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서우진(Woojin Seo),한광일(Kwang-Il Han),백광렬(Kwang-Ryul Baek) 제어로봇시스템학회 2017 제어·로봇·시스템학회 논문지 Vol.23 No.1
This paper presents a positioning method using range-based Bluetooth RSSI data and odometry data for a mobile robot. These days, Bluetooth beacons are widely used for various applications which are based on both location and environmental information. There are two localization methods: a range-free method called the ‘fingerprint method’ and a range-based method called the ‘triangulation method’. Because of the Bluetooth RSSI resolution, most researches are using the fingerprint method. In this paper, the localization method, which uses odometry data and range-based Bluetooth RSSI data, is proposed. The range data from Bluetooth RSSI is directly used without triangulation. Also, the particle filter is adopted to combine the odometry data with the range data from Bluetooth RSSI. The performance of the proposed method is evaluated by simulations and experiments.
Implementation of Ultrasonic Flow Meter System with Quadrature Demodulation
YeonKeun Jeong(정연근),Woojin Seo(서우진),Kwang Ryul Baek(백광렬) 제어로봇시스템학회 2018 제어·로봇·시스템학회 논문지 Vol.24 No.8
There are various methods for measuring flow rate. In measuring the flow rate, types of flow meters include electronic turbine, ultrasonic wave, vortex, and differential pressure meters. Typically, turbine flow meters and ultrasonic flow meters are often used to measure liquid flow rates. Because of a disadvantage whereby the turbine type requires cutting the tubing, this paper presents an ultrasonic flow meter. In this paper, the flow rate is measured using the difference in the time of flight (TOF) for ultrasonic waves. In order to improve TOF accuracy while implementing a simple system at a low cost, TOF was measured using the quadrature demodulation and phase difference of the received ultrasonic signal. Experiment results are compared with two commercial products: a turbine flow meter and an ultrasonic flow meter. The results show that accuracy with the proposed ultrasonic flow meter is similar to the two commercial products.