• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2009년도 정보 및 제어 심포지움 논문집
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• pp.103-105
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• 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.

• 제어로봇시스템학회논문지
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• 제14권12호
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• pp.1294-1301
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• 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.

• 한국통신학회논문지
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• 제34권8B호
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• pp.805-811
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• 2009

본 논문에서 제안하는 시스템은 기존의 RFID 시스템의 보안성을 높이기 위하여 2차원 배열 기법을 이용하여 안전성을 확보할 수 있게 되었다. 제안하는 시스템은 RPID Tag의 고유 ID 값인 UID값과 2차원 배열을 이용하여 태그와 리더간 인증을 하게 된다. 제안하는 시스템에서 암 복호화를 하기 위해서는 태그의 고유 ID값인 UID값과 관리자가 정의한 캐릭터 셋을 이용한 암 복호화 과정에서의 안전성을 기존의 다른 시스템과의 비교를 통해 우수함을 입증한다.

• 한국산학기술학회논문지
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• 제16권12호
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• pp.8760-8766
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• 2015

본 논문에서는 실내에서의 정확한 위치 파악을 하여 넓은 실내에서 사람의 길 안내 및 로봇 청소기 등의 위치 파악에 적용 할 수 있는 기술을 개발 하고자 한다. 이를 위해 RFID tag를 지면에 부착하여, tag 배치 패턴을 다르게 하면서, 위치 파악을 하는데 있어서 어떤 패턴이 오차가 적은지를 확인하고자 한다. 연구에는 MT92(900MHz대 안테나)와 ALR 9900+(리더기)를 이용하여 실험을 하였다. 그 결과 마름모, 직사각형, 정육각형 그리고 정사각형 tag 배치 중 정사각형 배치에서 21.19cm의 적은 오차를 확인하였다. 그러나 단위 면적 당 배치된 tag수가 6개인 정육각형 배치를 함께 고려하였을 때, 정육각형 배치가 비교적 효율적인 배치라는 것을 확인하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 추계학술대회 논문집
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• pp.901-905
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• 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.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2008년도 하계종합학술대회
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• pp.729-730
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• 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.

• 제어로봇시스템학회논문지
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• 제12권10호
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• pp.968-974
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• 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.

• 제어로봇시스템학회논문지
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• 제17권1호
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• pp.68-71
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• 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.

• 수산해양기술연구
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• 제25권2호
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• pp.54-60
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• 1989

한국연안어장에서 어군의 행동특성을 정확하게 파악할 수 있는 기초재료를 제공하고져 초음파표식을 제작하여 그 표식의 성능과 축양조내에서와 정치망어장내에서의 단체어(공식어:방어)의 행동특성을 분석, 검토한 결과, 제작한 40KHz 초음파표식과 VEMCO사의 50KHz 초음파표식은 무지향특성으로 각각 200m, 500m거리에서 추적이 가능하였다. 축양조내에서는 방류초기에는 불규칙적인 행동을 하였으나 시간이 경과함에 따라 안정된 속도로 행동함으로서 정치망내에서의 행동특성을 관측하는데 유용할 것으로 기대된다. 정치망어장에서 방류하여 추적한 결과, 어장내에서의 이동경로, 유영속도 등을 정확하게 측정할 수 있어 어군의 어도를 정확하게 파악할 수 있음을 확인할 수 있었다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 추계학술대회논문집A
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• pp.453-458
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• 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.