• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1775-1780
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• 2005

One of the most important factors so that mobile objects can achieve their purpose is the information about their positions. In this paper, we propose an improved beacon system, to which ultrasonic sensors are attached, for the indoor localization of mobile objects. We have researched so that it can cover the wider space and estimate more accurate positions than the existent beacon systems. The existent beacon systems have the constraint that one beacon cannot cover wide area since ultrasonic sensors have limits in the angle of signal (beam-angle) on which their signal strength depends. Hence, we used the active beacon which consists of a pan-tilt mechanism and a beacon module. The active beacon system can always aim at mobile objects in order to transmit the strongest signal of the ultrasonic sensors into the objects using the pan-tilt mechanism. In addition, this system is inexpensive because it can decrease the number of beacons by about a half of the beacons of the existent system. Finally, the results show what is the difference between the active beacon system and existent beacon systems, and how accurate it is.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.7
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• pp.734-741
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• 2009

A new localization algorithm is proposed for a fast moving mobile robot, which utilizes only one beacon and the global features of the differential-driving mobile robot. It takes a relatively long time to localize a mobile robot with active beacon sensors since the distance to the beacon is measured by the traveling time of the ultrasonic signal. When the mobile robot is moving slowly the measurement time does not yield a high error. At a higher mobile robot speed, however, the localization error becomes too large to locate the mobile robot. Therefore, in high-speed mobile robot operations, instead of using two or more active beacons for localization, only one active beacon and the global features of the mobile robot are used to localize the mobile robot in this research. The two global features are the radius and center of the rotational motion for the differential-driving mobile robot which generally describe motion of the mobile robot and are used for the trace prediction of the mobile robot. In high speed operations the localizer finds an intersection point of this predicted trace and a circle which is centered at the beacon and has the radius of the distance between the mobile robot and the beacon. This new approach resolves the large localization error caused by the high speed of the mobile robot. The performance of the new localization algorithm has been verified through the experiments with a high-speed mobile robot.

• Journal of Information Processing Systems
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• v.6 no.2
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• pp.147-162
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• 2010

In this paper, we present a fine-grained localization algorithm for wireless sensor networks using a mobile beacon node. The algorithm is based on distance measurement using RSSI. The beacon node is equipped with a GPS sender and RF (radio frequency) transmitter. Each stationary sensor node is equipped with a RF. The beacon node periodically broadcasts its location information, and stationary sensor nodes perceive their positions as beacon points. A sensor node's location is computed by measuring the distance to the beacon point using RSSI. Our proposed localization scheme is evaluated using OPNET 8.1 and compared with Ssu's and Yu's localization schemes. The results show that our localization scheme outperforms the other two schemes in terms of energy efficiency (overhead) and accuracy.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.12
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• pp.1182-1188
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• 2010

This paper proposes a precise localization algorithm for a quickly moving mobile robot. In order to localize a mobile robot with active beacon sensors, a relatively long time is needed, since the distance to the beacon is measured using the flight time of the ultrasonic signal. The measurement time does not cause a high error rate when the mobile robot moves slowly. However, with an increase of the mobile robot's speed, the localization error becomes too high to use for accurate mobile robot navigation. Therefore, in this research into high speed mobile robot operations, instead of using two active beacons for localization an active beacon and dual compass are utilized to localize the mobile robot. This new approach resolves the high localization error caused by the speed of the mobile robot. The performance of the precise localization algorithm was verified by comparing it to the conventional method through real-world experiments.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.6 no.1 s.12
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• pp.47-57
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• 2007

In this paper, optimal parameters of a hopping pilot beacon are analyzed in a CDMA mobile cellular network. The hopping pilot beacon is used for inter-frequency handoff. It can reduce the number of pilot beacons needed for the inter-frequency handoff by transmitting neighbor frequency pilots periodically through a pilot beacon. The optimal parameters for transmission time and period of the hopping pilot bacon are derived by mathematical approach. It is highly recommended that the optimal values for the hopping pilot beacon under various operation environments.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.3
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• pp.293-299
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• 2010

The multiple block localization method in a wide area for multiple robots using iGS is proposed in this paper. The iGS is developed for the indoor global localization using ultrasonic and RF sensors. To measure the distance between a mobile robot and a beacon, the tag on the mobile robot wakes up one beacon to send out the ultrasonic signal and measures the traveling time from the beacon to the mobile robot. As the number of robots is increased, the sampling time of localization also becomes longer. Note that only one robot can localize its own position calling beacons one by one during each of the sampling interval. This is a severe constraint for the localization of multiple robots in a wide area. This paper proposes an efficient localization algorithm for the multiple robots in a wide area which can be divided into multiple blocks. For a given block, a master beacon is designated to synchronize robots. By the access of the synchronization signal, each beacon in the selected group sends out an ultrasonic signal. When the robots in the block receive the ultrasonic signal, they can calculate their own locations based on the distances to the beacons, which are obtained by the multiplication of flight time and velocity of the ultrasonic signal. The efficiency of the algorithm is verified through the real experiments.

• Journal of KIISE
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• v.42 no.2
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• pp.272-279
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• 2015

Concurrent with the more widespread usage of smart devices, mobile users' desires are becoming much more complex. Most IT experts insist that smart devices should have additional functions to satisfy these requirements. In particular, research has concentrated on LBS (Locationbased Service), because it is considered one of the most common mobile service types. Generally, Wi-Fi has a critical limitation for use for LBS services, because it requires new network connection points whenever its location (Network Zone) changes. Unfortunately, GPS also has a systematic problem in providing LBS service in the indoor environment, because of its inaccuracy in processing data. So, to redress these limitations, iBeacon technology has been designed, and is currently used for LBS service instead of Wi-Fi or GPS. By using iBeacon, which is based on Bluetooth 4.0 LE technology, we propose a M-SAS (Mobile-Subway-Alarm-Service System) that could accurately and timely provide its users with various mLBS (micro LBS) services, such as current user location, and subway arrival time.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.8
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• pp.311-317
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• 2016

Many services have been developed that are based on smart devices, and security between devices is emphasized. A beacon on the current IoT(Internet of Things) services has been utilized in the commercial field and is being applied to the services of the home IoT. On the other hand, the beacon is weak to security using Bluetooth-based services. Therefore, it is important to strengthen the security of the beacon. This paper proposes a dual security technique that can enhance the security of beacon-based services. The dual security architecture and security process is proposed based on beacon and authentication service. In addition, mobile application was developed and validated based on the beacon for proving the suitability of the proposed technique. The experimental method for verification are the authentication failure case, such as 1st authentication fail, and authentication success case, such as 1st authentication success and 2nd authentication success. The components of the verification experiments consists of two beacons (matched with Beacon ID, mismatched with Beacon ID), one mobile device and authentication application. This was tested to verify the compatibility of the dual security architecture and 1st/2nd authentication process.

• IEMEK Journal of Embedded Systems and Applications
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• v.16 no.5
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• pp.195-200
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• 2021

In this paper, we propose a method for a mobile robot to estimate a specific location of a service provision target using a beacon-tag for the purpose of providing location-based services (LBS) to users in an indoor environment. To estimate the location, the irregular characteristics and error factors of the received signal strength indicator (RSSI) generated from the beacon are analyzed, and the distance conversion function is derived from the RSSI data extracted by applying a Gaussian filter. Then, the distance data converted from the plurality of beacons estimates an indoor location through a triangulation technique. After that, the improvement in the location estimation is analyzed by applying the temporal confidence reasoning technique. The possibility of providing a LBS of a mobile robot was confirmed through a location estimation experiment for a plurality of designated locations in an indoor environment.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.6
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• pp.1123-1128
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• 2016

Recently BLE beacon has been widely used as a method for measuring the indoor location in the IoT Technique. But it requires a filtering technique for the measurement of the correct position. It is used the most fixed beacon. It is not accurate that calculates the position information through the identification of the beacon signal. Therefore, filtering is important. So it takes a lot of time, position measurement and filtering. Thus, we is to measure the exact position at the indoor using a mobile beacon. The measured beacon signal is composed of an ontology for reuse in the same pattern. RSSI is measured the receiver is the distance of the beacon. And this value configure the location ontology to be normalized by the relationship analysis between the values. The ontology is a method for calculating the position information of the moving beacon. It can detect fast and accurate indoor position information and provide the service.