• Proceedings of the IEEK Conference
• /
• 2009.05a
• /
• pp.103-105
• /
• 2009

This paper presents a pseudorandom tag arrangement for improved RFID based mobile robot localization. First, four repetitive tag arrangements, including square, parallelogram, tilted square, and equilateral triangle, are examined. For each tag arrangement, the difficulty in tag installation and the problem of tag invisibility are discussed. Then, taking into account both tag invisibility and tag installation, a pseudorandom tag arrangement is proposed, which is inspired from a Sudoku puzzle. It is shown that the proposed tag arrangement exhibits spatial randomness quite successively without increased difficulty in installation.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.12
• /
• pp.1294-1301
• /
• 2008

Under passive RFID environment, this paper presents a new localization of a mobile robot traversing over the floor covered with tags, which is superior to existing methods in terms of estimation performance and cost effectiveness. Basically, it is assumed that a mobile robot is traveling along a series of straight line segments, each segment at a certain constant velocity, and that the number of tags sensed by a mobile robot at each sampling instant is at most one. First, for a given line segment with known starting point, the velocity and position of a mobile robot is estimated using the spatial and temporal information acquired from the traversed tag. Some discussions are made on the validity of the basic assumptions and the localization for the initial segment with unknown starting point. Second, for a given tag distribution density, the optimal tag arrangement is considered to reduce the position estimation error as well as to make easy the tag attachment on the floor. After reviewing typical tag arrangements, the pseudorandom tag arrangement is devised inspired from the Sudoku puzzle, a number placement puzzle. Third, through experiments using our passive RFID localization system, the validity and performance of the mobile robot localization proposed in this paper is demonstrated.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.34 no.8B
• /
• pp.805-811
• /
• 2009

Firstly, this dissertation suggests the tag ID transfer method using two-dimensional arrangement. Secondly, provide better and stable security system compare to existing one by transferring tag; ID using established two-dimensional arrangement. Thirdly, provide operating module, which possible to descramble two-dimensional arrangement, with a character set when descrambling in a tag and a server. Lastly, suggest safe key transfer using a character set and two-dimensional arrangement. In order to embody suggested system and assess, transferred two-dimensional arrangement several times to carry out the experiment. Confirmed that it is impossible for suggested system to decode key patterns compare to existing RFID systems.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.16 no.12
• /
• pp.8760-8766
• /
• 2015

In this paper a technology which gives directions to people and also localization of the robotic vacuum cleaners inside some spacious buildings is developed. For this purpose, it is confirmed that which pattern has a small error in dealing with the indoor localization with various RFID tag arrangements attached on the ground. This experiment was conducted by using MT92(900MHz range Antenna) and ALR 9900+(Reader). As a result, the square arrangement has the least error, 21.19cm, among other patterns which are diamond, rectangle and regular hexagon. However, it is necessary to consider the number of tags in the unit area, from this point of view the regular hexagon arrangement is the most efficient arrangement among other patterns because it needs only 6 tags in the unit area.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2005.10a
• /
• pp.901-905
• /
• 2005

It is very important to arrange landmarks when a mobile robot needs to measure its own location. So, it has been discussed often how to arrange landmarks in the optimal way until now. We, there, chose the RFID (Radio frequency Identification) tags as landmarks which can be observed by a mobile robot, and demonstrated the possibility of the optimal arrangement of them. For this work first, we defined the optimization problem and its parameters for the arrangement of tags. Second, we proposed the algorithm which can be applied to the optimization problem. Finally we could obtain closely optimal and practical arrangement with the minimum number of landmarks which satisfied the necessary condition by experimentation.

• Proceedings of the IEEK Conference
• /
• 2008.06a
• /
• pp.729-730
• /
• 2008

This paper suggests the indoor localization footwear system based on RFID and smart floor with effective RFID tag arrangement using simulation. The result of the simulation demonstrates that smart floor has optimal RFID tag interval according to moving characteristics.

• Journal of Institute of Control, Robotics and Systems
• /
• v.12 no.10
• /
• pp.968-974
• /
• 2006

We are moving into the era of ubiquitous computing. Ubiquitous Sensor Network (USN) is a base of such computing paradigm, where recognizing the identification and the position of objects is important. For the object identification, RFID tags are commonly used. For the object positioning, use of sensors such as laser and ultrasonic scanners is popular. Recently, there have been a few attempts to apply RFID technology in robot localization by replacing the sensors with RFID readers to achieve simpler and unified USN settings. However, RFID does not provide enough sensing accuracy for some USN applications such as robot navigation, mainly because of its inaccuracy in distance measurements. In this paper, we describe our approach on achieving accurate navigation using RFID. We solely rely on RFID mechanism for the localization by providing coordinate information through RFID tag installed floors. With the accurate positional information stored in the RFID tag, we complement coordinate errors accumulated during the wheel based robot navigation. We especially focus on how to distribute RFID tags (tag pattern) and how many to place (tag granularity) on the RFID tag-floor. To determine efficient tag granularities and tag patterns, we developed a simulation program. We define the error in navigation and use it to compare the effectiveness of the navigation. We analyze the simulation results to determine the efficient granularities and tag arrangement patterns that can improve the effectiveness of RFID navigation in general.

• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.1
• /
• pp.68-71
• /
• 2011

A relationship between reader arrangement and DOP is derived from the geometry matrix of the TDOA-based position tracking system. It is shown that the minimum value of the DOP is affected by the number of readers, arrangement of readers and position of the tag. The relationship is verified through computer simulations for two cases of reader arrangement.

• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.25 no.2
• /
• pp.54-60
• /
• 1989

This paper described on the tracking of an individual fish at the fishing ground of set net by use of a small ultrasonic fish tag. The apparatuses used were composed with a tag, three receivers and two time-interval counter oscilloscope. A pulsed ultrasonic transmitter tag fitted to back of a dorsal fin of a yellowtail specimen, Seriola quinqueradidta TEMMINCK et SCHLEGEL is tracked by measuring differences in the time of arrival of the acoustic pulses at an arrangement of three receivers in the freeding tank. The successive positions of the fish were calculated from the differences in the received time of the signals. A fish carying the tag was tracked in the fishing ground of set net by use of the hydrophone and Loran-C. The results of the tests showed that this method gave good positional information to track the movement of an individual fish in the fishing ground of set net.

• Proceedings of the KSME Conference
• /
• 2001.11a
• /
• pp.453-458
• /
• 2001

The stability of turbulent nonpremixed interacting flames is investigated in terms of nozzle configuration shapes which depend on the existence of the center nozzles. Six nozzle arrangements which are cross 4, 5, 8, 9, square 8 and circular 8 nozzles are used for the experiment. Those are arranged to see the effect of the center nozzle out of multi-nozzle. There are many parameters that affect flame stability in multi-nozzle flame such as nozzle separation distance, fuel flowrates and nozzle configuration, but the most important factor is the existence of nozzles in the center area from the nozzle arrangement. As the number of nozzle in the area is reduced, more air can be entrained into the center of flame base and then tag flame is formed. In the case of circular 8 nozzles, blowout flowrates are above 5.4 times compared with that of single equivalent area nozzle.