• Journal of the Korean Society of Industry Convergence
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• v.17 no.3
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• pp.151-169
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• 2014

We propose a new technique for autonomous navigation and travelling of mobile robot based on ultrasonic sensors through the narrow labyrinth that leave only distance of a few centimeters on each side between the guides and the robot. In our current implementation the ultrasonic sensor system fires at a rate of 100 ms, that is, each of the 8 sensors fires once during each 100 ms interval. This is a very good firing rate, implemented here for optimal performance. This paper presents an extensively tested and verified solution to the problem of obstacle avoidance. Our solution is based on the optimal placement of ultrasonic sensors at strategic locations around the robot. Both the sensor location and the associated navigation algorithm are defined in such a way that only the accurate radial sonar data is used for accurate travelling.

• Journal of the Korea Institute of Information Security & Cryptology
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• v.33 no.2
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• pp.325-336
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• 2023

With the development of autonomous driving technology, the number of external contact sensors mounted on vehicles is increasing, and the importance is also rising. The vehicular ultrasonic sensor uses the LIN protocol in the form of a bus topology and reports a status message about its surroundings through the vehicle's internal network. Since ultrasonic sensors are vulnerable to various threats due to poor security protocols, physical testing on actual vehicle is needed. Therefore, this paper developed a LIN-CAN co-analysis testbed with a jig for location-specific distance test to examine the operational relation between LIN and CAN caused by ultrasonic sensors.

• Journal of the Korean Society of Industry Convergence
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• v.21 no.2
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• pp.95-101
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• 2018

This paper presents a collision free mobile robot navigation based on the fuzzy inference fusion model in unkonown environments using multi-ultrasonic sensor. Six ultrasonic sensors are used for the collision avoidance approach where CCD camera sensors is used for the trajectory following approach. The fuzzy system is composed of three inputs which are the six distance sensors and the camera, two outputs which are the left and right velocities of the mobile robot's wheels, and three cost functions for the robot's movement, direction, obstacle avoidance, and rotation. For the evaluation of the proposed algorithm, we performed real experiments with mobile robot with ultrasonic sensors. The results show that the proposed algorithm is apt to identify obstacles in unknown environments to guide the robot to the goal location safely.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.6 no.4
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• pp.1090-1105
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• 2012

A multi-modal sensing M2M healthcare monitoring system for the continuous monitoring of patients under their natural physiological states or elderly persons with chronic diseases is summarized. The system is designed for homecare or the monitoring of the elderly who live in country side or small rest home without enough support from caregivers or doctors, instead of patient monitoring in big hospital environment. Further insights into the natural cause and progression of diseases are afforded by context-aware sensing, which includes the use of accelerometers to monitor patient activities, or by location-aware indoor tracking based on ultrasonic and RF sensing. Moreover, indoor location tracking provides information about the location of patients in their physical environment and helps the caregiver in the provision of appropriate support.

• Proceedings of the IEEK Conference
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• 2006.06a
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• pp.177-178
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• 2006

The real-time tracking system is an essential factor for the development of low cost sensor networks for use in pervasive computing and ubiquitous networking. In this paper, we address the interference problems of the sensor network platform with ultrasonic for location tracking system. Ubiquitous indoor environments often contain substantial amounts of metal and other such reflective materials that affect the propagation of radio frequency signals in non-trivial ways, causing severe multi-path effects, dead-spots, noise, and interference. Especially we present a novel reducing interference location system that is particularly well suited to support context-aware computing. The system called Pharos, aims to combine the advantages of real-time tracking systems that implement distributed environment with regardless of infrastructure or infrastructure-less wireless sensor networks.

• Journal of KIISE:Information Networking
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• v.37 no.5
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• pp.396-402
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• 2010

The tracking of current location of residents is an essential requirement for context-aware service of smart houses. This paper presents a wireless sensor network system which could detect location transition such as entrance and exit to a room and also identify the user who passed the room, without duty of wearing any sort of tag. We designed new sensor node to solve the problem of short operation lifetime of previous work[1] which has two pyroelectric infrared (PIR) sensors and an ultrasonic sensor, as well as a 2.4 GHz radio frequency wireless transceiver. The proposed user identification method is to discriminate a person based on his/her height by using an ultrasonic sensor. The detection idea of entering/exiting behavior is based on order of triggering of two PIR sensors. The topology of the developed wireless sensor network system is simple star structure in which each sensor node is connected to one sink node directly. We evaluated the proposed sensing system with a set of experiments for three subjects in a model house. The experimental result shows that the averaged recognition rate of user identification is 81.3% for three persons. and perfect entering/exiting behavior detection performance.

• Journal of Advanced Navigation Technology
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• v.15 no.5
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• pp.839-844
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• 2011

Various technologies such as infrared light, ultrasonic waves, RFID, GPS, UWB, and signal indicators have been incorporated in the location tracking system. However, such pre-existing systems require location recognition in shadow areas. This study proposes a location tracking system that utilizes Cooperative Spectrum Sensing. Cooperative Spectrum Sensing is not only able to track the location and path of moving objects but also recognize when objects breakaway from the path set by sensors and guide them back. In addition, it has the advantage of being more efficient in terms of frequency usage. It is able to automatically fix power transmission and frequency modulation for transmission cognitive users to an optimum level within the range that does not cause interference for primary users.

• Journal of Sensor Science and Technology
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• v.16 no.4
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• pp.277-285
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• 2007

In this paper, we outline the research issues that we are pursuing towards building of location aware environments for mainly ubiquitous healthcare applications. Such location aware application can provide what is happening in this space. To locate an object, such as patient or elderly person, the active ceiling-mounted reference beacons were placed throughout the building. Reference beacons periodically publish location information on RF and ultrasonic signals to allow application running on mobile or static nodes to study and determine their physical location. Once object-carried passive listener receives the information, it subsequently determines it's location from reference beacons. The cost of the system was reduced while the accuracy in our experiments was fairly good and fine grained between 7 and 12 cm for location awareness in indoor environments by using only the sensor nodes and wireless sensor network technology. Passive architecture used here provides the security of the user privacy while at the server the privacy was secured by providing the authentication using Geopriv approach. This information from sensor nodes is further forwarded to base station where further computation is performed to determine the current position of object.

• Journal of Engineering Education Research
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• v.15 no.5
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• pp.93-97
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• 2012

Most of ubiquitous computing devices such as stereo camera, ultrasonic sensor based MIT cricket system and other wireless sensor network devices are widely applied to the 2 Dimensional(2D) localization system in today. Because stereo camera cannot estimate the optimal location between moving node and beacon node in Wireless Personal Area Network(WPAN) under Non Line Of Sight(NLOS) environment, it is a great weakness point to the design of the 2D localization system in indoor environment. But the conventional 2D triangulation scheme that is adapted to the MIT cricket system cannot estimate the 3 Dimensional(3D) coordinate values for estimation of the optimal location of the moving node generally. Therefore, the 3D triangulation scheme based on the space segmentation in WPAN is suggested in this paper. The measuring data in the suggested scheme by computer simulation is compared with that of the geographic measuring data in the AutoCAD software system. The average error of coordinates values(x,y,z) of the moving node is calculated to 0.008m by the suggested scheme. From the results, it can be seen that the location correctness of the suggested scheme is very excellent for using the localization system in WPAN.

• Journal of Advanced Marine Engineering and Technology
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• v.36 no.6
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• pp.850-856
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• 2012

Bilateration using two fixed nodes has been used in the field of the real time indoor location system in the narrow space such as building or ship passage. However, as the distance between the fixed nodes increases or any obstructions exist in their zone, it is difficult to detect the location of mobile node(user) due to the degradation of its reception ratio. In order to compensate for these problems, this paper presents, based on IEEE 802.15.4a chirp signal, a new real time indoor location system using stride measurement algorithm which can calculate the location through sensors attached to user. The proposed system consists of an ultrasonic sensor to measure the leg length, a geomagnetic sensor to recognize the user's orientation, and an inertial sensor to obtain the angle between the legs. The experimental results are shown that the proposed system has twice or more accurate output compared with conventional indoor location method in the section which is partially out of communication reachability.