• 제어로봇시스템학회논문지
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• 제2권4호
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• pp.330-336
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• 1996

An real-time active beacon localization system for mobile robots is developed and implemented. This system permits the estimation of robot positions when detecting light sources by PSD(Position Sensitive Detector) sensor which are placed sparsely over the robots work space as beacons(or landmarks). An LSE(Least Square Estimation) method is introduced to calibrate the internal parameters of a model for the beacon and robot position. The proposed system has two operational modes of position estimation. One is the initial position calculation by the detection of two or more light sources positions of which are known. The other is the continuous position compensation that calculates the position and heading of the robot using the IEKF(Iterated Extended Kalman Filter) applied to the beacon and dead-reckoning data. Practical experiments show that the estimated position obtained by this system is precise enough to be useful for the navigation of robots.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.916-919
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• 1996

An real-time active beacon localization system for mobile robots is developed and implemented. This system permits the estimation of robot positions when detecting light sources by PSD(Position Sensitive Detector) sensor which are placed sparsely over the robot's work space as beacons(or landmarks). An LSE(Least Square Estimation) method is introduced to calibrate the internal parameters of a model for the beacon and robot position. The proposed system has two operational modes of position estimation. One is the initial position calculation by the detection of two or more light sources positions of which are known. The other is the continuous position compensation that calculates the position and heading of the robot using the IEKF(Iterated Extended Kalman Filter) applied to the beacon and dead-reckoning data. Practical experiments show that the estimated position obtained by this system is precise enough to be useful for the navigation of robots.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2009년도 춘계학술발표대회
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• pp.1178-1181
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• 2009

Geographic forwarding algorithms을 사용하는 Georouting protocol에서는 route maintenance을 위해서 고정된 주기마다 beacon message을 이웃노드에 전송하는 fixed periodical beacon based route algorithm을 사용하여 mobile node 정보를 습득한다. Fixed periodical beacon scheme에서의 기존 연구 이슈는 이웃노드 정보의 신뢰성을 유지하기 위해서 다양한 mobility environment 환경에 맞도록 beacon 전송주기를 적절히 결정하는 연구가 진행되어 왔다. 이와 같은 연구에서는 long periodical interval 사용 시 이웃노드의 위치정보 error을 발생시킬 확률이 높으며 또한 short periodical interval 의 경우 네트워크 내에 high route overhead 을 유발시키는 단점을 가지고 있다. 따라서 고정된 주기 방법은 다양한 mobility environment에 잘 적용되지 못하며 또한 mobility environment 에서 발생하는 route maintenance 내에 이웃노드 정보에 대한 불확실성 문제가 빈번이 발생하여 경로 설정에 잘못된 정보를 제공하여 경로 신뢰성(path reliability)과 낮은 전송률 (transmission rate)을 야기한다. 본 논문에서는 이런 이웃노드 정보의 불확실성 문제를 극복하기 위해서 mobile node가 스스로 자신의 위치를 체크하여 routing table을 능동적으로 갱신하는 방법을 이용하여 이 문제를 극복할 수 있도록 하였다. 모의 실험은 ns2를 이용하여 실시하였으며 결과는 low/high mobility scenario에서는 기존 방법 보다 routing overhead 을 줄이면서 높은 전송률 (transmission rate)을 보인다.

• 한국통신학회논문지
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• 제36권4B호
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• pp.378-385
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• 2011

본 논문에서는 제한된 실험 영역이 아닌 실제 영역에서 동적으로 비컨노드를 배치할 수 있는 3차원 삼각측량 알고리즘을 제안하고 이를 위치인식 시스템에 적용한 후 그 성능을 분석하였다. 비컨노드와 이동노드간의 거리를 계산함에 있어서 기존의 삼각측량법에서는 이들 노드간의 거리를 반지름으로 하는 3개의 원이 중첩되는 2차원 지점을 계산하지만, 제안하는 알고리즘에서는 3개의 구 표면이 중첩되는 3차원 지점을 계산하는 방법을 적용한다. 또한 제안하는 알고리즘에 의한 위치인식 시스템의 성능을 분석하기 위해 먼저 비컨노드의 배치형태를 실제의 모형으로 제작하고, 사면체인 실제 모형을 컴퓨터에서 시뮬레이션 할 수 있도록 이동노드의 거리 값 및 비컨노드 간의 임의의 거리 값 10개를 추출하여 모델링하였다. 그 다음 제안된 알고리즘과 2 차원 삼각측량법에 의해 계산된 각 이동노드의 2차원 좌표를 서로 비교하고, 제안하는 알고리즘의 3차원 좌표(z축)에 대한 위치정확도를 실제 모형의 3차원 좌표와 비교하여 확인하였다.

• 한국정보통신학회논문지
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• 제20권11호
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• pp.2073-2078
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• 2016

최근 센서 데이터 통합최근 센서를 통한 상황인지는 많은 연구가 진행되고 있다. 그러나 센서 데이터의 수집과 분석은 아직 통합이 부족하다. 이는 센서에서 발생하는 데이터에 대하여 메타데이터, 규격, 단위, 검출된 값에서 일치시키기 어렵기 때문이다. 따라서 다양한 센서에서 발생하는 데이터를 효율적으로 이용하기 위한 방법론이 필요하다. 본 논문에서는 이동하는 iBeacon에서 발생하는 정보를 통하여 위치를 인식하는 시스템을 제안하고자 한다. 본 시스템은 iBeacon을 착용한 환자가 실내에서 이동할 때 정확한 위치를 인식할 수 있는 데이터를 표본으로 온톨로지를 구축한다. 이는 기본 항목과 센서의 항목을 매핑하고, 검출된 값으로 필터링을 수행한 결과를 지식으로 저장한다. 이에 제안 시스템은 온톨로지를 통하여 iBeacon을 휴대한 환자가 실내에서 이동하여 발생하는 값을 인식함으로써 효율적인 위치정보를 추출할 수 있다. 이는 비콘 뿐만 아니라 다른 센서에 적용이 가능하고, 온톨로지 구성방법에 따라 다양한 적용이 가능하다.

• 대한임베디드공학회논문지
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• 제12권4호
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• pp.213-221
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• 2017

Utilizing the existing polishing robot prevents unrestricted change of direction, driving, and identification of driving pathway. To overcome this barrier, driving mechaism has been designed with Omniwheels with encoders and RSSI method of beacon system has been utilized to identify the driving path by position recognition. Due to the wheel characteristics, the Omniwheel mobile robot generates greater slip than the conventional mobile robot, which reduces its driving accuracy. Therefore, to improve the driving accuracy, the localization is conducted through the fusion of encoder and RSSI of beacon data to compensate for the errors caused by Dead Reckoning and inaccuracy of sensors. Finally, the localization accuracies of the proposed and conventional indoor localization method are compared to show effectiveness of the proposed driving control for a polishing robot.

• 산경연구논집
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• 제5권4호
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• pp.23-29
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• 2014

Purpose - This thesis aims to propose a method to help financial institutions improve their customers' convenience online and offline through a Bluetooth based App using the tool of a beacon. The emergence of smartphones in the 21st century and their increasing use makes it possible to search for information easily. Research design, data, and methodology - With the short-distance Bluetooth technology for smartphones, which finds users within a radius of 50m to provide the functions of message transmission and mobile payment, users can access information services and use mobile coupons in certain premises. Thus, beacon-based O2O technology has been developed. Results - This study offers a method of attracting customers through an O2O marketing strategy that overcomes the existing limitations of Web and Offline media. Conclusions -Since beacon technology has the advantage of more accurate positioning than GPS, financial institutions provide their product information for users through the basic function of a beacon, using an O2O (Online to Offline) marketing solution and, therefore, effectively enable customers to make relevant payments online and conduct their financial actions offline.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1993년도 추계학술대회 논문집
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• pp.570-574
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• 1993

This paper proposes a new method of estimating the position and heading angle of a mobile robot moving on a flat surface. The proposed localization method utilizes two passive beacons and a single rotating ultrasonic sensor. The passive beacons consist of two cylinders with different diameters and reflect the ultrasonic pulses coming from the sonar sensor mounted on the mobile robot. The geometric parameter set of beacon is acquired from the sonar scan data obtained at a single mobile robot location using a new data processing algorithm. Form this parameter set, the position and heading angle of the mobile robot is determined directly. The performance and validity of the proposed method are evaluated using two beacons and a single sonar sensor attached at the pan-tilt device mounted on a mobile robot, named LCAR, in our laboratory.

• 로봇학회논문지
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• 제2권3호
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• pp.221-226
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• 2007

A robust position-sensing system is proposed in this paper for ubiquitous mobile robots which move indoor as well as outdoor. The Differential GPS (DGPS) which has position estimation error of less than 5 m is a general solution when the mobile robots are moving outdoor, while an active beacon system (ABS) with embedded ultrasonic sensors is selected as an indoor positioning system. The switching from the outdoor to indoor or vice versa causes unstable measurements on account of the reference and algorithm changes. To minimize the switching time in the position estimation and to stabilize the measurement, a robust position-sensing system is proposed. In the system, to minimize the switching delay, the door positions are stored and updated in a database. The reliability and accuracy of the robust positioning system based on DGPS and ABS are verified through the real experiments using a mobile robot prepared for this research and demonstrated.

• 제어로봇시스템학회논문지
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• 제11권12호
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• pp.996-1001
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• 2005

Recently, with the development of service robots and with the new concept of ubiquitous world, the position estimation of mobile objects has been raised to an important problem. As pre-liminary research results, some of the localization schemes are introduced, which provide the relative location of the moving objects subjected to accumulated errors. To implement a real time localization system, a new absolute position estimation method for a mobile robot in indoor environment is proposed in this paper. Design and implementation of the localization system comes from the usage of active beacon systems (based upon RFID technology). The active beacon system is composed of an RFID receiver and an ultra-sonic transmitter: 1. The RFID receiver gets the synchronization signal from the mobile robot and 2. The ultra-sonic transmitter sends out the traveling signal to be used for measuring the distance. Position of a mobile robot in a three dimensional space can be calculated basically from the distance information from. Three beacons and the absolute position information of the beacons themselves. In some case, the mobile robot can get the ultrasonic signals from only one or two beacons, because of the obstacles located along the moving path. Therefore, in this paper, as one of our dedicated contribution, the position estimation scheme with less than three sensors has been developed. Also, the extended Kalman filter algorithm is applied for the improvement of position estimation accuracy of the mobile robot.