• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.1034-1039
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• 2005

SALM(Simultaneous localization and mapping) and AI(Artificial intelligence) have been active research areas in robotics for two decades. In particular, localization is one of the most important tasks in mobile robot research. Until now expensive sensors such as a laser sensor have been used for mobile robot localization. Currently, the proliferation of RFID technology is advancing rapidly, while RFID reader devices, antennas and tags are becoming increasingly smaller and cheaper. So, in this paper, the smart floor using passive RFID tags is proposed and, passive RFID tags are mainly used for identifying location of the mobile robot in the smart floor. We discuss a number of challenges related to this approach, such as tag distribution (density and structure), typing and clustering. In the smart floor using RFID tags, the localization error results from the sensing area of the RFID reader, because the reader just knows whether the tag is in the sensing range of the sensor and, until now, there is no study to estimate the heading of mobile robot using RFID tags. So, in this paper, two algorithms are suggested to. The Markov localization method is used to reduce the location(X,Y) error and the Kalman Filter method is used to estimate the heading($\theta$) of mobile robot. The algorithms which are based on Markov localization require high computing power, so we suggest fast Markov localization algorithm. Finally we applied these algorithms our personal robot CMR-P3. And we show the possibility of our probability approach using the cheap sensors such as odometers and RFID tags for mobile robot localization in the smart floor

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1797-1801
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• 2005

SLAM(Simultaneous localization and mapping) and AI(Artificial intelligence) have been active research areas in robotics for two decades. In particular, localization is one of the most important issues in mobile robot research. Until now expensive sensors like a laser sensor have been used for the mobile robot's localization. Currently, as the RFID reader devices like antennas and RFID tags become increasingly smaller and cheaper, the proliferation of RFID technology is advancing rapidly. So, in this paper, the smart floor using passive RFID tags is proposed and, passive RFID tags are mainly used to identify the mobile robot's location on the smart floor. We discuss a number of challenges related to this approach, such as RFID tag distribution (density and structure), typing and clustering. In the smart floor using RFID tags, because the reader just can senses whether a RFID tag is in its sensing area, the localization error occurs as much as the sensing area of the RFID reader. And, until now, there is no study to estimate the pose of mobile robot using RFID tags. So, in this paper, two algorithms are suggested to. We use the Markov localization algorithm to reduce the location(X,Y) error and the Kalman Filter algorithm to estimate the pose(q) of a mobile robot. We applied these algorithms in our experiment with our personal robot CMR-P3. And we show the possibility of our probability approach using the cheap sensors like odometers and RFID tags for the mobile robot's localization on the smart floor.

• Journal of the Korea Institute of Information Security & Cryptology
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• v.16 no.2
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• pp.81-94
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• 2006

This study, in particular, aims to regulate the core techniques of ubiquitous computing, such as the use of an ad hoc network and the smart-tag technique, and to look more closely into RFID Tag's smart-tag-related security service. The study aims to do so because several important technical factors and structures must be taken into account for RFID Tag to be applied in the ubiquitous-computing-related infrastructure, and the security of the tag is considered one of the core technologies. To realize secure ubiquitous computing in the case of the Passive-tag-Performing RF communication, a less costly security service, the technical items needed to carry this out, a security service to be applied to passive tags, and network management techniques are required. Therefore, the passive-tag-based networks as the authentication level is established based on the secure authentication of each tag and the service that the tag delivers in the passive-tag-based networks and as the same service and authentication levels are applied, and the active-tag-based network system proposed herein is not merely a security service against illegal RFID tags by performing a current-location and service registration process after the secure authentication process of the active RFID tag, but is also a secure protocol for single and group services, is proposed in this study.

• 전자공학회논문지 IE
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• v.48 no.1
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• pp.45-50
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• 2011

In this paper, different RFID tag types compliant with UHF frequency based RFID system were chosen to build RFID tag embedded concrete blocks. Then, by placing the tags in systematically varied depths of a concrete block, we could measure the RF signal attenuation pattern as the performance indicator of a specific concrete embedded RFID system. Experiments show that the concrete mixing ratio makes no significant difference in tag detection performance level. The significance of the developed RFID system lies in its capability of eliminating GPS's error and shadow area as well as providing smart infrastructure for supporting truly pervasive ubiquitous computing applications especially in outdoor environment.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.2
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• pp.158-163
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• 2010

In this paper, we propose the location measurement algorithm of unknown tag based on RFID (Radio-Frequency IDentification) by using RSSI (Received Signal Strength Indication) and TDOA (Time Difference of Arrival) and extended Kalman filter in smart space. To do this, first, we recognize the location of unknown tag by using the RSSI and TDOA recognition methods. Second, we set the coordinate of the tag location measured by using trilateration and SX algorithm. But the tag location data measured by this method are included complex environmental error. So, we use the extended Kalman filter in order to revise error data of the tag location. Finally, we validate the applicability of the proposed method though the simulation in a complex environment.

• Proceedings of the Korean Society of Computer Information Conference
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• 2009.01a
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• pp.477-483
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• 2009

총기 및 무기류와 같은 특수자산에 대한 관리에 있어서 문제가 발생하면 사회 및 시민들에게 큰 재난을 가져올 수 있다. 이러한 특수자산을 통합 관리하고, 위험요소를 제거할 수 있는 리스크 관리 및 실시간으로 모니터링 할 수 있는 시스템이 필요하다. RFID 기반의 스마트 케비넷은 비접촉식 식별 장치인 RFID TAG를 이용하여 케비넷 내의 무기류에 대한 관리와 실시간 모니터링을 할 수 있는 시스템이다. 본 연구에서는 임베디드 시스템으로 구성된 RFID 기반의 스마트 케비넷과 케비넷의 정보를 실시간으로 모니터링 할 수 있는 관리 서버를 구현하였다. 최근 물류 및 유통에 많이 사용되는 UHF 대역의 TAG를 이용하여 케비넷에서 관리하는 물품에 대한 신뢰성 있는 관리와 보안 및 경보체계를 구현하였으며, 관리 서버와의 통신을 통하여 물품에 대한 입출고 현황, 물품의 이력, 보안 로그 기능을 구현하였다.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.2
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• pp.220-226
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• 2014

This paper proposes an enhanced fast scanning method for multi-agent robot system. Passive RFID tag can read and store the information within the range of recognizable RF tag reader. Based on this information of Passive RFID tag, the position of mobile robot can be estimated and at the same time, the efficiency of scanning process can be improved because it provides a scanning trace for other mobile robots. This paper proposes an dfficient motion planning algorithm for mobile robots in a smart floor environment.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.36 no.12B
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• pp.1686-1697
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• 2011

This paper aims to build up a RFID-automated cargo movement system in an air-cargo warehouse. In our research, we do the spectrum measurements compliant with the RFID frequency bands to observe the interferences from legacy systems in the air-cargo warehouse. To overcome the dense-reader mode (DRM) problem, we apply three novel approaches, which are the periodic transmit of a reader, the Visible RFID reader & tag, and the sensor-based RFID system. Moreover, for the tag collision issue, we implement the Adaptive Adjustable Framed Q(AAFQ) algorithm, and the demonstration on RFID tag anti-collision algorithms show that the AAFQ algorithm has highly desirable tag anti-collision performance compared to any other commercially available solutions.

• The Journal of the Korea institute of electronic communication sciences
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• v.10 no.12
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• pp.1367-1372
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• 2015

In this paper, we embed RFID tag into name plate of pole and store key value at its RFID tag in order to solve the problem for the management of name plate of pole, which identify by eyes of human for until now. The 900MHz RFID reader performs identification for stored key value, then its key value transmit into smart phone through Bluetooth. The smart phone transmit the key value into server through data communication network and receive again the necessary information after the authentication by the server. We develop pole information system that have such a structure.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.6
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• pp.1477-1486
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• 2013

In this paper, Implementation of location estimation system using wireless communication technology based on Zigbee. Using wireless communication technology, calculation more accurate location information and service location information to the H/W and S/W has been developed. Receivers, repeaters, smart tag(location device), was developed for implement a location estimation system. The smart tag is built the 120~130KHz, 13~14MHz, 2.0~3.0GHz radio frequency tag. Receiver and repeater is applied to the tag module to recognize the location device's active RFID tags transmit a wireless signal for tag identification. Common Entrance control system in contact with a smart tag, It was implemented to transfer the value of the tag to the access control server over a LAN.