• Title/Summary/Keyword: active beacon

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Improved ultrasonic beacon system for indoor localization

  • Shin, Su-Young;Choi, Jong-Suk;Kim, Byoung-Hoon;Park, Mi-Gnong
    • 제어로봇시스템학회:학술대회논문집
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    • 2005.06a
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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.

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The Low Power Algorithm of ZigBee Router for Non Beacon Enabled PAN (Non Beacon Enabled PAN 환경에서 ZigBee Router의 저전력 알고리즘)

  • Yoon, Sung-Kun;Park, Su-Jin;Lee, Ho-Eung;Park, Hyun-Ju
    • 한국HCI학회:학술대회논문집
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    • 2008.02a
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    • pp.280-285
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    • 2008
  • ZigBee is Low Power and Low Data Rate Wireless Communication protocol. It apply to much Ubiquitous Sensor Network. ZigBee PAN is two type PAN. One is Beacon Enabled PAN, the other is Non Beacon Enabled PAN. To support Low Power in Non Beacon Enabled PAN, End-Device enter Active status at End-Device's wishing time and send a data. So, Router does not know End-Device sends a data time. To solving this problem, Router must always exist to Active status. In this case, Router receive a power supply always in Non Beacon Enabled PAN. But Router does not receive a power supply always, Router can not normal operation, such as Router use a battery. To solve this problem, Router will be support low power. In this paper, we will present Router's Low Power Algorithm. And we suggest 'PAN Time'. Device use 'PAN Time' for PAN synchronous. Router using Low Power Algorithm can be enter to inactive status. So Non Beacon Enabled PAN of Router support the low power mode Therefore Router does not receive a power supply always, Router can normal operation.

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Localization of a High-speed Mobile Robot Using Ultrasonic/RF Sensor and Global Features (RF/초음파센서와 이동특성에 기반한 고속 이동로봇의 위치추정기법)

  • Lee, Soo-Sung;Choi, Mun-Gyu;Park, Jae-Hyun;Lee, Jang-Myung
    • Journal of Institute of Control, Robotics and Systems
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    • v.15 no.7
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    • pp.734-741
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    • 2009
  • A new localization algorithm is proposed for a fast moving mobile robot, which utilizes only one beacon and the global features of the differential-driving mobile robot. It takes a relatively long time to localize a mobile robot with active beacon sensors since the distance to the beacon is measured by the traveling time of the ultrasonic signal. When the mobile robot is moving slowly the measurement time does not yield a high error. At a higher mobile robot speed, however, the localization error becomes too large to locate the mobile robot. Therefore, in high-speed mobile robot operations, instead of using two or more active beacons for localization, only one active beacon and the global features of the mobile robot are used to localize the mobile robot in this research. The two global features are the radius and center of the rotational motion for the differential-driving mobile robot which generally describe motion of the mobile robot and are used for the trace prediction of the mobile robot. In high speed operations the localizer finds an intersection point of this predicted trace and a circle which is centered at the beacon and has the radius of the distance between the mobile robot and the beacon. This new approach resolves the large localization error caused by the high speed of the mobile robot. The performance of the new localization algorithm has been verified through the experiments with a high-speed mobile robot.

Beacon transmission scheduling for energy efficient routing in Zigbee sensor networks (지그비 센서 네트워크에서의 에너지 효율적 라우팅을 고려한 비콘 전송 스케줄링 기법)

  • Lee, Yoo-Jin;Ahn, Se-Young;Nam, Heung-Woo;An, Sun-Shin
    • Proceedings of the Korean Information Science Society Conference
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    • 2006.10d
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    • pp.625-630
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    • 2006
  • Zigbee 센서 네트워크에서는 multihop 전송을 위하여 tree topology와 beacon-enabled 네트워크 구성을 갖는다. 이러한 multihop beaconing 네트워크의 목적은 routing 노드들에게 Sleep할 기회를 주어 파워의 소모를 줄이고자 하는 데 있다. 파워의 소모를 줄이고 beacon 전송시의 충돌을 방지하기 위하여 beacon 전송 스케줄링이 필요한데 본 논문은 multihop을 지원하고 에너지 효율에 효과적인 beacon 전송 스케줄링 알고리즘과 이를 바탕으로 에너지 효율적인 라우팅 기법을 제안한다. 본 제안은 Zigbee coordinator의 beacon interval(BI)이 결정되면 네트워크 내의 beacon을 전송하는 모든 노드들은 Zigbee coordinator의 BI를 알고 모든 노드의 superframe duration(SD)은 동일하다고 가정한다. 이러한 가정하에서 beacon을 전송하는 노드들이 Zigbee coordinator의 BI 구간 중 항상 정해진 시간에 자신의 beacon을 전송한다면 beacon의 충돌을 막을 수 있음을 보여 준다. 또한 노드들이 서로의 beacon 전송 시간을 알 수 있기 때문에 목적지 노드의 beacon을 tracking하지 않고도 목적지 노드가 active 되는 시점에 패킷을 전송하면 에너지 측면에서 좀 더 효율적인 라우팅 기반을 제공한다는 것을 보여 준다.

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A Precise Localization Method for a High Speed Mobile Robot using iGS and Dual Compass (iGS와 듀얼 컴퍼스를 이용한 고속 이동로봇의 정밀 위치 인식기법)

  • Jang, Won-Seok;Lee, Jang-Myung
    • 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.

Performance of active PNC Handover and PNC Heart Beat based Beacon Alignment Schemes for Wireless PAN Systems (WPAN에서의 신속한 망 복구를 위한 능동적인 PNC 핸드오버방법 및 PNC Heart Beat 의 비컨 프레임 정렬 방식의 성능분석)

  • Nam Hye-Jin;Kim Jae-Young;Jeon Young-Ae;Lee Hyung-Soo;Kim Se-Han;Yoon Chong-Ho
    • The Journal of Korean Institute of Communications and Information Sciences
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    • v.31 no.2B
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    • pp.117-128
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    • 2006
  • For the legacy IEEE 802.15.3 WPAN protocol, an unpredictable piconet coordinator(PNC) leaving from a piconet without a proper handoff procedure causes an absence of PNC, and thus the piconet gets collapsed. In addition, several beacons from PNCs in adjacent piconets may be collided on a device(DEV) located between those piconets. This beacon collision eventually makes the DEV leave from the piconet. To remedy these two problems, we here propose an Active Seamless Coordinator Switching(ASCS) scheme and a PNC HB based Beacon Alignment(PHBA) one. In the ASCS scheme, a PNC assigns a number of DEVs as next possible PNCs in sequence for provisioning against the abrupt breakdown of the current active PNC. Each nominated DEV proactively sends a probe frame to confirm the operation status of the active PNC. For the case of no response from the PNC, the nominated DEV tries to become a new PNC immediately. In the second PHBA scheme, each PNC is allow to broadcast a special Heart Beat(HB) frame randomly during a superframe period. When a DEV receives a HB frame from other PNC, it promptly sends the related PNCs a special Hiccup Beat(HCB) frame with the superframe information of its associated PNC. As a result, the HCB frame makes both PNCs align their superframe beginning time in order to yield no more beacon collisions. For these two proposed schemes, we show the performance by simulations. We can confirm the enhancement of throughput for each superframe and average frame transfer delay, since each scheme can reduce the duration of piconet collapse. Finally, it is worth while to note that the proposed schemes can be operated with frames those are permitted in the legacy WPAN standard.

Navigation of a mobile robot using active landmarks (능동 표식을 이용한 이동 로봇의 운행)

  • 노영식;김재숙;권석근
    • 제어로봇시스템학회:학술대회논문집
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    • 1996.10b
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    • pp.916-919
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    • 1996
  • An real-time active beacon localization system for mobile robots is developed and implemented. This system permits the estimation of robot positions when detecting light sources by PSD(Position Sensitive Detector) sensor which are placed sparsely over the robot's work space as beacons(or landmarks). An LSE(Least Square Estimation) method is introduced to calibrate the internal parameters of a model for the beacon and robot position. The proposed system has two operational modes of position estimation. One is the initial position calculation by the detection of two or more light sources positions of which are known. The other is the continuous position compensation that calculates the position and heading of the robot using the IEKF(Iterated Extended Kalman Filter) applied to the beacon and dead-reckoning data. Practical experiments show that the estimated position obtained by this system is precise enough to be useful for the navigation of robots.

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Design of PPL Service Platform for Smart Travelling based on Location (스마트 관광용 위치기반의 PPL 서비스 플랫폼 설계)

  • Kang, Min-Goo
    • Smart Media Journal
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    • v.5 no.4
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    • pp.138-142
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    • 2016
  • In this paper, a smart travel service platform is proposed with PPL(Product Placement) database based on the location of TV viewer who is 's marking by smart devices. This platform is designed with the active PUSH and smart kiosk signage with video clip of LTE/beacon's places. As a result, this PPL-DB platform is inter-worked for the PPL database of category, location, product, favor with interactive tagging in pictures and videos.

Data acquisition and computation methods for improved location awareness in the indoor location system (실내 위치 시스템에서의 향상된 위치 인식을 위한 데이터 수집 및 연산 기법)

  • Yoon, Chang-Pyo;Hwang, Chi-Gon
    • Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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    • 2015.10a
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    • pp.270-271
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    • 2015
  • Recently, There is Increasing interest in the intelligent services using the Internet of Things indoor positioning technologies that enable the communication of information between the objects. In particular Applications and demand for the indoor location based services using smart devices has made active. An indoor location positioning technology for this purpose BLE (Bluetooth Low Energy) has been a lot of interest in technology increases. If iBeacon of BLE(Bluetooth Low Energy) is made available to provide a signal for the indoor location information measurement then reliability of Indoor location information is lowered by signal interference. In this paper, Proposes a technique for data acquisition method for obtaining reliable position information and reliable position information calculation method from signal information data of iBeacon.

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Robust Positioning-Sensing for a Mobile Robot (모바일 로봇의 강인한 위치 추정 기법)

  • Lee, Jang-Myung;Hwang, Jin-Ah;Hur, Hwa-Ra;Kang, Jin-Gu
    • The Journal of Korea Robotics Society
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    • v.2 no.3
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    • pp.221-226
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    • 2007
  • A robust position-sensing system is proposed in this paper for ubiquitous mobile robots which move indoor as well as outdoor. The Differential GPS (DGPS) which has position estimation error of less than 5 m is a general solution when the mobile robots are moving outdoor, while an active beacon system (ABS) with embedded ultrasonic sensors is selected as an indoor positioning system. The switching from the outdoor to indoor or vice versa causes unstable measurements on account of the reference and algorithm changes. To minimize the switching time in the position estimation and to stabilize the measurement, a robust position-sensing system is proposed. In the system, to minimize the switching delay, the door positions are stored and updated in a database. The reliability and accuracy of the robust positioning system based on DGPS and ABS are verified through the real experiments using a mobile robot prepared for this research and demonstrated.

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