사물인터넷을 위한 무선 실내 측위 알고리즘

학위논문(박사) -- 서울대학교대학원 : 공과대학 전기·정보공학부, 2022.2. 김성철.실내 위치 기반 서비스는 스마트폰을 이용한 실내에서의 경로안내, 스마트 공장에서의 자원 관리, 실내 로봇의 자율주행 등 많은 분야에 접목될 수 있으며, 사물인터넷 응용에도 필수적인 기술이다. 다양한 위치 기반 서비스를 구현하기 위해서는 정확한 위치 정보가 필요하며, 적합한 거리 및 위치를 추정 기술이 핵심적이다. 야외에서는 위성항법시스템을 이용해서 위치 정보를 획득할 수 있다. 본 학위논문에서는 와이파이 기반 측위 기술에 대해 다룬다. 구체적으로, 전파의 신호 세기 및 도달 시간을 이용한 정밀한 실내 위치 추정을 위한 세 가지 기술에 대해 다룬다. 먼저, 비가시경로 환경에서의 거리 추정 정확도를 향상시켜 거리 기반 측위의 정확도를 향상시키는 하이브리드 알고리즘을 제안한다. 제안하 알고리즘은듀얼 밴드 대역의 신호세기를 감쇄량을 측정하여 거리 기반 측위 기법을 적용할 때, 거리 추정부 단계만을 데이터 기반 학습을 이용한 깊은 신경망 회귀 모델로 대체한 방안이다. 적절히 학습된 깊은 회귀 모델의 사용으로 비가시경로 환경에서 발생하는 거리 추정 오차를 효과적으로 감소시킬 수 있으며, 결과적으로 위치 추정 오차 또한 감소시켰다. 제안한 방법을 실내 광선추적 기반 모의실험으로 평가했을 때, 기존 기법들에 비해서 위치 추정 오차를 중간값을 기준으로 22.3% 이상 줄일 수 있음을 검증했다. 추가적으로, 제안한 방법은 실내에서의 AP 위치변화 등에 강인함을 확인했다. 다음으로, 본 논문에서는 비가시경로에서 단일 대역 수신신호세기를 측정했을 때 비가시경로가 많은 실내 환경에서 위치 추정 정확도를 높이기 위한 방안을 제안한다. 단일 대역 수신신호세기를 이용하는 방안은 기존에 이용되는 와이파이, 블루투스, 직비 등의 기반시설에 쉽게 적용될 수 있기 때문에 널리 이용된다. 하지만 신호 세기의 단일 경로손실 모델을 이용한 거리 추정은 상당한 오차를 지녀서 위치 추정 정확도를 감소시킨다. 이러한 문제의 원인은 단일 경로손실 모델로는 실내에서의 복잡한 전파 채널 특성을 반영하기 어렵기 때문이다. 본 연구에서는 실내 위치 추정을 위한 목적으로, 중첩된 다중 상태 경로 감쇄 모델을 새롭게 제시한다. 제안한 모델은 가시경로 및 비가시경로에서의 채널 특성을 고려하여 잠재적인 후보 상태들을 지닌다. 한 순간의 수신 신호 세기 측정치에 대해 각 기준 기지국별로 최적의 경로손실 모델 상태를 결정하는 효율적인 방안을 제시한다. 이를 위해 기지국별 경로손실모델 상태의 조합에 따른 측위 결과를 평가할 지표로서 비용함수를 정의하였다. 각 기지국별 최적의 채널 모델을 찾는데 필요한 계산 복잡도는 기지국 수의 증가에 따라 기하급수적으로 증가하는데, 유전 알고리즘을 이용한 탐색을 적용하여 계산량을 억제하였다. 실내 광선추적 모의실험을 통한 검증과 실측 결과를 이용한 검증을 진행하였으며, 제안한 방안은 실제 실내 환경에서 기존의 기법들에 비해 위치 추정 오차를 약 31% 감소시켰으며 평균적으로 1.92 m 수준의 정확도를 달성함을 확인했다. 마지막으로 FTM 프로토콜을 이용한 실내 위치 추적 알고리즘에 대해 연구하였다. 스마트폰의 내장 관성 센서와 와이파이 통신에서 제공하는 FTM 프로토콜을 통한 거리 추정을 이용하여 실내에서 사용자의 위치를 추적할 수 있다. 하지만 실내의 복잡한 다중경로 환경으로 인한 피크 검출 실패는 거리 측정치에 편향성을 유발한다. 또한 사용하는 디바이스의 종류에 따라 예상치 못한 거리 오차가 발생할 수있다. 본 논문에서는 실제 환경에서 FTM 거리 추정을 이용할 때 발생할 수 있는 오차들을 고려하고 이를 보상하는 방안에 대해 제시한다. 확장 칼만 필터와 결합하여 FTM 결과를 사전필터링 하여 이상값을 제거하고, 거리 측정치의 편향성을 제거하여 위치 추적 정확도를 향상시킨다. 실내에서의 실험 결과 제안한 알고리즘은 거치 측정치의 편향성을 약 44-65% 감소시켰으며 최종적으로 사용자의 위치를 서브미터급으로 추적할 수 있음을 검증했다.Indoor location-based services (LBS) can be combined with various applications such as indoor navigation for smartphone users, resource management in smart factories, and autonomous driving of robots. It is also indispensable for Internet of Things (IoT) applications. For various LBS, accurate location information is essential. Therefore, a proper ranging and positioning algorithm is important. For outdoors, the global navigation satellite system (GNSS) is available to provide position information. However, the GNSS is inappropriate indoors owing to the issue of the blocking of the signals from satellites. It is necessary to develop a technology that can replace GNSS in GNSS-denied environments. Among the various alternative systems, the one of promising technology is to use a Wi-Fi system that has already been applied to many commercial devices, and the infrastructure is in place in many regions. In this dissertation, Wi-Fi based indoor localization methods are presented. In the specific, I propose the three major issues related to accurate indoor localization using received signal strength (RSS) and fine timing measurement (FTM) protocol in the 802.11 standard for my dissertation topics. First, I propose a hybrid localization algorithm to boost the accuracy of range-based localization by improving the ranging accuracy under indoor non-line-of-sight (NLOS) conditions. I replaced the ranging part of the rule-based localization method with a deep regression model that uses data-driven learning with dual-band received signal strength (RSS). The ranging error caused by the NLOS conditions was effectively reduced by using the deep regression method. As a consequence, the positioning error could be reduced under NLOS conditions. The performance of the proposed method was verified through a ray-tracing-based simulation for indoor spaces. The proposed scheme showed a reduction in the positioning error of at least 22.3% in terms of the median root mean square error. Next, I study on positioning algorithm that considering NLOS conditions for each APs, using single band RSS measurement. The single band RSS information is widely used for indoor localization because they can be easily implemented by using existing infrastructure like Wi-Fi, Blutooth, or Zigbee. However, range estimation with a single pathloss model produces considerable errors, which degrade the positioning performance. This problem mainly arises because the single pathloss model cannot reflect diverse indoor radio wave propagation characteristics. In this study, I develop a new overlapping multi-state model to consider multiple candidates of pathloss models including line-of-sight (LOS) and NLOS states, and propose an efficient way to select a proper model for each reference node involved in the localization process. To this end, I formulate a cost function whose value varies widely depending on the choice of pathloss model of each access point. Because the computational complexity to find an optimal channel model for each reference node exponentially increases with the number of reference nodes, I apply a genetic algorithm to significantly reduce the complexity so that the proposed method can be executed in real-time. Experimental validations with ray-tracing simulations and RSS measurements at a real site confirm the improvement of localization accuracy for Wi-Fi in indoor environments. The proposed method achieves up to 1.92~m mean positioning error under a practical indoor environment and produces a performance improvement of 31.09\% over the benchmark scenario. Finally, I investigate accurate indoor tracking algorithm using FTM protocol in this dissertation. By using the FTM ranging and the built-in sensors in a smartphone, it is possible to track the user's location in indoor. However, the failure of first peak detection due to the multipath effect causes a bias in the FTM ranging results in the practical indoor environment. Additionally, the unexpected ranging error dependent on device type also degrades the indoor positioning accuracy. In this study, I considered the factors of ranging error in the FTM protocol in practical indoor environment, and proposed a method to compensate ranging error. I designed an EKF-based tracking algorithm that adaptively removes outliers from the FTM result and corrects bias to increase positioning accuracy. The experimental results verified that the proposed algorithm reduces the average ofthe ranging bias by 43-65\% in an indoor scenarios, and can achieve the sub-meter accuracy in average route mean squared error of user's position in the experiment scenarios.Abstract i Contents iv List of Tables vi List of Figures vii 1 INTRODUCTION 1 2 Hybrid Approach for Indoor Localization Using Received Signal Strength of Dual-BandWi-Fi 6 2.1 Motivation 6 2.2 Preliminary 8 2.3 System model 11 2.4 Proposed Ranging Method 13 2.5 Performance Evaluation 16 2.5.1 Ray-Tracing-Based Simulation 16 2.5.2 Analysis of the Ranging Accuracy 21 2.5.3 Analysis of the Neural Network Structure 25 2.5.4 Analysis of Positioning Accuracy 26 2.6 Summary 29 3 Genetic Algorithm for Path Loss Model Selection in Signal Strength Based Indoor Localization 31 3.1 Motivation 31 3.2 Preliminary 34 3.2.1 RSS-based Ranging Techniques 35 3.2.2 Positioning Technique 37 3.3 Proposed localization method 38 3.3.1 Localization Algorithm with Overlapped Multi-State Path Loss Model 38 3.3.2 Localization with Genetic Algorithm-Based Search 41 3.4 Performance evaluation 46 3.4.1 Numerical simulation 50 3.4.2 Experimental results 56 3.5 Summary 60 4 Indoor User Tracking with Self-calibrating Range Bias Using FTM Protocol 62 4.1 Motivation 62 4.2 Preliminary 63 4.2.1 FTM ranging 63 4.2.2 PDR-based trajectory estimation 65 4.3 EKF design for adaptive compensation of ranging bias 66 4.4 Performance evaluation 69 4.4.1 Experimental scenario 69 4.4.2 Experimental results 70 4.5 Summary 75 5 Conclusion 76 Abstract (In Korean) 89박

Clinical Characteristics of Monomorphic Post-transplant Lymphoproliferative Disorders

Post-transplant lymphoproliferative disorders (PTLD) are a heterogeneous group of lymphoproliferative disorders associated with immunosuppression and Epstein-Barr virus infection. PTLD is classified into three major categories: early lesions, polymorphic PTLD, and monomorphic PTLD. The majority of monomorphic PTLD cases are non-Hodgkin's lymphoma of B-cell origin. This retrospective study was conducted to investigate the incidence, clinical manifestation, treatment, and outcomes of monomorphic PTLD among 5,817 recipients of solid organ or allogeneic hematopoietic stem cell transplantation from five institutions. Fourteen patients with monomorphic PTLD were identified (male:female 11:3; median age 42.6 yr, range 24-60). The overall incidence rate was 0.24%. The most common disease type was diffuse large B cell lymphoma (n=7). The median time between the transplant and diagnosis of PTLD was 85.8 months. However, all cases of PTLD after allogeneic hematopoietic stem cell transplantation occurred within 1 yr after transplantation. Ten of the 14 patients had EBV-positive tumor. Fourteen patients received combination systemic chemotherapy and four patients were treated with radiation therapy. Ten patients achieved a complete response (CR) and two patients a partial response (PR). The median follow-up period for surviving patients was 36.6 months. Nine patients remain alive (eight CR, one PR). Nine of 11 solid organ transplantations preserved graft function. The present study indicates a lower incidence rate and a longer median time before the development of PTLD than those of previous reports. Careful monitoring was needed after allogeneic hematopoietic stem cell transplantation for PTLD

To the Edge of M87 and Beyond: Spectroscopy of Intracluster Globular Clusters and Ultra Compact Dwarfs in the Virgo Cluster

We present the results from a wide-field spectroscopic survey of globular clusters (GCs) in the Virgo Cluster. We obtain spectra for 201 GCs and 55 ultracompact dwarfs (UCDs) using the Hectospec on the Multiple Mirror Telescope, and derive their radial velocities. We identify 46 genuine intracluster GCs (IGCs), not associated with any Virgo galaxies, using the 3D GMM test on the spatial and radial velocity distribution.They are located at the projected distance 200 kpc $\lesssim$ R $\lesssim$ 500 kpc from the center of M87. The radial velocity distribution of these IGCs shows two peaks, one at $v_{\rm r}$ = 1023 km s$^{-1}$ associated with the Virgo main body, and another at $v_{\rm r}$ = 36 km s$^{-1}$ associated with the infalling structure. The velocity dispersion of the IGCs in the Virgo main body is $\sigma_{\rm{GC}} \sim$ 314 km s$^{-1}$, which is smoothly connected to the velocity dispersion profile of M87 GCs, but much lower than that of dwarf galaxies in the same survey field, $\sigma_{\rm{dwarf}} \sim$ 608 km s$^{-1}$. The UCDs are more centrally concentrated on massive galaxies, M87, M86, and M84. The radial velocity dispersion of the UCD system is much smaller than that of dwarf galaxies. Our results confirm the large-scale distribution of Virgo IGCs indicated by previous photometric surveys. The color distribution of the confirmed IGCs shows a bimodality similar to that of M87 GCs. This indicates that most IGCs are stripped off from dwarf galaxies and some from massive galaxies in the Virgo.Comment: 19 pages, 20 figures, 8 tables, accepted for publication in Ap

A search for exoplanets around north circumpolar stars. VII. Detection of planetary companion orbiting the largest host star HD 18438

We have been conducting a exoplanet search survey using Bohyunsan Observatory Echelle Spectrograph (BOES) for the last 18 years. We present the detection of exoplanet candidate in orbit around HD 18438 from high-precision radial velocity (RV) mesurements. The target was already reported in 2018 (Bang et al. 2018). They conclude that the RV variations with a period of 719 days are likely to be caused by the pulsations because the Lomb-Scargle periodogram of HIPPARCOS photometric and Ha EW variations for HD 18438 show peaks with periods close to that of RV variations and there were no correlations between bisectors and RV measurements. However, the data were not sufficient to reach a firm conclusion. We obtained more RV data for four years. The longer time baseline yields a more accurate determination with a revised period of 803 +/- 5 days and the planetary origin of RV variations with a minimum planetary companion mass of 21 +/- 1 MJup. Our current estimate of the stellar parameters for HD 18438 makes it currently the largest star with a planetary companion.Comment: 6 pages, 4 figures, Accept to the Journal of the Korean Astronomical Societ

UKIRT Widefield Infrared Survey for Fe+

The United Kingdom Infrared Telescope (UKIRT)Widefield Infrared Survey for Fe+ (UWIFE) is a 180 deg2 imaging survey of the first Galactic quadrant (7° < l < 62° |b| <1°.5) that uses a narrow-band filter centred on the [Fe II] 1.644-μm emission line. The [Fe II] 1.644-μm emission is a good tracer of dense, shock-excited gas, and the survey will probe violent environments around stars: star-forming regions, evolved stars, and supernova remnants, among others. The UWIFE survey is designed to complement the existing UKIRTW idefield Infrared Survey for H2 (UWISH2). The survey will also complement existing broad-band surveys. The observed images have a nominal 5Ï? detection limit of 18.7 mag for point sources, with a median seeing of 0.83 arcsec. For extended sources, we estimate a surface brightness limit of 8.1 Ã? 10-20 W m-2 arcsec-2. In this paper, we present an overview and some preliminary results of this survey. © 2014 The Authors Published by Oxford University Press on behalf of the Royal Astronomical Society

Evaluation of therapeutic effects of natural killer (NK) cell-based immunotherapy in mice using in vivo apoptosis bioimaging with a caspase-3 sensor

Natural killer (NK) cellâ based immunotherapy is a promising strategy for cancer treatment, and caspaseâ 3 is an important effector molecule in NK cellâ mediated apoptosis in cancers. Here, we evaluated the antitumor effects of NK cellâ based immunotherapy by serial noninvasive imaging of apoptosis using a caspaseâ 3 sensor in mice with human glioma xenografts. Human glioma cells expressing both a caspaseâ 3 sensor as a surrogate marker for caspaseâ 3 activation and Renilla luciferase (Rluc) as a surrogate marker for cell viability were established and referred to as D54â CR cells. Human NK92 cells were used as effector cells. Treatment with NK92 cells resulted in a timeâ and effector numberâ dependent increase in bioluminescence imaging (BLI) activity of the caspaseâ 3 sensor in D54â CR cells in vitro. Caspaseâ 3 activation by NK92 treatment was blocked by Zâ VAD treatment in D54â CR cells. Transfusion of NK92 cells induced an increase of the BLI signal by caspaseâ 3 activation in a doseâ and timeâ dependent manner in D54â CR tumorâ bearing mice but not in PBSâ treated mice. Accordingly, sequential BLI with the Rluc reporter gene revealed marked retardation of tumor growth in the NK92â treatment group but not in the PBSâ treatment group. These data suggest that noninvasive imaging of apoptosis with a caspaseâ 3 sensor can be used as an effective tool for evaluation of therapeutic efficacy as well as for optimization of NK cellâ based immunotherapy.â Lee, H. W., Singh, T. D., Lee, S.â W., Ha, J.â H., Rehemtulla, A., Ahn, B.â C., Jeon, Y.â H., Lee, J. Evaluation of therapeutic effects of natural killer (NK) cellâ based immunotherapy in mice using in vivo apoptosis bioimaging with a caspaseâ 3 sensor. FASEB J. 28, 2932â 2941 (2014). www.fasebj.orgPeer Reviewedhttps://deepblue.lib.umich.edu/bitstream/2027.42/154541/1/fsb2fj13243014.pd

Microlensing Detections of Planets in Binary Stellar Systems

We demonstrate that microlensing can be used for detecting planets in binary stellar systems. This is possible because in the geometry of planetary binary systems where the planet orbits one of the binary component and the other binary star is located at a large distance, both planet and secondary companion produce perturbations at a common region around the planet-hosting binary star and thus the signatures of both planet and binary companion can be detected in the light curves of high-magnification lensing events. We find that identifying planets in binary systems is optimized when the secondary is located in a certain range which depends on the type of the planet. The proposed method can detect planets with masses down to one tenth of the Jupiter mass in binaries with separations <~ 100 AU. These ranges of planet mass and binary separation are not covered by other methods and thus microlensing would be able to make the planetary binary sample richer.Comment: 5 pages, two figures in JPG forma