• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2010년도 추계학술발표대회
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• pp.829-832
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• 2010

Wireless Sensor Networks have been proposed for several location-dependent applications. For such systems, the cost and limitations of the hardware on sensing nodes prevent the use of range-based localization schemes that depend on absolute point to point distance estimates. Because coarse accuracy is sufficient for most sensor network applications, solutions in range-free localization are being pursued as a cost-effective alternative to more expensive range-based approaches. In this paper, we proposed a modified DV-Hop (range-free localization) algorithm which reduces node's location error and cumulated distance error by minimizing localization error. Simulation results have verified the high estimation accuracy with our approach which outperforms the classical DV-Hop.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제11권4호
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• pp.280-285
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• 2011

Recently, with the development of service robots and the concept of ubiquitous, the position estimation of mobile objects has received great interest. 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. 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. The RFID receiver gets the synchronization signal from the mobile robot and 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 acquire the ultrasonic signals from only one or two beacons, due to the obstacles located along the moving path. In this paper, a position estimation scheme using fewer than three sensors is developed. Also, the extended Kalman filter algorithm is applied for the improvement of position estimation accuracy of the mobile robot.

• 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.

• Smart Structures and Systems
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• 제30권4호
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• pp.371-383
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• 2022

A novel impact localization method is presented based on impact induced elastic waves in sensorized composite structure subjected to temperature fluctuations. In real practices, environmental and operational conditions influence the acquired signals and consequently make the feature (particularly Time of Arrival (TOA)) extraction process, complicated and troublesome. To overcome this complication, a robust TOA estimation method is proposed based on the times in which the absolute amplitude of the signal reaches to a specific amplitude value. The presented method requires prior knowledge about the normalized wave velocity in different directions of propagation. To this aim, a finite element model of the plate was built in ABAQUS/CAE. The impact location is then highlighted by calculating an error value at different points of the structure. The efficiency of the developed impact localization technique is experimentally evaluated by dropping steel balls with different energies on a carbon fiber composite plate with different temperatures. It is demonstrated that the developed technique is able to localize impacts with different energies even in the presence of noise and temperature fluctuations.

• 인지과학
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• 제15권3호
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• pp.15-24
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• 2004

추적 눈 운동 동안에 순간적으로 노출되는 표적의 위치는 표적 주위에 참조자극이 존재하지 않을 때에 일반적으로 눈 운동 방향으로 왜곡되어 지각된다. 본 연구는 안정적이고 정적인 참조자극이 존재하는 경우에 순간적으로 노출되는 표적의 참조자극에 대한 상대적인 위치가 얼마나 정확하게 지각되는지를 검증하였다. 참조자극에 대한 표적의 상대적인 위치가 왜곡되게 지각되었으며 상대적인 위치 지각 왜곡의 양상이 참조자극과 표적의 상대적인 위치에 따라서 체계적으로 변화하였다. 동일한 실험결과가 추적 눈 운동의 방향이 상이하거나 참조자극과 표적의 다양한 물리적인 거리 조건에서도 일관되게 관찰되었다. 본 연구의 실험결과가 위치지각에 관하여 제안된 기존의 이론에 의해 어떻게 설명될 수 있는지를 논의하였다.

• 제어로봇시스템학회논문지
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• 제13권10호
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• pp.956-961
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• 2007

We propose a new distance measurement method and local positioning system for the autonomous mobile robots localization. The distance measurement method is able to measure long-range distances with a high accuracy by using ultrasonic sensors. The time of flight of the ultrasonic waves include various noises is calculated accurately by the proposed period detecting method. The proposed local positioning system is composed of four ultrasonic transmitters and one ultrasonic receiver. The ultrasonic transmitter and receiver are separated but they are synchronized by RF (Radio frequency) signal. The proposed system using ultrasonic waves is represented as USAT(Ultrasonic Satellite System). USAT is able to estimate the position using the least square estimation. The experimental results show that the proposed local positioning system enables to estimate the absolute position precisely.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.554-556
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• 2006

A key component for autonomous mobile robot is to localize ifself. In this paper we suggest a vision-based localization and compensation of robot's location using ultrasound. Mobile robot travels along wall and searches each feature in indoor environment and transformed absolute coordinates of actuality environment using these points and builds a map. And we obtain information of the environment because mobile robot travels along wall. Localzation search robot's location candidate point by ultrasound and decide position among candidate point by features matching.

• Journal of information and communication convergence engineering
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• 제8권6호
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• pp.709-715
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• 2010

This paper represents a map building and localization system for mobile robot. Map building and navigation is a complex problem because map integrity cannot be sustained by odometry alone due to errors introduced by wheel slippage, distortion and simple linealized odometry equation. For accurate localization, we propose sensor fusion system using encoder sensor and indoor GPS module as relative sensor and absolute sensor, respectively. To build a map, we developed a sensor based navigation algorithm and grid based map building algorithm based on Embedded Linux O.S. A wall following decision engine like an expert system was proposed for map building navigation. We proved this system's validity through field test.

• 제어로봇시스템학회논문지
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• 제12궈1호
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• pp.15-22
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• 2006

This paper presents an efficient localization scheme for an indoor mobile robot using RFID tags on the floor. The mobile robot carries an RFID reader at the bottom, which reads the RFID tags on the floor to localize the mobile robot. Each RFID tar on the floor stores its own absolute position which is used to calculate the position and velocity of the mobile robot. Locating the RFID tags on the floor, which constructs an intelligent sensor space, may require several factors to be considered: economics feasibility and accuracy. In this paper, the optimal allocation scheme of the RFID tags on the floor to satisfy the accuracy constraint has been proposed and verified by the experiments. Based on the RFID reading, the mobile robot navigation has been successfully demonstrated to avoid obstacles and to reach the goal within a pre-specified time.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2010년도 추계학술발표대회
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• pp.837-840
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• 2010

Wireless Sensor Networks have been proposed for several location-dependent applications. For such systems, the cost and limitations of the hardware on sensing nodes prevent the use of range-based localization schemes that depend on absolute point to point distance estimates. Because coarse accuracy is sufficient for most sensor network applications, solutions in range-free localization are being pursued as a cost-effective alternative to more expensive range-based approaches. In this paper, we proposed a Coefficient Allocated DV-Hop (CA DV-Hop) algorithm which reduces node's location error by awarding a credit value with respect to number of hops of each anchor to an unknown node. Simulation results have verified the high estimation accuracy with our approach which outperforms the classical DV-Hop.