• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제52권8호
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• pp.397-404
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• 2003

In part I, we studied only step speed control for train, the second part extended to beacon signaling system and moving block system. With the calculated braking distance in part I, part II showed how to reduce headway using the beacon signaling system and moving block system, revealed that the beacon system has a braking distance advantage for sighting allowance with compared to step speed control, proposed beacon installation interval and revealed the braking distance with moving block system being nearly approached to train pure braking distance. We compared three different train control system to decide the best signaling system for a given condition and obtained the result that three systems have a same headway near 10～13 steps speed control.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.1388-1391
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• 1996

This paper presents the structure and functions of the differential beacon receiver for receiving DGPS error correction data. The differential beacon receiver is designed using commercially available components. Its functions are being implemented and tested in laboratory. Filed test is scheduled for the end of this year.

• 한국HCI학회:학술대회논문집
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• 한국HCI학회 2008년도 학술대회 1부
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• pp.274-279
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• 2008

본 논문은 ZigBee Sensor Network에서 네트워크를 구성할 때 이미 네트워크에 참여한 Coordinator와 Router가 네트워크의 상태에 따라 새로운 디바이스들이 네트워크에 참여하는 것을 제어하여 기존 네트워크에서 발생할 수 있는 단점들을 해결하기 위한 조인 절차를 제안하였다. 기존의 네트워크에서 새로운 디바이스가 네트워크에 참여를 위한 조인 절차를 수행할 때 이미 참여하고 있는 Coordinator와 Router beacon 정보를 바탕으로 수행된다. 그러나 beacon 정보에는 네트워크의 구성에 관련된 정보가 부족하여 특정 디바이스에 traffic이 집중되거나, 주소자원의 비효율적 사용으로 네트워크의 성능저하를 가져올 수 있다. 이러한 문제점을 해결하기 위하여 본 논문에서 제안한 알고리즘은 새로운 디바이스가 네트워크에 참여할 때 이미 네트워크에 참여하고 있는 Coordinator와 Router가 네트워크에서 자신의 위치와 능력에 따라 beacon의 전송시간을 조절하여 beacon을 송신하고, 디바이스는 가장 먼저 수신한 beacon 정보를 바탕으로 네트워크에 참여한다.

• 제어로봇시스템학회논문지
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• 제19권4호
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• pp.341-348
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• 2013

A location estimation algorithm based on the sea-surface beacon is proposed in this paper. The beacon is utilized to provide ultrasonic signals to the underwater vehicles around the beacon to estimate precise position of underwater vehicles (ROV, AUV, Diver robot), which is named as USBL (Ultra Short Baseline) system. It utilizes GPS and INS data for estimating its position and adopts DWT (Discrete Wavelet Transform) de-noising filter and UKF (Unscented KALMAN Filter) elaborating the position estimation. The beacon system aims at estimating the precise position of underwater vehicle by using USBL to receive the tracking signals. The most important one for the precise position estimation of underwater vehicle is estimating the position of the beacon system precisely. Since the beacon is on the sea-waves, the received GPS signals are noisy and unstable most of times. Therefore, the INS data (gyroscope sensor, accelerometer, magnetic compass) are obtained at the beacon on the sea-surface to compensate for the inaccuracy of the GPS data. The noises in the acceleration data from INS data are reduced by using DWT de-noising filter in this research. Finally the UKF localization system is proposed in this paper and the system performance is verified by real experiments.

• Journal of Information Processing Systems
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• 제6권2호
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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.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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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.

• 한국정보처리학회:학술대회논문집
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• 한국정보처리학회 2015년도 추계학술발표대회
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• pp.880-882
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• 2015

최근 스마트폰을 활용한 다양한 서비스가 지속적으로 연구되면서 나날이 발전하고 있다. 그중에서 BLE(Bluetooth Low Energy) 기반 Beacon을 이용하여 다양한 분야에서 스마트폰 앱을 통해 서비스 되고 있다. BLE 기반 Beacon을 이용한 다양한 분야 중에 실내 위치 기반 서비스에 대해 많은 연구가 진행되고 있는데 본 논문에서는 보안이 필요한 기관이나 업체의 출입통제를 위해 Beacon을 출입통제 시스템에 적용하고자한다. Beacon을 이용한 출입통제 시스템은 사용자의 스마트폰을 Beacon으로 위치 측위하여 사용자가 출입문에 왔을 때 OTP인증을 통하여 사용자는 출입여부에 대한 권한을 부여 받아 사용 할 수 있도록 제안하였다.

• 한국정보통신학회논문지
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• 제20권5호
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• pp.1005-1012
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• 2016

독립된 해상 지역에서 운용되는 LED 등명기는 태양광전력공급시스템을 주로 이용하고 있으며, 이는 등명기의 관리 및 유지비용을 크게 높이는 원인으로 알려져 있다. 이를 해결하기 위해 일체형 LED 등명기에 대한 기술 연구 및 실증이 최근 활발히 진행 중이다. 본 논문은 LED 등명기의 효과적인 관리를 위해, BLE 기능을 갖는 일체형 LED 등명기 제어시스템을 제안한다. 일체형 LED 등명기의 상태정보 프로토콜을 확장하여 제어 프로그램 구조를 설계한 후 그를 관리자가 쉽게 파악할 수 있는 형태로 구현한다. 구현된 제어시스템은 일체형 LED 등명기의 상태 및 제어 데이터를 시각화함으로써 관리자의 신속한 의사결정을 가능하게 한다. 또한 등명기의 전력사용을 최소화하면서 상태정보를 송수신하고 등질을 변경할 수 있다.

• 제어로봇시스템학회논문지
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• 제15권2호
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• pp.211-217
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• 2009

This paper proposes a way of expanding the use area of localization technique by using a beacon. In other words, we have developed the auto-calibration algorithm that recognizes the location of this beacon by attaching the beacon on an arbitrary position and by using the information of existing beacon under this situation. By doing so, the moving robot can overcome the limitation that the localization of moving robot is only possible within the area that has installed the existing beacon since the beacon cannot be installed on the accurate location when passing through a danger zone or an unknown zone. Accordingly, the moving robot can slowly move to the unknown zone according to this auto-calibration algorithm and can recognize its own location at a later time in a safe zone. The localization technique is essentially needed in using a moving robot and it is necessary to guarantee certain degree of reliability. Generally, moving robots are designed in a way to work well under the situation that the surroundings is well arranged and the localization techniques of using camera, laser and beacon are well developed. However due to the characteristics of sensor, there may be the cases that the place is dark, interfering radio waves, and/or difficult to install a beacon. The effectiveness of the method proposed in this paper has been proved through an experiment in this paper.

• 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.