Intern
ati
o
n
a
l Jo
urn
a
l
o
f
R
o
botics
a
nd Au
tom
a
tion
(I
JR
A)
Vol.
3, No. 4, Decem
ber
2014, pp. 268~
271
I
S
SN
: 208
9-4
8
5
6
2
68
Jo
urn
a
l
h
o
me
pa
ge
: h
ttp
://iaesjo
u
r
na
l.com/
o
n
lin
e/ind
e
x.ph
p
/
IJRA
Reorganization of intruder Us
ing Ad-Hoc Network
And RFID
V
i
shakha
Haga
wa
ne,
A
n
ukrit
i
A
n
up Shriva
stav
,
Ka
rt
iki
Ta
mbeka
r
Dept. of
Electro
n
ic
and
Telecom
m
unication
Pune University
DPCOE Wagholi, Pune, Ind
i
a
Article Info
A
B
STRAC
T
Article histo
r
y:
Received
Ma
r 4, 2014
Rev
i
sed
Ju
l 28
,
20
14
Accepted Aug 15, 2014
This s
y
stem is to develop
a cen
t
ralized
computer application
th
at needs to
identif
y m
oving
pers
on in a s
p
ecif
i
c ar
ea usin
g wireless network. In this
paper, we dev
e
lop a new indoo
r tr
ack
ing algor
ithm using received signal
strength.
Th
e R
F
ID is able
to
dete
ct
the humans and provid
e
information
about the dir
e
ction of the movement
. Th
e gathered information from the
node is to be giv
e
n to the base station
for processing. This app
lication is able
to detect
and tr
ack person,
and r
e
port dir
ection
of the in
truder
to a cen
tral
base station. In
this s
y
stem we
de
sign nodes thr
ough which we
are ab
le
to
track
the
person
.
The
hum
an in
tr
uder is d
e
tected
using Zigb
ee.
Keyword:
Glob
al Po
sition
i
ng
System
Lo
calizatio
n
Rad
i
o
frequ
en
cy
id
en
tificatio
n
Zi
gbee
Copyright ©
201
4 Institut
e
o
f
Ad
vanced
Engin
eer
ing and S
c
i
e
nce.
All rights re
se
rve
d
.
Co
rresp
ond
i
ng
Autho
r
:
Anuk
riti Anu
p
Sh
ri
v
a
stav
Dept
.
o
f
El
ect
r
oni
c
A
n
d
Tel
e
com
m
uni
cat
i
on P
u
ne
Uni
v
er
si
t
y
DPC
O
E Wag
h
o
l
i
,
P
une
, In
di
a
Em
a
il: an
u
k
riti1
910
@g
m
a
il.c
o
m
1.
INTRODUCTION
It
i
s
po
ssi
bl
e t
o
l
o
cat
e p
e
o
p
l
e
o
r
ot
he
r
o
b
j
ect
s i
n
a
n
i
n
d
o
o
r
e
n
vi
r
onm
ent
wi
t
h
o
u
t
usi
n
g
e
xpe
nsi
v
e
g
l
ob
al po
sitio
nin
g
system
(GPS)
d
e
v
i
ces.
GPS p
e
rform
a
n
ce
in
sid
e
b
u
ild
i
n
g
s
is v
e
ry li
mited
du
e to
imp
a
ired
lin
e o
f
si
g
h
t
(LOS) to
th
e
GPS satellites [1
-4
]. A system
-lev
el ap
p
r
oach
to
th
e
prob
lem
o
f
lo
calizin
g
and
tracking a human user
who assum
e
d to
be carrying a device for locat
ing is
consi
d
ered in this
paper. T
h
e
devi
ce i
s
m
odu
l
e
whi
c
h c
o
n
s
i
s
t
s
of
a
n
R
F
ID
t
a
g an
d
Zi
g
b
ee
f
o
r t
r
acki
n
g
m
easurem
ent
s
.
A t
r
ac
ki
n
g
sy
s
t
em
can be
de
vel
o
ped
wi
t
h
m
oderat
e
per
f
o
rm
ance wi
t
h
a Zi
gB
ee m
e
sh
net
w
or
k t
h
at
uses
low-c
o
st IEEE 802.15.4
e
m
bedde
d
de
vices [5-6]. In
Figure 1, we
have a ZigBee
m
e
sh network
whe
r
e
each de
vice c
a
n comm
unicate directly
or through neighbor de
vices with
other
de
vices in the net
w
ork.
Connections between nodes
are dynam
i
cally update
d a
nd optim
ized in diffic
u
lt co
nditions
. Mesh net
w
orks
are decent
r
alized whe
r
e
eac
h node
is
self-routing and a
b
le
to conn
ect to other
nodes
as
needed.
The
pu
rp
ose
o
f
Trac
ki
n
g
f
o
r
im
pro
v
i
n
g acc
uracy
i
s
to
p
r
ov
id
e a
b
e
tter serv
ice for track
i
ng
p
e
op
le
will b
e
m
o
re usefu
l
for Security in
k
n
o
w
n
an
d unk
now
n
en
v
i
ron
m
en
ts, Safety for
a
no
rmal Hu
m
a
n
was b
e
ing
analyzed acc
ording to their
pulse
va
ri
at
i
o
ns
. T
h
i
s
sy
st
em
can
be
use
d
f
o
r
t
r
ac
ki
n
g
pe
rso
n
a
n
d m
oni
t
o
ri
n
g
h
ealth
of th
e
person
in
an
app
licatio
n
/
m
o
d
u
le; th
e ad
d
itio
nal featu
r
es av
ailab
l
e in
o
u
r sy
ste
m
are
m
o
n
ito
ri
n
g
pulse
, SPO2,
user access
cont
rol, re
port
ge
ne
rators a
n
d em
e
r
ge
ncy situation alert.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
SN
:
2
089
-48
56
IJRA Vol. 3, No. 4,
D
ecem
ber 2014:
268 – 271
2
69
Fi
gu
re
1.
Zi
g
b
ee M
e
sh
Net
w
or
k
2.
LITERATU
R
E
SU
RVE
Y
W
i
t
h
th
e po
pular
ity o
f
in
d
oor
lo
catio
n
tr
ack
i
ng
syste
m
s t
h
e in
doo
r
po
si
tio
n
i
ng
issu
e has e
m
er
g
e
d
an
d
it b
e
co
m
e
s a sig
n
i
fican
t
research
t
o
p
i
c.
Th
ere are
m
a
n
y
d
i
fferen
t
k
i
nd
s of
p
o
s
ition
i
n
g
tech
no
log
i
es su
ch
as Gl
o
b
al
P
o
s
i
t
i
oni
ng
Sy
st
em
, W
i
‐
Fi
posi
t
i
oni
n
g
sy
st
em
and R
F
I
D
P
o
si
t
i
oni
ng
Sy
st
em
[1-2]
.
Al
l
t
h
ese
t
echn
o
l
o
gi
es
h
a
ve
di
ffe
re
nt
cove
ra
ge, a
p
pl
i
cat
i
ons a
n
d l
i
m
i
t
a
t
i
ons. T
h
e
nat
u
re
of i
n
d
o
o
r
p
o
si
t
i
oni
ng
sy
st
em
s
is so
m
e
wh
at d
i
fferen
t
fro
m
t
h
at o
f
ou
tdo
o
r p
o
s
ition
i
ng
. Typ
i
cally, th
e co
v
e
rag
e
of a po
sitio
n
i
n
g
syst
e
m
is
inve
rsely proportional to the accur
acy of detection. S
o
, am
ong thes
e technologies
, the m
o
st popula
r
p
o
s
ition
i
ng
syste
m
is
GPS. It is a sate
ll
ite b
a
sed
po
sitio
n
i
ng
system wh
ich
is desig
n
e
d
fo
r
ou
tdo
o
r
en
v
i
ron
m
en
t; b
u
t
, su
ch
satellite syste
m
la
ck
s th
e cap
ab
i
lity in
ach
iev
i
n
g
h
i
g
h
cov
e
rag
e
an
d po
sitio
n
i
ng
preci
si
o
n
i
n
i
n
do
o
r
en
vi
ro
nm
ent
s
[3
-
5
]
.
The
GPS si
g
n
al
i
s
easi
l
y
bl
ocked
by
m
o
st
const
r
uct
i
on m
a
t
e
ri
als an
d
hence
it bec
o
mes useless
for indoor
positioni
ng. T
h
us,
there
is a
probl
e
m
of
accura
c
y
in a
speci
fic indoor
area. For ind
o
o
r
env
i
ron
m
en
ts, p
o
s
ition
i
ng syste
m
s
th
at
rely o
n
ex
isting
n
e
two
r
k
infrastru
c
tures su
ch
as
Wi
‐
Fi
po
sitio
nin
g
syste
m
th
at prov
id
es lo
cat
io
n
accuracies
rang
ing
fro
m
1
to
1
0
m
,
d
e
p
e
n
d
i
n
g
m
a
in
ly o
n
the
usa
g
e environment. The
W
i
‐
Fi
net
w
or
k s
h
o
u
l
d
e
x
i
s
t
as a p
a
rt
of t
h
e com
m
uni
cat
i
on i
n
f
r
ast
r
uct
u
re
, ot
h
e
rwi
s
e
it will req
u
i
re
ex
p
e
n
s
i
v
e and ti
m
e
‐
cons
um
ing i
n
f
r
ast
r
uct
u
re de
pl
oy
m
e
nt
. Deri
vi
n
g
an a
ccurat
e
pr
opa
g
a
t
i
o
n
m
odel
for eac
h
W
i
‐
Fi access
poi
nt in a rea
l
‐
worl
d i
n
d
o
o
r
envi
r
o
nm
ent
is ex
trem
ely co
m
p
lex and the
r
efore
usually results in a relatively
poor accu
ra
cy for positioni
ng [6]. In indoor
location
detection, c
o
st is anothe
r
ch
allen
g
e in
desig
n
i
n
g
i
n
door po
sition
i
ng
syste
m
s. W
i
‐
Fi
p
o
s
ition
i
ng
syste
m
can
b
e
u
t
i
lized
in
ind
oors, bu
t
i
t
s
devel
opm
ent
a
n
d
set
u
p c
o
st
s a
r
e
very
h
i
gh
w
h
e
n
i
t
c
o
vers
a l
a
rge
ar
ea beca
use
i
t
r
e
qui
res
de
pl
oy
m
e
nt
of
expe
nsi
v
e W
i
‐
Fi
t
a
gs
f
o
r
t
r
a
c
ki
n
g
a
n
y
ob
j
ect
. Si
nce
t
h
e
t
a
gs a
r
e
rel
a
t
i
v
el
y
ex
pensi
v
e, t
h
ey
nee
d
t
o
be
rem
oved from
tracke
d
objects
for re
use
on objects t
o
be
t
r
a
c
ked
.
I
f
t
h
e
o
b
j
ect
s t
o
be t
r
ac
ked
we
re cha
n
ged
m
o
re num
ber
of t
i
m
es, t
h
e o
p
erat
i
o
n c
o
st
o
f
t
r
an
sfe
rri
n
g
t
a
gs f
o
r
W
i
‐
Fi
p
o
s
ition
i
ng
app
licatio
n
s
will b
e
v
e
ry
hi
g
h
.
3.
SYSTE
M
ARCHITECT
URE
In t
h
i
s
sy
st
em
we co
nsi
d
er a i
n
f
r
ast
r
uct
u
re i
n
w
h
i
c
h
we
de
pl
oy
ed
va
ri
o
u
s
no
des
.
Eac
h
n
ode c
o
nt
ai
ns
Zigbee m
odule
,
and RF
ID Reader is use
d
to locate the
within the cam
pus. The rfid
tag
will rem
a
in with the
p
e
rson
.
Th
e mo
m
e
n
t
th
e rfi
d tag
will co
m
e
with
in th
e
ran
g
e
of the RFID
read
er
t
h
e p
e
rson
can
b
e
lo
cate
easily according to the R
SS
re
ceived
by eac
h node
Evaluation Warning : The document was created with Spire.PDF for Python.
I
J
RA I
S
SN
:
208
9-4
8
5
6
Reor
ga
ni
z
a
t
i
o
n
of
i
n
t
r
uder
U
s
i
n
g
Ad
-
H
oc
N
e
t
w
ork A
n
d
RF
ID (
A
n
u
kri
t
i
)
27
0
Fi
gu
re
2.
N
o
de
De
pl
oy
ed
i
n
i
n
f
r
ast
r
uct
u
re
Each
node
act
as a
transreci
ever it receive
data
from
the rfi
d ta
g ca
rri
ed
by
pers
on.
Using RSS
alg
o
rith
m
th
e h
i
gh
est RSS carried
n
o
d
e
wi
ll sen
d
in
fo
rm
atio
n
to
th
e cen
tral statio
n
.
C
e
n
t
ral statio
n
basically
consist of recei
ver interface
d
with the Pc i.e. com
puter. The data recei
ved by receiver is displayed on pc. On
pc
we
have
wri
tten a vis
u
al
ba
sic software
wi
ndow
whe
r
e we
can observe
a
n
d
analyze
t
h
e receive
d data.
4.
ALGO
RITH
MS USE
D
Fo
r th
e first
nod
e th
e Al
g
o
rithm
is g
i
v
e
n
b
e
l
o
w
1. st
a
r
t
2
.
i
n
itialize serial co
mm
u
n
i
ca
tio
n
with
b
a
ud
rate 960
0
3
.
i
n
itilize ti
me
r for
1
5
seconds
4. st
a
r
t
co
u
n
t
i
n
g
pul
ses
an
d
sp
o2
5. Meas
urem
e
n
t fi
nishe
d
6
.
send
pu
lse rate an
d sp
o2
an
d id
en
tificatio
n
7
.
go
to step 3.
Fo
r th
e second
an
d th
ird
nod
e th
e
Algo
rith
m
is g
i
v
e
n
b
e
low
1. st
a
r
t
2
.
i
n
itialize serial co
mm
u
n
i
ca
tio
n
with
b
a
ud
rate 960
0
3. st
a
r
t
sca
nni
n
g
fo
r
dat
a
4. i
f
data recei
ved
5. c
h
ec
k t
h
e
R
SSI
val
u
e f
o
r t
h
e i
n
c
o
m
i
ng
d
a
t
a
by
se
ndi
ng
com
m
a
nd
6.
get
t
h
e
R
S
S
I
val
u
e
7
.
send
t
h
e
d
a
ta with
t
h
e
format decide
d.
Alg
o
rithm
:
No
de
4
1. St
art
2
.
i
n
itialize serial co
mm
u
n
i
ca
tio
n
with
b
a
ud
rate 960
0
3
.
con
tin
uo
sly scan
for d
a
ta
recep
tio
n
4. i
f
data recei
ved chec
k
from
which node
5. c
h
ec
k t
h
e
R
SSI
val
u
e
of ea
ch
no
de
6.
fi
n
d
t
h
e m
a
x rssi
val
u
e
5.
TECHNOLO
G
Y USE
D
We u
s
e Zi
gB
ee t
echn
o
l
o
gy
t
h
at
has s
o
m
e
im
port
a
nt
fe
at
ures t
h
at
m
a
ke i
t
ou
r
best
opt
i
o
n t
o
i
m
p
l
e
m
en
t an
mesh
n
e
t
w
ork,
an
d low-po
wer lo
catio
n m
o
n
ito
ri
n
g
system
.
ZigBee technology
’s c
o
st-e
ffe
ctive features:
•
Ope
r
at
i
n
g i
n
2.
4
GHz
u
n
l
i
cense
d
ban
d
or
o
n
e
of
t
h
e s
u
b-
GHz
re
gi
o
n
al
ban
d
s
•
Low
c
o
m
p
l
e
xi
t
y
(l
ow m
e
m
o
ry
f
oot
pri
n
t
)
Evaluation Warning : The document was created with Spire.PDF for Python.
I
S
SN
:
2
089
-48
56
IJRA Vol. 3, No. 4,
D
ecem
ber 2014:
268 – 271
2
71
• Low
power (battery operated
devices
)
•
M
e
sh
net
w
or
ki
n
g
(a feat
ure
not
f
o
u
n
d
i
n
m
o
st
wi
rel
e
ss
ne
t
w
o
r
ki
ng
st
an
d
a
rds
)
•
Speci
fi
cal
l
y
d
e
si
gne
d t
o
s
u
p
p
o
r
t
se
nsi
n
g,
m
oni
t
o
ri
n
g
a
n
d c
ont
rol
a
p
pl
i
cat
ions
Table
1. t
h
e Zi
gBee technology
Zi
g
B
e
e
Wi-Fi
Bluet
oot
h
Range
10-
100 m
e
ter
s
50-
100 m
e
ter
s
10
–
100 m
e
ter
s
Net
w
ork
i
ng Topology
Ad
-h
o
c
, p
eer to
p
e
er, sta
r
, o
r
me
s
h
Point to hub
Ad-
hoc,
ver
y
s
m
all networ
ks
Operating Freq
u
e
ncy
868 M
H
z (E
ur
ope)
900-
92
8 M
H
z (NA)
,
2.
4 GHz
(
w
or
ldwide)
2.
4 and 5 GHz
2.
4 GHz
Security
128 AE
S plus application lay
e
r
security
64 and 12
8 bit encr
y
p
tion
Typical Applicati
o
ns
I
ndustr
ial contr
o
l and
m
onitor
i
ng,
sensor
networ
ks,
building
auto
m
a
tion,
ho
m
e
contr
o
l and
auto
m
a
t
i
on, toys, g
a
m
e
s
Wire
less L
AN con
n
ectivity,
broadband Internet access
Wire
less connectivity betwe
e
n
devices such as phones,
PDA,
laptops,
headsets
I
n
Tab
l
e
1 you can
see so
m
e
o
f
th
e Zi
g
B
ee
tech
no
log
y
.
Ad
v
a
n
t
ag
es
o
v
e
r o
t
h
e
r
w
i
r
e
less stand
a
rd
s. No
t
e
th
at
no
ne
o
f
t
h
e
ot
h
e
rs
were
desi
g
n
ed
t
o
a
d
dres
s
m
oni
t
o
ri
ng
6.
CO
NCL
USI
O
N
The
goal
of t
h
i
s
pa
per i
s
t
o
de
vel
o
p an
Zi
g
b
e
e
-B
ased
net
w
o
r
k t
o
det
e
rm
i
n
e t
h
e l
o
cat
i
o
n
of
per
s
o
n
i
n
a gi
ve
n n
e
t
w
o
r
k a
r
ea a
nd m
oni
t
o
ri
n
g
t
h
ei
r
heal
t
h
al
so
. I
n
s
h
o
r
t
,
ena
b
l
e
d l
o
cat
i
o
n m
oni
t
o
ri
n
g
usi
n
g IE
EE
80
2.
1
5
.
4
t
ech
n
o
l
o
gy
can
hel
p
m
a
ke l
i
v
es safer a
n
d
heal
t
h
i
e
r. C
o
st
-e
ffect
i
v
e Zi
gB
ee m
e
sh
net
w
or
ks t
h
a
t
ca
n
p
r
ov
id
e eff
ectiv
e lo
cation
m
o
n
ito
r
i
n
g
f
o
r
a
v
a
r
i
ety o
f
env
i
r
o
n
m
en
ts an
d
p
u
l
se
r
a
te sen
s
o
r
to
m
o
n
itor
b
l
ood
press
u
re a
n
d
S
P
O
2
.
ACKNOWLE
DGE
M
ENTS
We t
a
ke t
h
i
s
o
p
p
o
r
t
u
ni
t
y
t
o
than
k
ou
r p
r
o
j
e
c
t
gui
de P
r
of.
Ki
sh
ore
Wa
ne and
Hea
d
o
f
t
h
e Depa
rt
m
e
nt
Prof. Saleen
a fo
r th
eir
v
a
luab
l
e
gu
id
an
ce and m
e
n
t
o
r
in
g thro
ugh
ou
t th
is pro
j
ect.
REFERE
NC
ES
[1]
K.
Srinivasa Ravi,
G.
H.
Varun, T.
Vamsi,
P.
Praty
u
sha,
RFID Based
Security System,
International Journal o
f
Innovative Tech
nology and
Expl
oring Engin
eering (
I
JITEE)
ISSN: 2278-3075, Volume-2, Issue-5
,
April 2013
.
[2]
Ricardo T
e
soriero, José A. Gall
ud, Ma
ría D. Lo
zano, Ví
ctor M. R. Penich
et, Tr
acking Autonom
ous Entiti
es usin
g
RFID Technolog
y
.
[3]
Daniel W. Engels, Tom A. Sch
a
rfeld
Sanjay
E. Sarma (dra
gon@lcs.mit.edu)
(tas@mit.edu) (s
esarma@mit.edu)
Auto-ID Center, Massachusetts Institute of T
e
chnolog
y
,
Room
35-010 Cam
b
ridge, MA USA 0
2139. Review o
f
RFID Technolog
ies.
[4]
Ch
iu C.
T
a
n,
Lei
Xie,
Qu
n
Li
,
cct@
c
s
.
wm.
e
du
, xiel
ei@
d
is
lab
.
nj
u.
edu.cn, liqun@
cs
.
w
m.
edu,
Pr
i
v
a
c
y
Pr
ot
e
c
t
i
o
n
f
o
r
R
F
ID-b
as
ed
T
r
a
c
ki
n
g
systems.
[5]
Liu, H., D
a
rabi
, H., B
a
nerj
ee, P
.,
Li
u
,
J. "Survey
of
wirel
e
ss in
door positioning
techn
i
ques
and
s
y
stem
s", IE
EE
Tra
n
sa
ctions on
S
y
ste
m
s,
Ma
n,
and C
y
b
e
rnetics
,
Part C:
Applications and Reviews
, vol. 37(6)
, pp
.
1067-1080, 200
7.
[6]
Mithun Raj
and
Koshy
,
Vargh
e
se, Positioning
of hum
an re
sources in a
constr
uction
environm
ent using Z
i
gbee,
Department o
f
C
i
vil
Engin
eering
,
IIT M
a
dras, Tamil Nadu, India.
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