Search results for: mobile indoor localization

Authors: Dennis L. Owuor, Okuthe P. Kogeda, Johnson I. Agbinya

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Mobile localization has attracted a great deal of attention recently due to the introduction of wireless networks. Although several localization algorithms and systems have been implemented and discussed in the literature, very few researchers have exploited the gap that exists between indoor localization, tracking, external storage of location information and outdoor localization for the purpose of digital forensics during and after a disaster. The contribution of this paper lies in the implementation of a robust system that is capable of locating, tracking mobile device users and store location information for both indoor and partially outdoor the cloud. The system can be used during disaster to track and locate mobile phone users. The developed system is a mobile application built based on Android, Hypertext Preprocessor (PHP), Cascading Style Sheets (CSS), JavaScript and MATLAB for the Android mobile users. Using Waterfall model of software development, we have implemented a three level system that is able to track, locate and store mobile device information in secure database (cloud) on almost a real time basis. The outcome of the study showed that the developed system is efficient with regard to the tracking and locating mobile devices. The system is also flexible, i.e. can be used in any building with fewer adjustments. Finally, the system is accurate for both indoor and outdoor in terms of locating and tracking mobile devices.

Keywords: indoor localization, digital forensics, fingerprinting, tracking and cloud

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Authors: Yali Zheng, Peipei Luo, Shinan Chen, Jiasheng Hao, Hong Cheng

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Most of traditional visual indoor navigation algorithms and methods only consider the localization in ordinary daytime, while we focus on the indoor re-localization in low light in the paper. As RGB images are degraded in low light, less discriminative infrared and depth image pairs are taken, as the input, by RGB-D cameras, the most similar candidates, as the output, are searched from databases which is built in the bag-of-word framework. Epipolar constraints can be used to relocalize the query infrared and depth image sequence. We evaluate our method in two datasets captured by Kinect2. The results demonstrate very promising re-localization results for indoor navigation system in low light environments.

Keywords: indoor navigation, low light, RGB-D camera, vision based

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Authors: I. Nižetić Kosović, T. Jagušt

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Lately, with the increasing number of location-based applications, demand for highly accurate and reliable indoor localization became urgent. This is a challenging problem, due to the measurement variance which is the consequence of various factors like obstacles, equipment properties and environmental changes in complex nature of indoor environments. In this paper we propose low-cost custom-setup infrastructure solution and localization algorithm based on the Weighted Centroid Localization (WCL) method. Localization accuracy is increased by several enhancements: calibration of RSSI values gained from wireless nodes, repetitive measurements of RSSI to exclude deviating values from the position estimation, and by considering orientation of the device according to the wireless nodes. We conducted several experiments to evaluate the proposed algorithm. High accuracy of ~1m was achieved.

Keywords: indoor environment, received signal strength indicator, weighted centroid localization, wireless localization

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Authors: Raida Zouari, Iness Ahriz, Rafik Zayani, Ali Dziri, Ridha Bouallegue

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This paper proposes a room level indoor localization algorithm based on the use Multi-Layer Neural Network (MLNN) classifiers and one versus one strategy. Seven parameters of the Channel Impulse Response (CIR) were used and Gram-Shmidt Orthogonalization was performed to study the relevance of the extracted parameters. Simulation results show that when relevant CIR parameters are used as position fingerprint and when optimal MLNN architecture is selected good room level localization score can be achieved. The current study showed also that some of the CIR parameters are not correlated to the location and can decrease the localization performance of the system.

Keywords: mobile indoor localization, multi-layer neural network (MLNN), channel impulse response (CIR), Gram-Shmidt orthogonalization

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Authors: Marcell Serra de Almeida Martins, Benedito de Souza Ribeiro Neto, Gerson Lima Serejo, Carlos Gustavo Resque Dos Santos

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Indoor positioning systems use sensors such as Bluetooth, ZigBee, and Wi-Fi, as well as cameras for image capture, which can be fixed or mobile. These computer vision-based positioning approaches are low-cost to implement, mainly when it uses a mobile camera. The present study aims to create a design of a fiducial marker for a low-cost indoor localization system. The marker is tape-shaped to perform a continuous reading employing two detection algorithms, one for greater distances and another for smaller distances. Therefore, the location service is always operational, even with variations in capture distance. A minimal localization and reading algorithm were implemented for the proposed marker design, aiming to validate it. The accuracy tests consider readings varying the capture distance between [0.5, 10] meters, comparing the proposed marker with others. The tests showed that the proposed marker has a broader capture range than the ArUco and QRCode, maintaining the same size. Therefore, reducing the visual pollution and maximizing the tracking since the ambient can be covered entirely.

Keywords: multiscale recognition, indoor localization, tape-shaped marker, fiducial marker

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Authors: Kriangkrai Maneerat, Chutima Prommak

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Indoor wireless localization systems have played an important role to enhance context-aware services. Determining the position of mobile objects in complex indoor environments, such as those in multi-floor buildings, is very challenging problems. This paper presents an effective floor estimation algorithm, which can accurately determine the floor where mobile objects located. The proposed algorithm is based on the confidence interval of the summation of online Received Signal Strength (RSS) obtained from the IEEE 802.15.4 Wireless Sensor Networks (WSN). We compare the performance of the proposed algorithm with those of other floor estimation algorithms in literature by conducting a real implementation of WSN in our facility. The experimental results and analysis showed that the proposed floor estimation algorithm outperformed the other algorithms and provided highest percentage of floor accuracy up to 100% with 95-percent confidence interval.

Keywords: floor estimation algorithm, floor determination, multi-floor building, indoor wireless systems

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Authors: Dawei Cai, Yuya Tokuda

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The market of localization based service (LBS) is expanding. The acquisition of physical location is the fundamental basis for LBS. GPS, the de facto standard for outdoor localization, does not work well in indoor environment due to the blocking of signals by walls and ceiling. To acquire high accurate localization in an indoor environment, many techniques have been developed. Triangulation approach is often used for identifying the location, but a heavy and complex computation is necessary to calculate the location of the distances between the object and several source points. This computation is also time and power consumption, and not favorable to a mobile device that needs a long action life with battery. To provide a low power consumption approach for a mobile device, this paper presents a fast calculation approach to identify the location of the object without online solving solutions to simultaneous quadratic equations. In our approach, we divide the location identification into two parts, one is offline, and other is online. In offline mode, we make a mapping process that maps the location area to distance space and find a simple formula that can be used to identify the location of the object online with very light computation. The characteristic of the approach is a good tradeoff between the accuracy and computational amount. Therefore, this approach can be used in smartphone and other mobile devices that need a long work time. To show the performance, some simulation experimental results are provided also in the paper.

Keywords: indoor localization, location based service, triangulation, fast calculation, mobile device

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Authors: Gyumin Hwang, Jihong Lee

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This paper studied the CSS-based indoor localization system which is easy to implement, inexpensive to compose the systems, additionally CSS-based indoor localization system covers larger area than other system. However, this system has problem which is affected by reflected distance data. This problem in localization is caused by the multi-path effect. Error caused by multi-path is difficult to be corrected because the indoor environment cannot be described. In this paper, in order to solve the problem by multi-path, we have supplemented the localization system by using pattern matching method based on extended database. Thereby, this method improves precision of estimated. Also this method is verified by experiments in gymnasium. Database was constructed by 1 m intervals, and 16 sample data were collected from random position inside the region of DB points. As a result, this paper shows higher accuracy than existing method through graph and table.

Keywords: chirp spread spectrum, indoor localization, pattern-matching, time of arrival, multi-path, mahalanobis distance, reception rate, simultaneous localization and mapping, laser range finder

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Authors: Wilayat Ali, Li Sheng, Waleed Ahmed

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The ability of the robot to make simultaneously map of the environment and localize itself with respect to that environment is the most important element of mobile robots. To solve SLAM many algorithms could be utilized to build up the SLAM process and SLAM is a developing area in Robotics research. Robot Operating System (ROS) is one of the frameworks which provide multiple algorithm nodes to work with and provide a transmission layer to robots. Manyof these algorithms extensively in use are Hector SLAM, Gmapping and Cartographer SLAM. This paper describes a ROS-based Simultaneous localization and mapping (SLAM) library Google Cartographer mapping, which is open-source algorithm. The algorithm was applied to create a map using laser and pose data from 2d Lidar that was placed on a mobile robot. The model robot uses the gazebo package and simulated in Rviz. Our research work's primary goal is to obtain mapping through Cartographer SLAM algorithm in a static indoor environment. From our research, it is shown that for indoor environments cartographer is an applicable algorithm to generate 2d maps with LIDAR placed on mobile robot because it uses both odometry and poses estimation. The algorithm has been evaluated and maps are constructed against the SLAM algorithms presented by Turtlebot2 in the static indoor environment.

Keywords: SLAM, ROS, navigation, localization and mapping, gazebo, Rviz, Turtlebot2, slam algorithms, 2d indoor environment, cartographer

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Authors: Gideon C. Joseph

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The ability to localize mobile devices is quite important, as some applications may require location information of these devices to operate or deliver better services to the users. Although there are several ways of acquiring location data of mobile devices, the WLAN fingerprinting approach has been considered in this work. This approach uses the Received Signal Strength Indicator (RSSI) measurement as a function of the position of the mobile device. RSSI is a quantitative technique of describing the radio frequency power carried by a signal. RSSI may be used to determine RF link quality and is very useful in dense traffic scenarios where interference is of major concern, for example, indoor environments. This research aims to design a system that can predict the location of a mobile device, when supplied with the mobile’s RSSIs. The developed system takes as input the RSSIs relating to the mobile device, and outputs parameters that describe the location of the device such as the longitude, latitude, floor, and building. The relationship between the Received Signal Strengths (RSSs) of mobile devices and their corresponding locations is meant to be modelled; hence, subsequent locations of mobile devices can be predicted using the developed model. It is obvious that describing mathematical relationships between the RSSIs measurements and localization parameters is one option to modelling the problem, but the complexity of such an approach is a serious turn-off. In contrast, we propose an intelligent system that can learn the mapping of such RSSIs measurements to the localization parameters to be predicted. The system is capable of upgrading its performance as more experiential knowledge is acquired. The most appealing consideration to using such a system for this task is that complicated mathematical analysis and theoretical frameworks are excluded or not needed; the intelligent system on its own learns the underlying relationship in the supplied data (RSSI levels) that corresponds to the localization parameters. These localization parameters to be predicted are of two different tasks: Longitude and latitude of mobile devices are real values (regression problem), while the floor and building of the mobile devices are of integer values or categorical (classification problem). This research work presents artificial neural network based intelligent systems to model the relationship between the RSSIs predictors and the mobile device localization parameters. The designed systems were trained and validated on the collected WLAN fingerprint database. The trained networks were then tested with another supplied database to obtain the performance of trained systems on achieved Mean Absolute Error (MAE) and error rates for the regression and classification tasks involved therein.

Keywords: indoor localization, WLAN fingerprinting, neural networks, classification, regression

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Authors: David L. Olson, Stephen B. H. Bruder, Adam S. Watkins, Cleon E. Davis

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In global navigation satellite systems (GNSS), denied settings such as indoor environments, autonomous mobile robots are often limited to dead-reckoning navigation techniques to determine their position, velocity, and attitude (PVA). Localization is typically accomplished by employing an inertial measurement unit (IMU), which, while precise in nature, accumulates errors rapidly and severely degrades the localization solution. Standard sensor fusion methods, such as Kalman filtering, aim to fuse precise IMU measurements with accurate aiding sensors to establish a precise and accurate solution. In indoor environments, where GNSS and no other a priori information is known about the environment, effective sensor fusion is difficult to achieve, as accurate aiding sensor choices are sparse. However, an opportunity arises by employing a depth camera in the indoor environment. A depth camera can capture point clouds of the surrounding floors and walls. Extracting attitude from these surfaces can serve as an accurate aiding source, which directly combats errors that arise due to gyroscope imperfections. This configuration for sensor fusion leads to a dramatic reduction of PVA error compared to traditional aiding sensor configurations. This paper provides the theoretical basis for the depth camera aiding sensor method, initial expectations of performance benefit via simulation, and hardware implementation, thus verifying its veracity. Hardware implementation is performed on the Quanser Qbot 2™ mobile robot, with a Vector-Nav VN-200™ IMU and Kinect™ camera from Microsoft.

Keywords: autonomous mobile robotics, dead reckoning, depth camera, inertial navigation, Kalman filtering, localization, sensor fusion

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Authors: Sallama Resen, Celal Öztürk

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Distance estimation between tow nodes has wide scope of surveillance and tracking applications. This paper suggests a Bluetooth Low Energy (BLE) technology as a media for transceiver and receiver signal in small indoor areas. As an example, BLE communication technologies used in child safety domains. Local network is designed to detect child position in indoor school area consisting Mobile Beacons (MB), Access Points (AP) and Smart Phones (SP) where MBs stuck in children’s shoes as wearable sensors. This paper presents a technique that can detect mobile beacons’ position and help finding children’s location within dynamic environment. By means of bluetooth beacons that are attached to child’s shoes, the distance between the MB and teachers SP is estimated with an accuracy of less than one meter. From the simulation results, it is shown that high accuracy of position coordinates are achieved for multi-mobile beacons in different environments.

Keywords: bluetooth low energy, child safety, mobile beacons, received signal strength

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Authors: Tatsuya Kato, Masanobu Nagata, Hidetoshi Nakashima, Kazunori Matsuo

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Localization of mobile robots are important tasks for developing autonomous mobile robots. This paper proposes a method to estimate positions of a mobile robot using an omnidirectional camera on the robot. Landmarks for points of references are set up on a field where the robot works. The omnidirectional camera which can obtain 360 [deg] around images takes photographs of these landmarks. The positions of the robots are estimated from directions of these landmarks that are extracted from the images by image processing. This method can obtain the robot positions without accumulative position errors. Accuracy of the estimated robot positions by the proposed method are evaluated through some experiments. The results show that it can obtain the positions with small standard deviations. Therefore the method has possibilities of more accurate localization by tuning of appropriate offset parameters.

Keywords: mobile robots, localization, omnidirectional camera, estimating positions

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Authors: Wipassorn Vinicchayakul, Pichaya Supanakoon, Sathaporn Promwong

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A human’s hand localization is revised by using radar cross section (RCS) measurements with a minimum root mean square (RMS) error matching algorithm on a touchless keypad mock-up model. RCS and frequency transfer function measurements are carried out in an indoor environment on the frequency ranged from 3.0 to 11.0 GHz to cover federal communications commission (FCC) standards. The touchless keypad model is tested in two different distances between the hand and the keypad. The initial distance of 19.50 cm is identical to the heights of transmitting (Tx) and receiving (Rx) antennas, while the second distance is 29.50 cm from the keypad. Moreover, the effects of Rx angles relative to the hand of human factor are considered. The RCS input parameters are compared with power loss parameters at each frequency. From the results, the performance of the RCS input parameters with the second distance, 29.50 cm at 3 GHz is better than the others.

Keywords: radar cross section, fingerprint-based localization, minimum root mean square (RMS) error matching algorithm, touchless keypad model

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Authors: Seyed Esmail Seyedi Bariran, Khairul Salleh Mohamed Sahari

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In robotics literature, the simultaneous localization and mapping (SLAM) is commonly associated with a priori-posteriori problem. The autonomous vehicle needs a neutral map to spontaneously track its local position, i.e., “localization” while at the same time a precise path estimation of the environment state is required for effective route planning and obstacle avoidance. On the other hand, the environmental noise factors can significantly intensify the inherent uncertainties in using odometry information and measurements obtained from the robot’s exteroceptive sensor which in return directly affect the overall performance of the corresponding SLAM. Therefore, the current work is primarily dedicated to provide a diagnostic analysis of six SLAM algorithms including FastSLAM, L-SLAM, GraphSLAM, Grid SLAM and DP-SLAM. A SLAM simulated environment consisting of two sets of landmark locations and robot waypoints was set based on modified EKF and UKF in MATLAB using two separate maps for indoor and outdoor route planning subject to natural and artificial obstacles. The simulation results are expected to provide an unbiased platform to compare the estimation performances of the five SLAM models as well as on the reliability of each SLAM model for indoor and outdoor applications.

Keywords: route planning, obstacle, estimation performance, FastSLAM, L-SLAM, GraphSLAM, Grid SLAM, DP-SLAM

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Authors: Yan-Ren Chen, Jenn-Kaie Lain

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This paper proposes a novel indoor positioning algorithm based on visible light communications, implemented by light-emitting diode fixtures. In the proposed positioning algorithm, distances between light-emitting diode fixtures and mobile terminal are derived from the assumption of ideal Lambertian optic radiation model, and Trilateration positioning method is proceeded immediately to get the coordinates of mobile terminal. The proposed positioning algorithm directly obtains distance information from the optical signal modeling, and therefore, statistical distribution of received signal strength at different positions in interior space has no need to be pre-established. Numerically, simulation results have shown that the proposed indoor positioning algorithm can provide accurate location coordinates estimation.

Keywords: indoor positioning, received signal strength, trilateration, visible light communications

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Authors: Adewole A. Ayoade, Marshall R. Sweatt, John P. H. Steele, Qi Han, Khaled Al-Wahedi, Hamad Karki, William A. Yearsley

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Understanding the behavioral characteristics of sensors is a crucial step in fusing data from several sensors of different types. This paper introduces a practical, real-time approach to integrate heterogeneous sensor data to achieve higher accuracy than would be possible from any one individual sensor in localizing a mobile robot. We use this approach in both indoor and outdoor environments and it is especially appropriate for those environments like oil and gas refineries due to their sparse and featureless nature. We have studied the individual contribution of each sensor data to the overall combined accuracy achieved from the fusion process. A Sequential Update Extended Kalman Filter(EKF) using validation gates was used to integrate GPS data, Compass data, WiFi data, Inertial Measurement Unit(IMU) data, Vehicle Velocity, and pose estimates from Fiducial marker system. Results show that the approach can enable a mobile robot to navigate autonomously in any environment using a priori information.

Keywords: inspection mobile robot, navigation, sensor fusion, sequential update extended Kalman filter

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Authors: V. Ramu Reddy, Parijat Deshpande, Ranjan Dasgupta

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This paper presents different methodology for an acoustic source sensing and localization in an unknown environment. The developed methodology includes an acoustic based sensing and localization system, a converging target localization based on the recursive direction of arrival (DOA) error minimization, and a regressive obstacle avoidance function. Our method is able to augment the existing proven localization techniques and improve results incrementally by utilizing robot locomotion and is capable of converging to a position estimate with greater accuracy using fewer measurements. The results also evinced the DOA error minimization at each iteration, improvement in time for reaching the destination and the efficiency of this target localization method as gradually converging to the real target position. Initially, the system is tested using Kinect mounted on turntable with DOA markings which serve as a ground truth and then our approach is validated using a FireBird VI (FBVI) mobile robot on which Kinect is used to obtain bearing information.

Keywords: acoustic source localization, acoustic sensing, recursive direction of arrival, robot locomotion

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Authors: Pei-Chun Lee, Sheng-Shih Wang

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This paper presents a route guidance system for car owners to find their cars in parking garages. The presents system comprises a positioning-assisting subsystem and a car-finding mobile app. The positioning-assisting subsystem mainly uses the iBeacon technology for indoor positioning. The car-finding mobile app guides car owners to their cars based on a non-map navigation strategy. This study also designs a virtual coordinate system to support identifying the locations of parking spaces and iBeacon devices. We use Arduino and Android as the platforms to implement the proposed positioning-assisting subsystem and car-finding mobile app, respectively. We have also deployed the system in a parking garage in our campus for testing. Experimental results verify that our system can efficiently and correctly guide car owners to the parking spaces of their cars.

Keywords: guidance, iBeacon, mobile app, navigation

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Authors: Rung-Shiang Cheng, Wei-Jun Hong, Jheng-Syun Wang, Kawuu W. Lin

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Users rely increasingly on Location-Based Services (LBS) and automated navigation/guidance systems nowadays. However, while such services are easily implemented in outdoor environments using Global Positioning System (GPS) technology, a requirement still exists for accurate localization and guidance schemes in indoor settings. Accordingly, the present study presents a methodology based on GPS, Bluetooth Low Energy (BLE) beacons, and Near Field Communication (NFC) technology. Through establishing graphic information and the design of algorithm, this study develops a guidance system for indoor and outdoor on smartphones, with aim to provide users a smart life through this system. The presented system is implemented on a smartphone and evaluated on a student campus environment. The experimental results confirm the ability of the presented app to switch automatically from an outdoor mode to an indoor mode and to guide the user to the requested target destination via the shortest possible route.

Keywords: beacon, indoor, BLE, Dijkstra algorithm

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Authors: Viktor R. Stoynov, Zlatka V. Valkova-Jarvis

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The intelligent management and optimisation of radio resource technologies will lead to a considerable improvement in the overall performance in Next Generation Networks (NGNs). Carrier Aggregation (CA) technology, also known as Spectrum Aggregation, enables more efficient use of the available spectrum by combining multiple Component Carriers (CCs) in a virtual wideband channel. LTE-A (Long Term Evolution–Advanced) CA technology can combine multiple adjacent or separate CCs in the same band or in different bands. In this way, increased data rates and dynamic load balancing can be achieved, resulting in a more reliable and efficient operation of mobile networks and the enabling of high bandwidth mobile services. In this paper, several distinct CA deployment strategies for the utilisation of spectrum bands are compared in indoor-outdoor scenarios, simulated via the recently-developed Realistic Indoor Environment Generator (RIEG). We analyse the performance of the User Equipment (UE) by integrating the average throughput, the level of fairness of radio resource allocation, and other parameters, into one summative assessment termed a Comparative Factor (CF). In addition, comparison of non-CA and CA indoor mobile networks is carried out under different load conditions: varying numbers and positions of UEs. The experimental results demonstrate that the CA technology can improve network performance, especially in the case of indoor scenarios. Additionally, we show that an increase of carrier frequency does not necessarily lead to improved CF values, due to high wall-penetration losses. The performance of users under bad-channel conditions, often located in the periphery of the cells, can be improved by intelligent CA location. Furthermore, a combination of such a deployment and effective radio resource allocation management with respect to user-fairness plays a crucial role in improving the performance of LTE-A networks.

Keywords: comparative factor, carrier aggregation, indoor mobile network, resource allocation

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Authors: Pooja Sanathkumar, Srinidhi Murali, Sethuraman TV, Saravanan M, Paventhan Arumugam, Ashwin Ashok

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The last decade has witnessed a significant interest in visible light communication (VLC) technology, as VLC can potentially achieve high data rate links and secure communication channels. However, the use of VLC under mobile settings is fundamentally limited as its a line-of-sight (LOS) technology and there has been limited breakthroughs in realizing VLC for mobile settings. In this regard, this work targets to study the VLC channel under mobility. Through a use-case study analysis with experiment data traces this paper presents an empirical VLC channel study considering the application of VLC for smart lighting in an indoor room environment. This paper contributes a calibration study of a prototype VLC smart lighting system in an indoor environment and through the inferences gained from the calibration, and considering a user is carrying a mobile device fit with a VLC receiver, this work presents recommendations for user's position adjustments, with the goal to ensure maximum connectivity across the room.

Keywords: visible light communication, mobility, empirical study, channel characterization

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Authors: Kathia Melbouci, Sylvie Naudet Collette, Vincent Gay-Bellile, Omar Ait-Aider, Michel Dhome

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In this paper, we handle the problem of real time localization and mapping in indoor environment assisted by a partial prior 3D model, using an RGBD sensor. The proposed solution relies on a feature-based RGBD SLAM algorithm to localize the camera and update the 3D map of the scene. To improve the accuracy and the robustness of the localization, we propose to combine in a local bundle adjustment process, geometric information provided by a prior coarse 3D model of the scene (e.g. generated from the 2D floor plan of the building) along with RGBD data from a Kinect camera. The proposed approach is evaluated on a public benchmark dataset as well as on real scene acquired by a Kinect sensor.

Keywords: SLAM, global localization, 3D sensor, bundle adjustment, 3D model

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Authors: Hossein Arfaeinia, Azam Nadali, Zahra Asadgol, Mohammad Fahiminia

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Indoor and outdoor particulate matters (PM) were monitored in 20 residential buildings in a two-part study. In part I, the levels of indoor and outdoor PM₁₀, PM₂.₅ and PM₁ was measured using real time GRIMM dust monitors. In part II, the effect of negative air ions (NAIs) method was investigated on the reduction of indoor concentration of PM in these residential buildings. Hourly average concentration and standard deviation (SD) of PM₁₀ in indoor and outdoor at residential buildings were 90.1 ± 33.5 and 63.5 ± 27.4 µg/ m3, respectively. Indoor and outdoor concentrations of PM₂.₅ in residential buildings were 49.5 ± 18.2 and 39.4± 18.1 µg/ m3 and for PM₁ the concentrations were 6.5 ± 10.1and 4.3 ± 7.7 µg/ m3, respectively. Indoor/outdoor (I/O) ratios and concentrations of all size fractions of PM were strongly correlated with wind speed and temperature whereas a good relationship was not observed between humidity and I/O ratios of PM. We estimated that nearly 71.47 % of PM₁₀, 79.86 % of PM₂.₅ and of 61.25 % of PM₁ in indoor of residential buildings can be removed by negative air ions.

Keywords: particle matter (PM), indoor air, negative air ions (NAIs), residential building

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Authors: Jen-Fa Huang, Yu-Wei Chiu, Jhe-Ren Cheng

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Visible light communication (VLC) technique has become useful method via LED light blinking. Several issues on indoor mobile robot positioning with LED blinking are examined in the paper. In the transmitter, we control the transceivers blinking message. Orthogonal Walsh codes are adopted for such purpose on auto-correlation function (ACF) to detect signal sequences. In the robot receiver, we set the frame of time by 1 ns passing signal from the transceiver to the mobile robot. After going through many periods of time detecting the peak value of ACF in the mobile robot. Moreover, the transceiver transmits signal again immediately. By capturing three times of peak value, we can know the time difference of arrival (TDOA) between two peak value intervals and finally analyze the accuracy of the robot position.

Keywords: Visible Light Communication, Auto-Correlation Function (ACF), peak value of ACF, Time difference of Arrival (TDOA)

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Authors: Musefiu Aderinola, F. A. Amuda

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Outages of GSM signals may be experienced at some indoor locations even when there are strong outdoor receptions. This is often traced to the building penetration loss, which account for increased attenuation of received GSM signals level when a mobile signal device is moved indoor from outdoor. In this work, measurement of two existing GSM operators signal level were made outside and inside two selected buildings- mud and block which represent the prevalent building types in Kazaure, Jigawa State, Nigeria. A gionee P2 mobile phone with RF signal tracker software installed in it was used and the result shows that an average loss of 10.62dBm and 4.25dBm for mud and block buildings respectively.

Keywords: penetration loss, outdoor reception, Gionee P2, RF signal tracker, mud and block building

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Authors: Premkumar Vincent, Hyeok Kim, Jin-Hyuk Bae

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Organic solar cells have high potential which enables these to absorb much weaker light than 1-sun in indoor environment. They also have several practical advantages, such as flexibility, cost-advantage, and semi-transparency that can have superiority in indoor solar energy harvesting. We investigate organic solar cells based on poly(3-hexylthiophene) (P3HT) and indene-C60 bisadduct (ICBA) for indoor application while Finite Difference Time Domain (FDTD) simulations were run to find the optimized structure. This may provide the highest short-circuit current density to acquire high efficiency under indoor illumination.

Keywords: indoor solar cells, indoor light harvesting, organic solar cells, P3HT:ICBA, renewable energy

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Authors: Cherry Oo, Hnin Min Oo

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Software bug localization is one of the most costly tasks in program repair technique. Therefore, there is a high claim for automated bug localization techniques that can monitor programmers to the locations of bugs, with slight human arbitration. Spectrum-based bug localization aims to help software developers to discover bugs rapidly by investigating abstractions of the program traces to make a ranking list of most possible buggy modules. Using the Apache Commons Math library project, we study the diagnostic accuracy using our spectrum-based bug localization metric. Our outcomes show that the greater performance of a specific similarity coefficient, used to inspect the program spectra, is mostly effective on localizing of single line bugs.

Keywords: software testing, bug localization, program spectra, bug

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Authors: Lina Abou Haibeh, Nadir Hakem, Ousama Abu Safia

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In this paper, the performance and quality of Voice over IP (VoIP) calls carried over a Mobile Ad Hoc Network (MANET) which has a number of SIP nodes registered on a SIP Proxy are analyzed. The testing campaigns are carried out in an indoor corridor structure having a well-defined channel’s characteristics and model for the different voice codecs, G.711, G.727 and G.723.1. These voice codecs are commonly used in VoIP technology. The calls’ quality are evaluated using four Quality of Service (QoS) metrics, namely, mean opinion score (MOS), jitter, delay, and packet loss. The relationship between the wireless channel’s parameters and the optimum codec is well-established. According to the experimental results, the voice codec G.711 has the best performance for the proposed MANET topology

Keywords: wireless channel modelling, Voip, MANET, session initiation protocol (SIP), QoS

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Authors: Tammam A. Benmusa, Mohamed A. Shlibek, Rawad M. Swesi

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The investigation of Buildings Penetration Loss (BPL) of radio signal is getting more and more important. It plays an important role in calculating the indoor coverage for wireless communication networks. In this paper, the theory behind BPL and its mechanisms have been reviewed. The operating frequency, coverage area type, climate condition, time of measurement, and other factors affecting the values of BPL have been discussed. The practical part of this work was conducting 4000 measurements of BPL in different areas in the Libyan capital, Tripoli, to get empirical model for this loss. The measurements were taken for 2 different types of wireless communication networks; mobile telephone network (for Almadar company), which operates at 900 MHz and WiMAX network (LTT company) which operates at 2500 MHz. The results for each network were summarized and presented in several graphs. The graphs are showing how the BPL affected by: time of measurement, morphology (type of area), and climatic environment.

Keywords: building penetration loss, wireless network, mobile network, link budget, indoor network performance

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