JPWO2019044629A1 - 位置推定システム - Google Patents
位置推定システム Download PDFInfo
- Publication number
- JPWO2019044629A1 JPWO2019044629A1 JP2019539414A JP2019539414A JPWO2019044629A1 JP WO2019044629 A1 JPWO2019044629 A1 JP WO2019044629A1 JP 2019539414 A JP2019539414 A JP 2019539414A JP 2019539414 A JP2019539414 A JP 2019539414A JP WO2019044629 A1 JPWO2019044629 A1 JP WO2019044629A1
- Authority
- JP
- Japan
- Prior art keywords
- receivers
- transmitter
- receiver
- area
- time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000005540 biological transmission Effects 0.000 claims description 35
- 238000005259 measurement Methods 0.000 description 22
- 238000004891 communication Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 4
- 238000004590 computer program Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000004364 calculation method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005562 fading Methods 0.000 description 2
- 238000010295 mobile communication Methods 0.000 description 2
- 230000002238 attenuated effect Effects 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 230000005404 monopole Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0205—Details
- G01S5/0226—Transmitters
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0295—Proximity-based methods, e.g. position inferred from reception of particular signals
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/14—Determining absolute distances from a plurality of spaced points of known location
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/04—Manufacturing
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
- G06Q50/10—Services
- G06Q50/22—Social work or social welfare, e.g. community support activities or counselling services
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S2205/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S2205/01—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations specially adapted for specific applications
- G01S2205/02—Indoor
-
- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/20—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the management or administration of healthcare resources or facilities, e.g. managing hospital staff or surgery rooms
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Business, Economics & Management (AREA)
- Tourism & Hospitality (AREA)
- Health & Medical Sciences (AREA)
- Signal Processing (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Health & Medical Sciences (AREA)
- General Business, Economics & Management (AREA)
- Strategic Management (AREA)
- Primary Health Care (AREA)
- Theoretical Computer Science (AREA)
- Marketing (AREA)
- Human Resources & Organizations (AREA)
- Economics (AREA)
- Manufacturing & Machinery (AREA)
- Child & Adolescent Psychology (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Medical Treatment And Welfare Office Work (AREA)
Abstract
Description
図1は、本発明の実施形態に関わる位置推定システム10の構成を示す説明図である。位置推定システム10は、送信装置20と、複数の受信機31〜38と、コンピュータシステム40とを備えている。送信装置20は、移動可能であり、その所在位置は不明であるものとする。一方、複数の受信機31〜38は、特定の位置に固定されており、その所在位置は既知であるものとする。送信装置20は、送信装置20に固有の識別情報を担うビーコン信号を全方位に向けてブロードキャスト送信する。複数の受信機31〜38のそれぞれは、送信装置20からのビーコン信号を受信し、その受信強度に関わる情報であるRSSI(Received Signal Strength Indication)をコンピュータシステム40に出力する。コンピュータシステム40は、受信機31〜38から出力されるRSSIに基づいて送信装置20の現在位置を推定する。送信装置20と受信機31〜38との間の通信規格として、近距離無線通信規格(例えば、Wifi(Wireless Fidelity)(登録商標)、UWB(Ultra Wide Band)、Bluetooth(登録商標)、Bluetooth Low Energyなど)を用いることができる。
図4に示すレイアウトは、エリア74が省略されている点、及び設備61〜67の配置の仕方が図1とは異なる点において、図1に示すレイアウトとは異なるが、その余の点において図1に示す構成と同じである。例えば、図4には、コンピュータシステム40は図示されていないが、受信機31〜36は、コンピュータシステム40に接続している。なお、図4において、符号100は、送信装置20を搭載した人体90の移動経路を示す。
Claims (5)
- 所定の基準位置に関して対称的に配置された複数の送信機を有する送信装置と、
前記複数の送信機から送信される前記電波を受信する複数の受信機と、
各受信機が受信する前記電波の受信強度に基づいて前記送信装置の位置を推定する推定部と、
を備える位置推定システム。 - 請求項1に記載の位置推定システムであって、
前記複数の受信機は、エリア毎に対応付けられたグループにグループ化されており、
前記推定部は、グループ毎に演算及び比較された前記電波の受信強度に基づいて、前記送信装置が所在するエリアを推定する、位置推定システム。 - 請求項1又は2に記載の位置推定システムであって、
前記送信装置は、工場内を移動する作業者に取り付けられており、
前記位置推定システムは、前記作業者の位置と工場設備の稼働状況とを関連付けて表示する表示装置を更に備える、位置推定システム。 - 請求項1又は2に記載の位置推定システムであって、
前記送信装置は、工場内を移動する作業者に取り付けられており、
各受信機が受信する前記電波の受信強度が前記作業者の位置を推定するのに十分でないときに、前記推定部は、工場設備の稼働状況を基に前記作業者の位置を推定する、位置推定システム。 - 請求項2に記載の位置推定システムであって、
一つのエリアには、前記複数の受信機のうち少なくとも二つの受信機が設置されており、
前記送信装置は、前記少なくとも二つの受信機の間を通過する、位置推定システム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2017167165 | 2017-08-31 | ||
JP2017167165 | 2017-08-31 | ||
PCT/JP2018/031020 WO2019044629A1 (ja) | 2017-08-31 | 2018-08-22 | 位置推定システム |
Publications (2)
Publication Number | Publication Date |
---|---|
JPWO2019044629A1 true JPWO2019044629A1 (ja) | 2020-08-27 |
JP7374408B2 JP7374408B2 (ja) | 2023-11-07 |
Family
ID=65527694
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2019539414A Active JP7374408B2 (ja) | 2017-08-31 | 2018-08-22 | 位置推定システム |
Country Status (5)
Country | Link |
---|---|
US (1) | US11159913B2 (ja) |
JP (1) | JP7374408B2 (ja) |
CN (1) | CN111051912A (ja) |
DE (1) | DE112018003975T5 (ja) |
WO (1) | WO2019044629A1 (ja) |
Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001265521A (ja) * | 2000-03-21 | 2001-09-28 | Hitachi Kokusai Electric Inc | モーションキャプチャシステム |
JP2003050656A (ja) * | 2001-08-08 | 2003-02-21 | Sony Corp | 動作シミュレータ |
JP2005512017A (ja) * | 2001-03-09 | 2005-04-28 | ラジアンス,インク. | 位置特定システム及び方法 |
JP2005308598A (ja) * | 2004-04-23 | 2005-11-04 | Nec Network & Sensor Systems Ltd | 歩行誘導システム及び歩行誘導方法 |
JP2006209315A (ja) * | 2005-01-26 | 2006-08-10 | Nec Corp | 移動体、情報受信機、進行方向判別装置、進行方向判別方法、および、進行方向判別プログラム |
US20110210167A1 (en) * | 2010-02-28 | 2011-09-01 | Lyon Geoffrey M | System And Method For Determining Asset Location In A Rack |
JP2014502339A (ja) * | 2010-09-16 | 2014-01-30 | コミシリア ア レネルジ アトミック エ オ エナジーズ オルタネティヴズ | 移動体上の送信機および/または受信機の協調位置特定の方法および装置 |
US20170026794A1 (en) * | 2015-07-21 | 2017-01-26 | IP Funding Group, LLC | Determining relative position with a ble beacon |
WO2017069138A1 (ja) * | 2015-10-21 | 2017-04-27 | 住友電気工業株式会社 | 車両用通信システム及び車載機 |
JP6142099B1 (ja) * | 2016-03-30 | 2017-06-07 | 株式会社シーイーシー | 演算装置及びプログラム |
JP2017116389A (ja) * | 2015-12-24 | 2017-06-29 | シャープ株式会社 | 携帯通信端末および携帯通信端末の位置を検出する方法 |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CA2299418A1 (en) * | 1999-06-04 | 2000-12-04 | Hitachi, Ltd. | Positioning apparatus using cellular communication |
US7272394B2 (en) * | 2004-02-11 | 2007-09-18 | Avaya Technology Corp. | Location estimation of wireless terminals in a multi-story environment |
US8787191B2 (en) * | 2011-11-15 | 2014-07-22 | Qualcomm Incorporated | Method and apparatus for determining distance in a Wi-Fi network |
KR101956173B1 (ko) * | 2012-03-26 | 2019-03-08 | 삼성전자주식회사 | 3차원 위치/방향 추정 시스템의 보정 장치 및 방법 |
GB201213172D0 (en) * | 2012-07-24 | 2012-09-05 | Sensewhere Ltd | Method of estimating position of a device |
US20150145728A1 (en) * | 2013-11-22 | 2015-05-28 | Michael Jonathan Addison | High frequency transmitter and receiver tracking system |
JP2015224943A (ja) | 2014-05-27 | 2015-12-14 | アプリックスIpホールディングス株式会社 | 位置推定システム及び位置推定方法 |
CN107003381A (zh) * | 2014-10-07 | 2017-08-01 | Xyz 互动技术公司 | 用于定向和定位的设备和方法 |
EP3266009A4 (en) * | 2015-03-02 | 2018-06-20 | Locus Solutions, LLC | Systems and methods for monitoring transported items |
JP2017015577A (ja) | 2015-07-01 | 2017-01-19 | 三菱電機株式会社 | 無線通信装置及び位置推定方法及び位置推定プログラム |
-
2018
- 2018-08-22 WO PCT/JP2018/031020 patent/WO2019044629A1/ja active Application Filing
- 2018-08-22 CN CN201880055875.8A patent/CN111051912A/zh active Pending
- 2018-08-22 JP JP2019539414A patent/JP7374408B2/ja active Active
- 2018-08-22 DE DE112018003975.7T patent/DE112018003975T5/de active Pending
-
2020
- 2020-02-26 US US16/801,273 patent/US11159913B2/en active Active
Patent Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001265521A (ja) * | 2000-03-21 | 2001-09-28 | Hitachi Kokusai Electric Inc | モーションキャプチャシステム |
JP2005512017A (ja) * | 2001-03-09 | 2005-04-28 | ラジアンス,インク. | 位置特定システム及び方法 |
JP2003050656A (ja) * | 2001-08-08 | 2003-02-21 | Sony Corp | 動作シミュレータ |
JP2005308598A (ja) * | 2004-04-23 | 2005-11-04 | Nec Network & Sensor Systems Ltd | 歩行誘導システム及び歩行誘導方法 |
JP2006209315A (ja) * | 2005-01-26 | 2006-08-10 | Nec Corp | 移動体、情報受信機、進行方向判別装置、進行方向判別方法、および、進行方向判別プログラム |
US20110210167A1 (en) * | 2010-02-28 | 2011-09-01 | Lyon Geoffrey M | System And Method For Determining Asset Location In A Rack |
JP2014502339A (ja) * | 2010-09-16 | 2014-01-30 | コミシリア ア レネルジ アトミック エ オ エナジーズ オルタネティヴズ | 移動体上の送信機および/または受信機の協調位置特定の方法および装置 |
US20170026794A1 (en) * | 2015-07-21 | 2017-01-26 | IP Funding Group, LLC | Determining relative position with a ble beacon |
WO2017069138A1 (ja) * | 2015-10-21 | 2017-04-27 | 住友電気工業株式会社 | 車両用通信システム及び車載機 |
JP2017116389A (ja) * | 2015-12-24 | 2017-06-29 | シャープ株式会社 | 携帯通信端末および携帯通信端末の位置を検出する方法 |
JP6142099B1 (ja) * | 2016-03-30 | 2017-06-07 | 株式会社シーイーシー | 演算装置及びプログラム |
Also Published As
Publication number | Publication date |
---|---|
US20200196109A1 (en) | 2020-06-18 |
US11159913B2 (en) | 2021-10-26 |
JP7374408B2 (ja) | 2023-11-07 |
DE112018003975T5 (de) | 2020-04-16 |
CN111051912A (zh) | 2020-04-21 |
WO2019044629A1 (ja) | 2019-03-07 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US10123220B2 (en) | Method and device for wirelessly accessing service | |
US20170188286A1 (en) | Radio communication system and base station | |
KR101234177B1 (ko) | 사용자 단말의 위치 측정 방법 | |
JP2006234683A (ja) | 測位システム | |
KR101121907B1 (ko) | 지향성 안테나를 이용한 실시간 위치추적 시스템 및 방법 | |
US10895895B2 (en) | Electronic apparatus, measurement apparatus, and method | |
JP5025675B2 (ja) | 移動体検知システム | |
US10859671B2 (en) | Position estimation apparatus and position estimation method | |
US20160316344A1 (en) | Mobile electronic device, control method, and storage medium | |
US10871577B2 (en) | Positioning method, positioning system, correction information generation method, correction information generation device, and positioning system relay station and terminal | |
US11057737B2 (en) | Indoor positioning for mobile devices | |
JP2021141539A (ja) | 無線通信システム、及び、無線通信装置 | |
JP7374408B2 (ja) | 位置推定システム | |
JP6551611B2 (ja) | 位置推定用システム及び位置推定方法 | |
KR102492309B1 (ko) | 사용자 단말 및 이를 이용한 위치 추정 방법 | |
US20230266425A1 (en) | Estimating a Location of a User Equipment | |
JP2022067016A (ja) | 無線中継装置および無線中継方法 | |
US20220026900A1 (en) | Movable body control device, movable body, movable body control method, and program | |
WO2012169252A1 (ja) | 測位装置、測位方法、およびコンピュータ読み取り可能な記録媒体 | |
JP2020122748A (ja) | 位置推定システム、位置推定方法及びプログラム | |
JP2016042247A (ja) | プラント監視システム、プラント監視装置、およびプラント監視方法 | |
KR20150105119A (ko) | 다중 안테나 센서를 이용한 위치 추적 시스템 및 방법 | |
JP7420237B2 (ja) | 物体検出方法、物体検出装置および物体検出システム | |
Fink et al. | Improved indoor localization with diversity and filtering based on received signal strength measurements | |
JP5340509B1 (ja) | 位置標定方法、及び位置標定システム |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20200206 |
|
A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20200206 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20210319 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20210514 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20211201 |
|
A601 | Written request for extension of time |
Free format text: JAPANESE INTERMEDIATE CODE: A601 Effective date: 20220128 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20220329 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20220715 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20220913 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20221227 |
|
A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 20230301 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20230529 |
|
A911 | Transfer to examiner for re-examination before appeal (zenchi) |
Free format text: JAPANESE INTERMEDIATE CODE: A911 Effective date: 20230605 |
|
A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20230712 |
|
A521 | Request for written amendment filed |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20230907 |
|
TRDD | Decision of grant or rejection written | ||
A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20230925 |
|
A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20231008 |
|
R150 | Certificate of patent or registration of utility model |
Ref document number: 7374408 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 |