simultaneous localization, map generation and navigation of electric powered mobile devices for vulnerable groups. This autonomous driving mobility device is expected to be of great help to the vulnerable who lack the immediate response in dangerous situations.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.6
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• pp.768-775
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• 2009

In this paper, the sound source localization system in real time which uses the time delay of arrival signal is proposed. This system uses minimum microphones and surveillance camera for estimation of the sound source localization and sound direction. To apply this system to the military field, four models(model1~model4) are derived. Model 1 can be used to evaluate the sound source localization at the long distance. Model2 and model3 can be applied to estimate the sound direction. Model4 is useful for the special purpose and potable device. It is possible for this system to be used for the military guard and surveillance. As a result of experiments, It is shown that this system can estimate the sound source localization and the sound direction using minimum microphones.

• Journal of Internet Computing and Services
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• v.11 no.1
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• pp.27-33
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• 2010

This paper applies Bayesian Markov inferred localization techniques for determining ZigBee mobile device's position. To evaluate its accuracy, we compare it with conventional technique, map-based localization. While the map-based localization technique referring to database of predefined locations and their RSSI data, the Bayesian Markov inferred localization is influenced by changes of time, direction and distance. All determinations are drawn from the estimation of Received Signal Strength (RSS) using ZigBee modules. Our results show the relationship between RSSI and distance in indoor ZigBee environment and higher localization accuracy of Bayesian Markov localization technique. We conclude that map-based localization is not suitable for flexible changes in indoors because of its predefined condition setup and lower accuracy comparing to distance-based Markov Chain inference localization system.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.40 no.1
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• pp.217-225
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• 2015

Recently, as the supply of smart phone is spreading and the exhibition industries are rapidly growing, future exhibitions are evolving toward active, customized, interactive, tangible services, which can give more satisfaction to visitors. To realize this services, the indoor localization in the exhibition of visitors is very important and according to the accuracy of localization the quality of services for exhibition are also different. In this paper, state-of-the art indoor localization techniques are investigated and new localization method are proposed. To achieve this goal, future exhibition service types are proposed, which are connected with IT technology. And also, BLE(Bluetooth Low Energy) technology including comparison of specifications and representative localization technologies are analysed. Furthermore we performed comparison study and simulation between RF and VLC channels. Finally based on this, we proposed converged VLC and RF(Wi-Fi and BLE) localization technique for exhibition.