Abstract: Wireless local area network (WLAN) field coverage is analyzed in a venue. A mobile data capture device measures coverage data indicative of the WLAN field coverage from a plurality of locations in the venue, and also captures image data indicative of images of the locations in the venue. A controller correlates the measured coverage data and the captured image data at each location. An interface displays the captured image data correlated with the measured coverage data at each location. Impact score value data indicative of the WLAN field coverage may also be determined, correlated, and displayed for each location.

Abstract: A method of training a predictor to predict a location of a computing device in an indoor environment incudes: receiving training data including strength of signals received from wireless access points at positions of an indoor environment, where the training data includes: a subset of labeled data including signal strength values and location labels; and a subset of unlabeled data including signal strength values and not including labels indicative of locations; training a variational autoencoder to minimize a reconstruction loss of the signal strength values of the training data, where the variational autoencoder includes encoder neural networks and decoder neural networks; and training a classification neural network to minimize a prediction loss on the labeled data, where the classification neural network generates a predicted location based on the latent variable, and where the encoder neural networks and the classification neural network form the predictor.

Abstract: A method of processing incoming signals, such as RF signals, includes receiving the incoming RF signals at two (or more) spatially-separated receivers, then processing the signals to determine a phase lag between the two signals. This allows a presumed location of the signal source to be determined, based on the time difference of arrival (TDOA) of signals at the separated receivers. This can be used to produce a phase adjustment of one of the signals, allowing the signals to be coherently summed. The coherently summed combined signal is then examined for instances where a threshold magnitude is exceeded. This information is then used to create a blanking mask, which is then employed as a filter to incoming signals, to blank out non-coherent signals, such as noise and extraneous signals from sources that are not of interest. The blanked signal train is then examined/analyzed for constant pulse repetitions.

Abstract: An apparatus and associated methods for measuring thickness and velocity of flat moving materials utilizing high frequency radar technologies. Two identical radar-based systems for measuring absolute distances between the source of the radar-generated electromagnetic wave and each surface of a flat sheet material is used to determine the thickness of that material as a relative distance. A pair of high frequency radars situated at different locations used to measure the delay time between the occurrences of fingerprint-like unevenness on the moving flat sheet of material to determine the linear velocity of the moving material sheet.

Abstract: A method whereby a user equipment transmits/receives a reference signal for distance measurement in a wireless communication system according to an embodiment of the present invention comprises: a step of receiving, from a base station, a downlink (DL) positioning reference signal (PRS) including sinusoidal components of different angular frequencies; a step of acquiring a phase difference between the sinusoidal components of the DL PRS; a step of transmitting a first uplink (UL) PRS indicating the phase difference, so as to measure a first distance between the user equipment and the base station at a first point of time; and a step of transmitting a second UL PRS so as to measure a second distance between the user equipment, the position of which has changed after the first point of time, and the base station, wherein the user equipment may configure the same phase difference, acquired via the DL PRS before the first point of time, for the second UL PRS, without receiving an additional DL PRS for measuring t

Abstract: A system having a distributed node hardware and software product is disclosed. The distributed topology allows for multiple GPS receiver node positions. The multiple GPS receiver node positions enable an accurate location estimation of a GPS spoofing signal emitter source of an incoming malicious GPS signal. The system detects the presence of a GPS spoofing signal emitter with high confidence against any spoofing geometry or strategy while the GPS receiver nodes are on the move.

Abstract: A split architecture is disclosed for determining the location of a wireless device in a heterogeneous wireless communications environment. A detector within the device or another component of the environment receives signals including parameters for a localization signal of the device. The parameters describe known in advance signals within the signals. Additional metadata including each frame start of the signals and assistance data and auxiliary information are also received. The known in advance signals are detected based on the parameters of the localization signal. Samples extracted from the known in advance signals are then processed and compressed and sent with other collect data to a locate server remote from the detector. The location server uses that information as well as similar information about the environment to calculate the location of the device, as well as perform tracking and navigation of the device, and report such results to the environment.

Abstract: In a method for estimating a position of a missile, an incident angle of a signal of a radar irradiated to the moving missile is calculated. The incident angle is defined by an angle between a measurement vector indicating a direction from the radar toward the missile and a movement vector indicating a moving direction of the missile. A distance compensation value from a point on a surface of the missile to an origin point of the missile is calculated based on the calculated incident angle. A distance from the radar to the origin point of the missile is calculated based on the calculated distance compensation value and a distance from the radar to the point on the surface of the missile. A position of the missile is estimated based on a position of the radar and the calculated distance from the radar to the origin point of the missile.

Abstract: Within several applications the ability to localize an individual within an environment is beneficial. However, existing indoor localization approaches depend upon at least one of two assumptions. First, the subject(s) localization is achieved by localizing a wireless device carried by the subject and second, wireless fingerprints are established for the localization via a site survey being performed before a system can actually localize the subject(s). However, in many application scenarios, neither of the above two assumptions are true, namely that the user is not carrying an active wireless device or that the site has been surveyed. Accordingly, embodiments of the invention provide for subject localization by a dynamic calibration of wireless signals between a receiver and a transmitter, where neither the receiver or transmitter are associated with an electronic device carried or worn by the subject.

Abstract: Methods and apparatus for determining an item of equipment in a direction of interest based upon coordinates derived from wireless communication between wireless transceivers. A smart device assembly is operative to communicate via multiple antennas with a reference point transceiver. A set of coordinates is generated indicating a relative position and/or angle of the wireless transceiver in relation to the reference position transceiver. A query may be made based upon the relative position and angle of the wireless transceiver in relation to the reference position transceiver. A response to the query may include a human readable interface indicating one or more of: direction of travel, a virtual image based upon location and location and direction, and annotative and pictorial information.

Abstract: Systems and methods for determining user equipment (UE) locations within a wireless network using reference signals of the wireless network are described. The disclosed systems and methods utilize a plurality of in-phase and quadrature (I/Q) samples generated from signals provided by receive channels associated with two or more antennas of the wireless system. Based on received reference signal parameters the reference signal within the signals from each receive channel among the receive channels is identified. Based on the identified reference signal from each receive channel, an angle of arrival between a baseline of the two or more antennas and incident energy from the UE to the two or more antennas is determined. That angle of arrival is then used to calculate the location of the UE. The angle of arrival may be a horizontal angle of arrival and/or a vertical angle of arrival.

Abstract: A computer-implemented method, system, and computer program product are provided for positioning an unmanned autonomous vehicle (UAV) in a long term evolution radio access network. The method includes acquiring, by a processor-device, a position of the UAV with a global position system. The method also includes determining, by the processor-device, physical distances from the UAV to each of a plurality of user equipment (UE) responsive to a time-of-flight from the UAV to each of the plurality of UE. The method additionally includes generating, by the processor-device, radio environment maps for each of the plurality of UE with signal-to-noise ratios (SNR) from each of the plurality of UEs to the UAV. The method further includes selecting, by the processor-device, a determined position for the UAV as a position with a minimum SNR in the REMs. The method also includes commanding the UAV to move to the determined position.

Abstract: The embodiments described herein provide ranging capabilities in RF-opaque environments, such as a jungle, utilizing transponders located on a property line. In particular, the embodiments described herein provide for determining a perpendicular distance to a property line from a ranging device. The transponders are located on the property line and a separated from each other by a known distance. The ranging device transmits RF signals to the transponders, which are received by the transponders and re-broadcasted back to the ranging device on a different frequency. The ranging device uses information about the transmitted and received RF signals and the known distance to calculate a perpendicular distance from the ranging device to the property line.

Abstract: A method of determining spin parameters of a sports ball, such as spin axis and rotation velocity of a golf ball. The spin axis is determined solely from the trajectory of the flying ball, and the rotational velocity is determined from a frequency analysis of a signal provided by a radar, which signal comprises spectrum traces positioned equidistantly in frequency, which frequency distance relates to the spin velocity.

Abstract: A non-transitory computer-readable recording medium having stored therein a communication control program for causing a computer to execute a process includes: receiving, from each of a plurality of base stations, communication result between the respective base stations and a communication terminal; storing, when the received communication result indicates that transmission of a message from a first base station to a specific communication terminal is failed, the message in a storage in association with identification information on the specific communication terminal; and referring, when the received communication results indicates that communication is established between a second base station and the specific communication terminal, to the storage, transmitting the message stored in association with the identification information on the specific communication terminal to the second base station, and requesting the second base station to transmit the message to the specific communication terminal.

Abstract: Methods and apparatus for determining a direction of interest based upon coordinates derived from wireless communication between wireless transceivers. A smart device assembly is operative to communicate via multiple antennas with a reference point transceiver. A set of coordinates is generated indicating a relative position and/or angle of the wireless transceiver in relation to the reference position transceiver. A query may be made based upon the relative position and angle of the wireless transceiver in relation to the reference position transceiver. A response to the query may include a human readable interface indicating one or more of: direction of travel, a virtual image based upon location and location and direction, and annotative and pictorial information.

Abstract: Methods and apparatus for determining a location and an orientation of a smart device via wireless communication. The location and direction of the smart device may be used to generate a data query and/or submit information into a data storage, referencing a time, place and direction of the smart device.

Abstract: Described is an machine-readable storage media having instruction stored thereon, that when executed, cause one or more processors to perform an operation comprising: sequentially transmit, in a first mode, at least two first probe request messages in at least two beam steering directions, respectively, towards a device; and receive, from the device, at least two first probe response messages in response to transmitting the at least two first probe request messages.

Abstract: A fireman positioning system includes: a first radio wave emitting device and a second radio wave emitting device, spaced with a predetermined distance and utilized for correspondingly emitting a first frequency modulated signal and a second frequency modulated signal; and a position receiving device, carried or worn by a fireman, and utilized for receiving the first frequency modulating signal and the second frequency modulating signal, and can demodulate the first frequency modulated signal via a first carrier signal so as to obtain a first output signal, and demodulate the second frequency modulated signal via a second carrier signal so as to obtain a second output signal, wherein a phase difference is formed between the first output signal and the second output signal, and the position receiving device can determine a direction angle of the fireman relative to the two radio wave emitting devices via the phase difference.

Abstract: A configurable site safety system includes a plurality of wearable signaling devices, each with an array of independently addressable lighting elements, a location receiver and one or more communication interfaces. The system may also include a site safety server to track location information received from at least each of the signaling devices, and to cause, based on a subset of the plurality of signaling devices satisfying defined geographical, event-based or other defined criteria, the lighting array of each of the subset of signaling devices to display a defined lighting scheme.

Abstract: Methods and apparatus for determining a location and an orientation of a smart device via wireless communication. The location and direction of the smart device may be used to generate a data query and/or submit information into a data storage, referencing a time, place and direction of the smart device.

Abstract: A method of receiving a recommendation of Point of Interest (POI) information from a place recommending apparatus is provided. The method includes sending a POI information recommendation request to the place recommending apparatus using sensor data and receiving a recommendation response to the POI information recommendation request from the place recommending apparatus based on user-desired environment information.

Abstract: The invention provides a system and method for receiving hazard and event information in a mobile unit and using that information to warn a user of an event or future hazard with reference to the mobile unit's location and/or intended direction of travel. A hazard location algorithm compares a forecast location of each mobile unit with a forecast hazard and transmits a warning to each mobile unit that is predicted to encounter the hazard. As the mobile unit moves, its actual position is updated in an event center, and a revised warning is transmitted to the mobile unit as applicable. Warnings include audio warnings for playback and/or visual warnings for display on the mobile device. Users may also wirelessly report events or hazards to a central server in an event center by sending data to the event center via a wireless communications network. Secondary information may be included, based on the selected event type.

Abstract: A method for tracking a device determines correlations among locations of the device including a set of previous locations of the device and an initial estimate of a current location of the device, and determines, for each access point (AP), a current path loss exponent for the current location of the device using previous path loss exponents determined for the previous locations of the device and the correlations among the locations of the device. The method determines the current location of the device according to a path loss model using received signal strengths (RSS) of signals received from each AP at the current location and the current path loss exponent determined for each AP. The current path loss exponent for each AP are updated using the current location of the device and the RSS of signals received from the corresponding AP.

Abstract: Wireless local area network (WLAN) field coverage is analyzed in a venue. A mobile data capture device measures coverage data indicative of the WLAN field coverage from a plurality of locations in the venue, and also captures image data indicative of images of the locations in the venue. A controller correlates the measured coverage data and the captured image data at each location. An interface displays the captured image data correlated with the measured coverage data at each location. Impact score value data indicative of the WLAN field coverage may also be determined, correlated, and displayed for each location.

Abstract: A system and method that provide a means to overcome errors in determining the source of an electromagnetic event due to reflection, absorption and scattering of the electromagnetic field due to metallic parts of the electric equipment.

Abstract: A wireless system for determining the displacement of spinning components of a differential assembly, including a differential case having a hollow interior space; a differential assembly having an actuator including an electromagnet having a coil, a spinning component selectively engaged with a differential gear arrangement and at least one sensor assembly non-rotatably mounted to the differential case including at least one sensor communicatively coupled to a printed circuit board, a transmitter and a power source. The sensor assembly extends axially and radially within the differential case and at least one sensor is-configured to directly sense the axial displacement of the spinning component and the sensor assembly is configured generate a signal representing the axial displacement of the spinning component into a signal that is wirelessly transmitted to a receiver positioned outside the differential case.

Abstract: Systems and methods for determining a time of a passing at a reference line of an RFID tag traveling along a route and a time of lapsing of the tracked RFID tag on the route, the system have a plurality of spaced apart tag reader systems for wirelessly obtaining tag reads, wherein at least one of the tag reader systems is space apart from the reference line. The timing system receives a plurality of tag reads and determines the time of passing of the RFID at the reference line responsive to the plurality of received tag read messages received from the plurality of tag reader systems.

Abstract: The geo-security method and system uses spatio-temporal radio channel information during authentication to grant permission to access, use and/or operate the intended device. The geo-security method and system uses a wideband radio channel impulse response (or transfer function of radio channel) from antenna of RF source to antenna of a RF receiver at the device position to determine the legitimacy of the intended device's location.

Abstract: Systems and methods to identify a region in which a mobile device is located, by: applying device attributes of the mobile device and region attributes of coordinates of the mobile device to a predictive model to generate an accuracy indicator, identifying a plurality of locations from the coordinates of the mobile device that represent one point and the accuracy indicator, converting coordinates of the locations to cell identifiers of a grid reference system, determining region(s) containing the locations by finding matching cell identifiers that are pre-associated with the region(s), and determining a confidence level of a region that contains at least a portion of the locations based on the weights of locations in the portion. The region is identified in response to a determination that the confidence level is above a threshold.

Abstract: Embodiments address a concept for exchanging information between time-of-flight ranging devices. For example, a first time-of-flight camera has an illumination unit configured to transmit information to a second time-of-flight camera by modulating a light signal to be emitted in accordance with an information bearing signal. The second time-of-flight camera has a time-of-flight sensor configured to detect the information bearing signal included in the emitted light signal of the first time of flight camera.

Abstract: A medical apparatus system is provided, the medical apparatus system comprising: at least one medical apparatus (2), at least one mobile control unit (3), for a medical apparatus (2), having a WLAN transmitting module (4) and a further radio transmitting module (5), at least one WLAN access point (6) having at least one antenna, at least one further radio reading module (7), and control device (8) connected to the at least one WLAN access point (7) and the at least one further radio reading module (7) in order to locate the medical apparatus and/or the mobile control unit in a process reliable manner.

Abstract: Implementations of UAV wildlife monitoring system may include a ground control station wirelessly coupled to a UAV which may include a flight controller, a first radio, a second radio, a first antenna, a second antenna, a very high frequency (VHF) radio receiver, and a computer, all operatively coupled together. The monitoring system may also include a VHF tag configured to be coupled to an animal, wherein when the VHF tag is coupled to the animal, the VHF radio receiver receives a VHF radio signal from the VHF tag using the first antenna, wherein the computer process the VHF radio signal to create the location data from the VHF radio signal, processes the location data, and sends the location data to the second radio, wherein the second radio transmits the location data into a telecommunications channel, and wherein the ground control station receives the location data from the telecommunications channel.

Abstract: One embodiment provides a method, including: receiving, from at least one transmitter coupled to an object, a transmission signal, wherein the transmission signal is received at a subset of a plurality of receivers, wherein the plurality of receivers are connected together through a network and have a synchronized clock; identifying, for each of the subset of the plurality of receivers, a time of receipt of the transmission signal and marking the transmission signal with a timestamp corresponding to the time of receipt; determining, using the marked transmission signals, a relative position of the object relative to the receivers; and identifying a location of the object within an environment by correlating the determined relative position of the object to a map of the environment. Other aspects are described and claimed.

Abstract: Systems and methods to identify a region in which a mobile device is located, by: applying device attributes of the mobile device and region attributes of coordinates of the mobile device to a predictive model to generate an accuracy indicator, identifying a plurality of locations from the coordinates of the mobile device that represent one point and the accuracy indicator, converting coordinates of the locations to cell identifiers of a grid reference system, determining region(s) containing the locations by finding matching cell identifiers that are pre-associated with the region(s), and determining a confidence level of a region that contains at least a portion of the locations based on the weights of locations in the portion. The region is identified in response to a determination that the confidence level is above a threshold.

Abstract: A method utilizes signals received from the signal source by receivers during respective time intervals and data about a change in positions of the receivers during these time intervals. The method includes applying first processing to each of the signals received by each respective receiver to determine an accumulated phase in the signal during a respective time interval. Applying second processing to determine differential phases differences between the accumulated phases of the signals received by two or more pairs of the receivers. The phases differences are indicative of the difference between the changes of the distances of the respective receivers from the signal source during the respective time intervals. The method includes applying a third processing for determining the location of the signal source such that the relative changes between the positions of the respective receivers relative to the determined location correspond to the distance differences of the phase differences.

Abstract: Systems and methods for determining a time of a passing at a reference line of an RFID tag traveling along a route and a time of lapsing of the tracked RFID tag on the route, the system have a plurality of spaced apart tag reader systems for wirelessly obtaining tag reads, wherein at least one of the tag reader systems is space apart from the reference line. The timing system receives a plurality of tag reads and determines the time of passing of the RFID at the reference line responsive to the plurality of received tag read messages received from the plurality of tag reader systems.

Abstract: Implementations of UAV wildlife monitoring system may include a ground control station wirelessly coupled to a UAV which may include a flight controller, a first radio, a second radio, a first antenna, a second antenna, a very high frequency (VHF) radio receiver, and a computer, all operatively coupled together. The monitoring system may also include a VHF tag configured to be coupled to an animal, wherein when the VHF tag is coupled to the animal, the VHF radio receiver receives a VHF radio signal from the VHF tag using the first antenna, wherein the computer process the VHF radio signal to create the location data from the VHF radio signal, processes the location data, and sends the location data to the second radio, wherein the second radio transmits the location data into a telecommunications channel, and wherein the ground control station receives the location data from the telecommunications channel.

Abstract: The present disclosure relates to computer-implemented systems and methods for device provisioning. The method may include receiving, by a computer, a selection instructions to detect wireless devices. The computer may include one or more processors, a radio transceiver, and a microphone. The method may also include identifying, by the radio transceiver, a plurality of wireless devices. Additionally, the method may include transmitting, by the radio transceiver to the wireless devices, respective requests for inaudible audio signal transmission. The method may also include receiving, by the microphone, a first inaudible audio signal from a first wireless device of the plurality of wireless devices. Further still, the method may include determining, based at least in part on the first inaudible audio signal, that the first wireless device is located in the same room as the user device.

Abstract: A system that includes a plurality of access points and a device tracking controller. The device tracking controller is configured to receive signal strength information for a first endpoint device and a second endpoint device from at least one access point from the plurality of access points. The device tracking controller is further configured to determine a first device location for the first endpoint device and a second device location for the second endpoint device based on the location of the at least one access point. The device tracking controller is further configured to periodically update the first device location and the second device location. The device tracking controller is further configured to compare the first device location to the second device location and to send a notification when the first endpoint device and the second endpoint device are in different locations.

Abstract: A signal processing system is provided. The signal processing system includes a transmission architecture configured to transmit first and second signals, and a receiver architecture including an antenna configured to receive the signals, and a coherent signal fusion processing device communicatively coupled to the antenna. The processing device is configured to generate a broadband analog signal that contains the first and second signals, digitize the broadband analog signal, isolate first and second signals of interest, estimate, relative to a reference template, at least one of a time difference of arrival and a frequency difference of arrival for at least one of the first and second signals of interest, and determine a location of at least one of the transmission architecture and the receiver architecture based on the estimated at least one of a time difference of arrival and a frequency difference of arrival.

Abstract: A system and method for minimizing or preventing interference between wireless networks is disclosed. A network hub broadcasts a beacon signal within repeating beacon periods. The position of the beacon signal shifts within each beacon period based upon a predetermined pseudo-random sequence. The beacon signal includes data identifying the current beacon shift sequence and the current phase of the sequence. Neighboring hubs independently or jointly determine and broadcast their own beacon shift sequences and phases for their respective networks from a predetermined list. Nodes connected with the network hubs are assigned allocation intervals having a start time that is set relative to the beacon signal. The start time and duration of the allocation interval wraps around the beacon period if the allocation-interval would otherwise start or continue in a next beacon period.

Abstract: Disclosed is an indoor lighting device installed at a first space. The indoor lighting device includes a lighting emiting unit, a storage unit to store information of an operating condition of the light emitting unit according to an operating state of a mobile terminal, a wireless communication unit to make wireless communication with the mobile terminal, and a controller that receives the information of the operating state of the mobile terminal through the wireless communication unit to check the operating condition of the light emitting unit corresponding to the received information of the operating state and to operate the light emitting unit based on the checked operating condition of the light emitting unit.

Abstract: Method and apparatus for controlling connectivity to a network for intermittent data services are disclosed. A new dormant mode is defined such that a wireless transmit/receive unit (WTRU) may transition from a connected state or an idle state to the dormant mode based on triggering conditions. The WTRU may transition from a connected state or an idle state to a dormant mode if the characteristic or the priority of the data matches a characteristics or a priority for the dormant mode and operate using configuration which is different from configuration used for the connected state or the idle state. The WTRU in the dormant mode may perform a WTRU-controlled mobility procedure. The WTRU in the dormant mode may maintain a dedicated resource, such as a cell radio network temporary identity (C-RNTI), for receiving a unicast traffic from the network.

Abstract: A system for locating an object in a GPS-denied environment includes first and second stationary nodes of a network and an object out of synchronization with a common time base of the network. The system includes one or more processors that are configured to estimate distances between the first stationary node and the object and a distance between the second stationary node and the object by comparing time-stamps of messages relayed between the object and the nodes. A position of the object can then be trilaterated using a location of each of the first and second stationary nodes and the measured distances between the object and each of the first and second stationary nodes.

Abstract: A method of estimating a position of an object is disclosed. The method comprises receiving a plurality of signals transmitted between each of a respective plurality of reference stations of a known position and the object. The method further comprises, for each received signal: processing the signal using a matrix featuring a characteristic power delay profile and a characteristic signal waveform to provide a processed signal, and calculating a direct estimate of the position of the object based, at least in part, on the processed signals.

Abstract: A method of automatically determining a landing runway for an aircraft includes the steps of i) determining control points assigned to a landing runway along a landing approach of an airplane; ii) determining the spatial deviation of the airplane from the determined control points; and iii) determining an appropriate landing runway while taking into account the determined spatial deviation.

Abstract: A system and method for determining geo position of a target by an aircraft, including: (a). electronically receiving navigation data related to the aircraft and multilateration information related to the target; (b). electronically calculating a locus of emitter positions (LEP) curve from the received navigation data and multilateration information; (c). repeating steps (a) and (b), as the aircraft moves toward or away from the target; (d). electronically accumulating, in a computer storage medium, the calculated LEP curves; and (e). electronically determining a position that is closest to all the accumulated LEP curves to establish a position of the target.

Abstract: A method for detecting a collector device in an indoor area associated with imaging devices covering the area includes a plurality of collector devices emitting markers to the imaging devices coupled to a server. The imaging devices capture the images of the collector devices including the markers. The images are processed in order to determine the current positions of the collector devices corresponding to the markers. The server and the collector device communicate with each other and match a current position corresponding to the collector device among the plurality of collector devices.

Abstract: A method and system for modeling and processing vehicular traffic data and information, comprising: (a) transforming a spatial representation of a road network into a network of spatially interdependent and interrelated oriented road sections, for forming an oriented road section network; (b) acquiring a variety of the vehicular traffic data and information associated with the oriented road section network, from a variety of sources; (c) prioritizing, filtering, and controlling, the vehicular traffic data and information acquired from each of the variety of sources; (d) calculating a mean normalized travel time (NTT) value for each oriented road section of said oriented road section network using the prioritized, filtered, and controlled, vehicular traffic data and information associated with each source, for forming a partial current vehicular traffic situation picture associated with each source; (e) fusing the partial current traffic situation picture associated with each source, for generating a single co