• Journal of Satellite, Information and Communications
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• v.11 no.4
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• pp.63-67
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• 2016

Recently, BLE beacons are widely used in indoor precision positioning systems because of their low battery consumption and low infrastructure cost. However, existing BLE beacon based indoor positioning algorithms are difficult to compensate for position errors due to the user's moving speed. Therefore, we proposed a position error correction algorithm that combines bounced cancellation and minimum distance maintenance algorithm with a positioning error correction method using direction vectors. Experimental results show that the proposed algorithm guarantees superior positioning performance than the existing indoor positioning algorithm and also improves the performance of position error compensation.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.12
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• pp.1182-1188
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• 2010

This paper proposes a precise localization algorithm for a quickly moving mobile robot. In order to localize a mobile robot with active beacon sensors, a relatively long time is needed, since the distance to the beacon is measured using the flight time of the ultrasonic signal. The measurement time does not cause a high error rate when the mobile robot moves slowly. However, with an increase of the mobile robot's speed, the localization error becomes too high to use for accurate mobile robot navigation. Therefore, in this research into high speed mobile robot operations, instead of using two active beacons for localization an active beacon and dual compass are utilized to localize the mobile robot. This new approach resolves the high localization error caused by the speed of the mobile robot. The performance of the precise localization algorithm was verified by comparing it to the conventional method through real-world experiments.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2013.10a
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• pp.427-428
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• 2013

The Lighthouses and light beacons are representative structures of Aids to Navigation(AtoN) facilities. Incheon had been the region where they were constructed actively in early moden era. This study is targeting the lighthouse and light beacon which are managed by Regional Maritime Affairs. They will be organized by the research from field investigation. And conservation and management method for long-term preservation on the objects that has cultural and historical values will be suggested through this study.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.9
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• pp.805-812
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• 2013

This paper describes the design, control, and localization which comprise major aspects of the development of underwater robots for the mine disposal. The developed robots are called the Mine Killer (MK-1) and MK-2. MK-1 had been developed from September 2009 and was presented at the 9-th International Symposium at NPS Monterey CA, on May 17-21, 2010[1]. The paper presents design of MK-1 and MK-2 in detail with comparison of these two versions of MKs. Then it derives hydrodynamic coefficients of MK-1. Based on the coefficients, the motion of MK-1 is simulated for straight line motion and circular motion. Also simulation results for PD control, LQ control and sliding mode control are presented. Finally, it shows a particle filter method for localization of MK-1 and MK-2 using simple range data from acoustic beacons.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.7
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• pp.711-717
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• 2007

Location information will become increasingly important for future Pervasive Computing applications. Location tracking system of a moving device can be classified into two types of architectures: an active mobile architecture and a passive mobile architecture. In the former, a mobile device actively transmits signals for estimating distances to listeners. In the latter, a mobile device listens signals from beacons passively. Although the passive architecture such as Cricket location system is inexpensive, easy to set up, and safe, it is less precise than the active one. In this paper, we present a passive location system using Cricket Mote sensors which use RF and ultrasonic signals to estimate distances. In order to improve accuracy of the passive system, the transmission speed of ultrasound was compensated according to air temperature at the moment. Upper and lower bounds of a distance estimation were set up through measuring minimum and maximum distances that ultrasonic signal can reach to. Distance estimations beyond the upper and the lower bounds were filtered off as errors in our scheme. With collecting distance estimation data at various locations and comparing each distance estimation with real distance respectively, we proposed an equation to compensate the deviation at each point. Equations for proposed algorithm were derived to calculate relative coordinates of a moving device. At indoor and outdoor tests, average location error and average location tracking period were 3.5 cm and 0.5 second, respectively, which outperformed Cricket location system of MIT.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.17 no.5
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• pp.43-49
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• 2017

In this paper, we propose the scheduling scheme of IEEE802.15.4e TSCH which is not specified in standard specification. The proposed scheme schedules the link by cooperating among the devices. A new device scans EBs(Enhanced Beacons) from network. An advertiser device broadcasts an enhanced beacon frame including links information on allocated channel offset and time-slots, and a new device can determine its own channel offset and time-slot. It's performance on maximum throughput and minimum delay is evaluated by comparing the proposed approach with a typical single channel IEEE802.15.4.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.339-346
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• 2006

Increased usage of autonomous underwater vehicle (AUV) has led to the development of alternative navigational methods that do not employ the acoustic beacons and dead reckoning sensors. This paper describes a simultaneous localization and mapping (SLAM) scheme that uses range sonars mounted on a small AUV. The SLAM is one of such alternative navigation methods for measuring the environment that the vehicle is passing through and providing relative position of AUV by processing the data from sonar measurements. A technique for SLAM algorithm which uses several ranging sonars is presented. This technique utilizes an unscented Kalman filter to estimate the locations of the AUV and objects. In order for the algorithm to work efficiently, the nearest neighbor standard filter is introduced as the algorithm of data association in the SLAM for associating the stored targets the sonar returns at each time step. The proposed SLAM algorithm is tested by simulations under various conditions. The results of the simulation show that the proposed SLAM algorithm is capable of estimating the position of the AUV and the object and demonstrates that the algorithm will perform well in various environments.

• Journal of the Institute of Electronics Engineers of Korea CI
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• v.45 no.6
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• pp.11-17
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• 2008

This paper proposes the USN node location recognition method with low power, which is the modified centroid method. The conventional Zigbee node location recognition is used to the three RSSI values from three beacons, respectively. When a person move with node, the moving speed of USN node doesn't fast. Therefore, one among three positions used to the value that it is a previous value. This method doesn't large the error in terms of the exact position. Using hand-off method, we get about 30% power advantage than the conventional centroid method. And Our monitoring system add the function that it is possible to search for the node region by color.

• Journal of Advanced Marine Engineering and Technology
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• v.38 no.10
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• pp.1327-1332
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• 2014

This paper presents information about the examples of the design on Illumination of Structures(LED Light Pipe for lighthouse) in Korea. We have applied illumination by flood-lighting or facade-lighting in place of the 57 lighthouses (offshore structures) and 4 beacons. The ways of illumination of structures are using direct illumination with LED, halogen lamps and metal halide lamps, and indirect illumination with LED non-neon lamps. The illumination of structures helps a observer to identify the Aids to Navigation and w aterway. The fabricated LED Light Pipe is a transparent acrylic round bar and easy to install. The Light Pipe is arranged in two rows of L ED (78ea). It can be connected in series. It has 4 colours(Red, Green, Yellow, White). We analyzed and the horizontal divergence angle of the LED light pipe is defined as the range with 50% of maximum luminous intensity. Also, we evaluated the conspicuity on the origin al lantern and LED Light pipe for lighthouse. The field experiment was conducted in 'Yeosuguhang lighthouse' in Yeosu-city (Korea). F rom the experimental results, it was confirmed that the fabricated LED Light Pipe is clearly distinguished.

• Journal of Korea Multimedia Society
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• v.21 no.7
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• pp.772-778
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• 2018

We have previously proposed a preliminary cut-off indoor positioning scheme considering the reference point with the same signal similarity. This scheme estimates the position using the relative rank of the peak of received signal strength from the beacons around user. However, this scheme has a weak point with lower accuracy when there are more than one nearest reference points having the same signal similarity. In order to tackle this, we propose a weighted preliminary cut-off indoor positioning scheme. Firstly, if the above problem occurs, the similarity to the peak of signal strength is considered as well as the relative rank. Next, weights are assigned to the nearest reference points using the similarity to the peak of the received signal strength. Finally, the user's position is estimated by applying the weights. As a result, the weighted preliminary cut-off scheme improves the positioning accuracy by about 7.9% compared to the previous scheme.