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Rapid Disclosure of Client’s Spot
            With the help of Location Based Services
              Mr. Shaik Masood Ahemad M.Tech,                      K.V.Nagendra, Asst Prof, CSE
                 masoodahemad@gmail.com                              kvnagendramtech@gmail.com
             AudiSankara college of Engineering and Technology, Gudur, S.PS.R.Nellore, A.P.

    Abstract— When people are in emergency, generally           in India. We introduce in Section III location based services
they may be confused in what to do how to do in getting out     and their applications. After we introduce our approach in
of that emergency. Such times people need to inform their       Section IV, we conclude in Section V.
condition to whoever is right. For that, location based
service is required. This particular paper especially meets                        II. R ELATED WORKS
the needs of such people, who met with an accident or in
some other emergency by sending their location in simply           Advanced Automatic Crash Detection Systems are those
by pressing one or two buttons from their mobile. One           systems that automatically notify emergency centers of
advantage of the proposed system is that it can be used to      vehicle crashes. These systems are commonly equipped
report and locate the accident automatically by the person      with sensors distributed in all directions of the vehicle
involved in the accident even if he cannot speak. A             and used to collect crash severity information. The system
Location Based Service is an information service that can       then communicate with an emergency dispatcher to assist
be accessed using the mobile device through the mobile          in determining the appropriate emergency personnel and
network and utilizes the ability to make use of geographical    Equipment.
positions of the mobile devices. The main objective of this
work is to design and implement a Client-Server System             OnStar [2], which is one of such systems, has been
that helps users to locate their addresses.                     Designed in 1996 to deliver safety, security and information
Key Words: Location Based Services, Accident Location           Services using wireless technology and the Global Position-
                                                                ing System (GPS) satellite network.

    I. I NTRODUCTION AND MOTIVATION                                OnStar services include but are not limited to automatic
                                                                notification of air bag deployment, stolen vehicle location
   Recently, the number of accidents of different types         assistance, emergency services, roadside assistance with
(Vehicle accidents, fires, etc.) has been increased. Table I    location, and remote door unlock. It also allows drivers to
Shows the number of deaths and injuries resulting from          make and receive voice-activated wireless calls and access a
Accidents of different types in India during the period of      wide range of other information services through a nation-
2004-2007 [1]. Table I shows that the number of deaths and      wide cellular network.
injuries are increasing yearly. In 2007, for example, more
than 750 accident victims died in India. Some of                   However, such systems are installed in specific vehicles.
these deaths can be attributed to the long response time        For example, OnStar is a wholly-owned subsidiary of Gen-
required to reach an accident.                                  eral Motors. Therefore, they cannot be directly applied in
This is due to the fact that the process of determining the     countries like India because everyone should replace his
location of an accident made by a communication between a       vehicle by a new vehicle equipped with such a system
person in the accident or a person near the accident and an     or install the system in his vehicle, which could be too
emergency personnel as well as sending the nearest              expensive.
emergency service and/or police officers needed for reporting          Moreover, it is required to identify each country’
the accident can be quite lengthy. Moreover, the persons in a   section in order to use the Global Positioning System (GPS)
given accident may need an urgent treatment and the delay in    satellite network. Where a section can be a street, subway,
response time can increase the severity of the accident.        university campus, etc. For this reason, it is not easy to use the
   The main objective of this paper is to reduce the time       GPS in India.
required to report an accident and to determine its location
more precisely. This will reduce the time required for the         Other systems, usually called traffic Accident Recording
police and the emergency personnel to reach the accident        and Reporting Systems (ARRS) [3], [4], [5], [6] are vision-
location. The proposed idea will make the location identi-      based traffic accident detection systems. Such systems are
fication automatic and hence will be more precise and take      either image-based or video-based and used for automati-
less time.                                                      cally detecting, recording, and reporting traffic crashes. They
   The remainder of the paper is organized as follows.          consist mainly of a charge coupled device (CCD) camera
Section II provides an overview of related systems and dis-
cusses the difficulties in applying such systems specifically
Table I
                      T HE CASUALTIES OF ACCIDENTS WHICH THE C IVIL D EFENCE DEALT
                      WITH DURING (2004-2007).




                                                                       There are different types of location based services [9],
                                                                   [10], [11].
                                                                   Pull services: this type of service is initiated by the client
                                                                   himself by requesting the service from LBS and giving
                                                                   the permission to the LBS to know his/her location. One
                                                                   example of a Pull service is traffic information requested
                                                                   by sending an SMS to a given number such as 1000 that
                                                                   is specialized in this service. The service provider need
                                                                   to know the location of the client to provide him with
Figure 1. Snapshot of Accident Recording and Reporting             information that fulfil the request of the client.
Systems (ARRS).                                                      Push services: this type of service is initiated by the
(located at intersections, traffic lights, or bridges) to obtain a service provider as a result of previously getting the au-
view of accidents and/or a digital video recorder (DVR) that thority from the client to receive the requested information
can be used for recording all the situations at a given place, from the service provider, that is a client must be registered
and finally an image processing unit that detects images           to receive this service. For example, a client can register
which could be related to a traffic crash.                         in a traffic service. Every morning when she/he is going
       Such systems analyze traffic images & report accidents to work at 7:30AM, the service provider supplies her/him
to Traffic Monitoring Center (TMC) as illustrated in Fig-          with information regarding traffic movement at that time
ure 1.                                                             depending at her/his current location. Consequently, if there is
     Nonetheless, the usages of such systems are limited since a huge number of vehicles at a given street it will provide
cameras (CCD) and digital video recorders (DVD) can                her/him with possible alternatives that she/he can go on so that
not be distributed everywhere (for example, along roads,           she/he can arrive at her/his work on time.
highways, subways, etc.). Consequently, it will be useful for the Tracking services: this type of services allow someone to
detection and reporting of accidents in some hot spots like        request the location of another one. In such type of services,
intersections.                                                     the person whose location is required has to permit the first
                                                                   one to follow him. Such a service is provided by UMNIAH
III. INTRODUCTION TO LOCATION BASED                                (a mobile phone company in Jordan). A client can press
SERVICES AND THEIR APPLICATIONS                                    a number and send an SMS message to specify a given
                                                                   person location, if the person replay, the client will receive
   As a result of the huge numbers of mobile phone users, it his location via SMS.
becomes possible to use the mobile in specifying the               Emergency Services: such kind of services provide an
location of the mobile users. One method that can be used automatic or manual call to civil defense in case of an
to accomplish this task is the use of location based services accident or risk. This service should be provided to all
(LBSs). A location-based service (LBS) is an information mobile clients registered in this mobile company. In USA
service that can be accessed using mobile devices through when you dial 911 from your mobile this service will allow
the mobile network and utilizes the ability to make use of the emergency personnel to specify the location of the caller
the geographical position of the mobile device [7], [8], [9].      directly.
   There are a number of services included in LBS such
                                                                   AUTOMATIC ACCIDENT REPORTING
as specifing other people positions, other resources, and
                                                                   AND LOCATING
the position of the user itself, etc. The primary service is
                                                                      In this section, we present a novel approach for fast and
obtaining the position of the user itself in order to use a
                                                                   precise accidents reporting and locating. The approach is
given service such as finding the nearest restaurant.
based on designing and implementing a new service that
can by sponsored by mobile phone companies to notify
police center (or other emergency personnel such as fire
emergency) of an occurred accident and its location.
A. The Design and the Implementation of the System
   The proposed system uses location based services, which are
already supported by mobile phone companies, in order to
specify the location of an accident.
   Basically, the service provided by the system will require
from the user to open an application on his mobile or to
select an option for such purpose, he do not have to do
any thing more. In more details, as shown in Figure 2, one
person in the accident or anyone near the accident will call
                                                                             Figure 2.The service architecture.
a specific number, which is a number for opening services
of a given mobile phone company, then she/he will select
among services’ options, the option specified for the new
                                                               1) The service of the system can be modified to provide
service.
                                                                  additional information that help the emergency person-
                                                                  nel to assess the severity of the accident in order to
 The option may contains the following sub-options:
                                                                  assist them in taking the appropriate actions. If the
  1) police only;                                                 accident is very sever, the user select an option to
  2) police and ambulance;                                        directly send a message to the police.
  3) police and fire emergency;
  4) police, ambulance, end fire emergency.                         Otherwise the user will have more choices to specify the
                                                               type of the accident (for example, fire, vehicle crash, and
  Note that police is required in all options to report an     personnel accident), the degree of its seriousness and if possible
accident. Once the user selects one of the above options,      more details about the location.
a message will be sent to the mobile phone company
containing a request to use one of the emergency services      2) Since most mobile phones are provided with a camera,
mentioned in the above options. The mobile phone company          we can exploit it to improve the service of the system
processed the request as follows:                                 by allowing the user to take a photo of the accident. The
                                                                  photo will be sent with the request to the emergency
  1) first, it will identify the location of the mobile phone     personnel.
     who has sent the request message.                         3) The interface of this service should be designed care-
  2) second, it will send a message to the police and emer-       fully to make its use fast, simple and useful.
     gency personnel in the following format {<Location>,
     <Emergency Type>, <Client identity>}                        C. Limitations and Potential Solutions
                                                                   One of the limitations of the proposed system is that
   Besides the location and the type of emergency, the          the person using the service of the system must be very
detailed message includes the identity of the person who        close to the accident place. This is due to the fact that
has requested the service. This is necessary for identifying    the user’s mobile phone place will be used by the mobile
the person who has requested the service in case of faulty      phone company as a reference to the location of the accident.
calls1 . One advantage of the proposed system is that it can
be used to report and locate the accident automatically by
                                                                  This is not a big issue due to the following facts:
the person involved in the accident even if he can not speak.
B. Additional Improvements                                        • Mobile phones are very popular now and most probably
  The proposed system described in the above section can            someone close to the accident will posses a mobile
be improved as follows:                                             phone.
                                                                  • The service itself can be modified so that the user
                                                                    can give an estimate of the distance between him
    Every one who wants to obtain a phone number should
                                                                    and the accident along with a direction towards the
provide the phone company with a form containing identity
                                                                    accident. This will help the emergency personnel to
information as well as a photocopy of his identity card to be
                                                                    approximately locate the accident.
used later by the company to validate the information.
V. CONCLUSION AND FUTURE WORK                            [9] J. H. Schiller and A. Voisard, Eds., Location-Based Services.
                                                                         Morgan Kaufmann, 2004.
We have proposed in this paper a novel system that can be [10] B. Rao and L. Minakakis, “Evolution of mobile location-
employed to significantly reduce the time required to report and      based services,” Commun. ACM, vol. 46, no. 12, pp. 61-65,
locate accidents. The new system exploits location based              December 2003.
services to specify the location of an accident. The proposed
system can be adopted with the help of mobile phone              [11] P. Bellavista, A. Küpper, and S. Helal, “Location-based ser-
companies and its services will be accessible for the users           vices: Back to the future,” IEEE Pervasive Computing, vol. 7,
through the use of mobile phones.                                     no. 2, pp. 85-89, 2008.
                  As a future work, we are implementing the
same technology to the mobiles, here we are using for
identifying the location of a mobile using the GPS
application that enabled in the mobile.


                       REFERENCES

 [1] C. D. in Jordan, “Accidents statistics,” Annual statistics
     report, 2008, http://www.cdd.gov.jo/uploads/e-bab1.pdf.
 [2] R. Carrigan, R. Milton, and D. Morrow, “ADVANCED AU-
     TOMATIC CRASH NOTIFICATION (AACN),” COMPUT-
     ERWORLD HONORS CASE STUDY, 2005, www.onstar.
     com/
     www.cwhonors.org/archives/case_studies/onstar.pdf.

 [3] T. Wells and E. Toffin, “Video-based automatic incident
     detection on san-mateo bridge in the san francisco bay area,” in
     Proceedings of 12th World Congress on ITS,
     San Francisco,6-10 November 2005.

 [4] Y.-K. Ki, J.-W. Kim, and D.-K. Baik, “A Traffic Acci-
     dent Detection Model using Metadata Registry,” Software
     Engineering Research, Management and Applications, ACIS
     International Conference on Software Engineering Research,
     Management and Applications, pp. 255-259, 2006.

 [5] Y.-K. Ki, “Accident Detection System using Image Processing
     and MDR,” International Journal of Computer Science and
     Network Security IJCSNS, vol. 7, no. 3, pp. 35-39, 2007,
     http://paper.ijcsns.org/07_book/200703/20070306.pdf.

 [6] M. S. Shehata, J. Cai, W. M. Badawy, T. W. Burr, M. S.
      Pervez, R. Johannesson, and A. Radmanesh, “Video-based
      automatic incident detection for smart roads: The outdoor en-
      vironmental challenges regarding false alarms,” IEEE Trans-
      actions on Intelligent Transportation Systems, vol. 9, no. 2,
      pp. 349-360, 2008.
 [7] P. M. Adams, G. W. B. Ashwell, and R. Baxter, “Location-
      based services — an overview of the standards,” BT Technology
      Journal, vol. 21, no. 1, pp. 34-43, 2003.
 [8] M. Vijayalakshmi and A. Kannan, “Proactive location-based
     context aware services using agents,” International Journal
     of Mobile Communications, vol. 7, no. 2, pp. 232-252, 2009.

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  • 1. Rapid Disclosure of Client’s Spot With the help of Location Based Services Mr. Shaik Masood Ahemad M.Tech, K.V.Nagendra, Asst Prof, CSE masoodahemad@gmail.com kvnagendramtech@gmail.com AudiSankara college of Engineering and Technology, Gudur, S.PS.R.Nellore, A.P. Abstract— When people are in emergency, generally in India. We introduce in Section III location based services they may be confused in what to do how to do in getting out and their applications. After we introduce our approach in of that emergency. Such times people need to inform their Section IV, we conclude in Section V. condition to whoever is right. For that, location based service is required. This particular paper especially meets II. R ELATED WORKS the needs of such people, who met with an accident or in some other emergency by sending their location in simply Advanced Automatic Crash Detection Systems are those by pressing one or two buttons from their mobile. One systems that automatically notify emergency centers of advantage of the proposed system is that it can be used to vehicle crashes. These systems are commonly equipped report and locate the accident automatically by the person with sensors distributed in all directions of the vehicle involved in the accident even if he cannot speak. A and used to collect crash severity information. The system Location Based Service is an information service that can then communicate with an emergency dispatcher to assist be accessed using the mobile device through the mobile in determining the appropriate emergency personnel and network and utilizes the ability to make use of geographical Equipment. positions of the mobile devices. The main objective of this work is to design and implement a Client-Server System OnStar [2], which is one of such systems, has been that helps users to locate their addresses. Designed in 1996 to deliver safety, security and information Key Words: Location Based Services, Accident Location Services using wireless technology and the Global Position- ing System (GPS) satellite network. I. I NTRODUCTION AND MOTIVATION OnStar services include but are not limited to automatic notification of air bag deployment, stolen vehicle location Recently, the number of accidents of different types assistance, emergency services, roadside assistance with (Vehicle accidents, fires, etc.) has been increased. Table I location, and remote door unlock. It also allows drivers to Shows the number of deaths and injuries resulting from make and receive voice-activated wireless calls and access a Accidents of different types in India during the period of wide range of other information services through a nation- 2004-2007 [1]. Table I shows that the number of deaths and wide cellular network. injuries are increasing yearly. In 2007, for example, more than 750 accident victims died in India. Some of However, such systems are installed in specific vehicles. these deaths can be attributed to the long response time For example, OnStar is a wholly-owned subsidiary of Gen- required to reach an accident. eral Motors. Therefore, they cannot be directly applied in This is due to the fact that the process of determining the countries like India because everyone should replace his location of an accident made by a communication between a vehicle by a new vehicle equipped with such a system person in the accident or a person near the accident and an or install the system in his vehicle, which could be too emergency personnel as well as sending the nearest expensive. emergency service and/or police officers needed for reporting Moreover, it is required to identify each country’ the accident can be quite lengthy. Moreover, the persons in a section in order to use the Global Positioning System (GPS) given accident may need an urgent treatment and the delay in satellite network. Where a section can be a street, subway, response time can increase the severity of the accident. university campus, etc. For this reason, it is not easy to use the The main objective of this paper is to reduce the time GPS in India. required to report an accident and to determine its location more precisely. This will reduce the time required for the Other systems, usually called traffic Accident Recording police and the emergency personnel to reach the accident and Reporting Systems (ARRS) [3], [4], [5], [6] are vision- location. The proposed idea will make the location identi- based traffic accident detection systems. Such systems are fication automatic and hence will be more precise and take either image-based or video-based and used for automati- less time. cally detecting, recording, and reporting traffic crashes. They The remainder of the paper is organized as follows. consist mainly of a charge coupled device (CCD) camera Section II provides an overview of related systems and dis- cusses the difficulties in applying such systems specifically
  • 2. Table I T HE CASUALTIES OF ACCIDENTS WHICH THE C IVIL D EFENCE DEALT WITH DURING (2004-2007). There are different types of location based services [9], [10], [11]. Pull services: this type of service is initiated by the client himself by requesting the service from LBS and giving the permission to the LBS to know his/her location. One example of a Pull service is traffic information requested by sending an SMS to a given number such as 1000 that is specialized in this service. The service provider need to know the location of the client to provide him with Figure 1. Snapshot of Accident Recording and Reporting information that fulfil the request of the client. Systems (ARRS). Push services: this type of service is initiated by the (located at intersections, traffic lights, or bridges) to obtain a service provider as a result of previously getting the au- view of accidents and/or a digital video recorder (DVR) that thority from the client to receive the requested information can be used for recording all the situations at a given place, from the service provider, that is a client must be registered and finally an image processing unit that detects images to receive this service. For example, a client can register which could be related to a traffic crash. in a traffic service. Every morning when she/he is going Such systems analyze traffic images & report accidents to work at 7:30AM, the service provider supplies her/him to Traffic Monitoring Center (TMC) as illustrated in Fig- with information regarding traffic movement at that time ure 1. depending at her/his current location. Consequently, if there is Nonetheless, the usages of such systems are limited since a huge number of vehicles at a given street it will provide cameras (CCD) and digital video recorders (DVD) can her/him with possible alternatives that she/he can go on so that not be distributed everywhere (for example, along roads, she/he can arrive at her/his work on time. highways, subways, etc.). Consequently, it will be useful for the Tracking services: this type of services allow someone to detection and reporting of accidents in some hot spots like request the location of another one. In such type of services, intersections. the person whose location is required has to permit the first one to follow him. Such a service is provided by UMNIAH III. INTRODUCTION TO LOCATION BASED (a mobile phone company in Jordan). A client can press SERVICES AND THEIR APPLICATIONS a number and send an SMS message to specify a given person location, if the person replay, the client will receive As a result of the huge numbers of mobile phone users, it his location via SMS. becomes possible to use the mobile in specifying the Emergency Services: such kind of services provide an location of the mobile users. One method that can be used automatic or manual call to civil defense in case of an to accomplish this task is the use of location based services accident or risk. This service should be provided to all (LBSs). A location-based service (LBS) is an information mobile clients registered in this mobile company. In USA service that can be accessed using mobile devices through when you dial 911 from your mobile this service will allow the mobile network and utilizes the ability to make use of the emergency personnel to specify the location of the caller the geographical position of the mobile device [7], [8], [9]. directly. There are a number of services included in LBS such AUTOMATIC ACCIDENT REPORTING as specifing other people positions, other resources, and AND LOCATING the position of the user itself, etc. The primary service is In this section, we present a novel approach for fast and obtaining the position of the user itself in order to use a precise accidents reporting and locating. The approach is given service such as finding the nearest restaurant.
  • 3. based on designing and implementing a new service that can by sponsored by mobile phone companies to notify police center (or other emergency personnel such as fire emergency) of an occurred accident and its location. A. The Design and the Implementation of the System The proposed system uses location based services, which are already supported by mobile phone companies, in order to specify the location of an accident. Basically, the service provided by the system will require from the user to open an application on his mobile or to select an option for such purpose, he do not have to do any thing more. In more details, as shown in Figure 2, one person in the accident or anyone near the accident will call Figure 2.The service architecture. a specific number, which is a number for opening services of a given mobile phone company, then she/he will select among services’ options, the option specified for the new 1) The service of the system can be modified to provide service. additional information that help the emergency person- nel to assess the severity of the accident in order to The option may contains the following sub-options: assist them in taking the appropriate actions. If the 1) police only; accident is very sever, the user select an option to 2) police and ambulance; directly send a message to the police. 3) police and fire emergency; 4) police, ambulance, end fire emergency. Otherwise the user will have more choices to specify the type of the accident (for example, fire, vehicle crash, and Note that police is required in all options to report an personnel accident), the degree of its seriousness and if possible accident. Once the user selects one of the above options, more details about the location. a message will be sent to the mobile phone company containing a request to use one of the emergency services 2) Since most mobile phones are provided with a camera, mentioned in the above options. The mobile phone company we can exploit it to improve the service of the system processed the request as follows: by allowing the user to take a photo of the accident. The photo will be sent with the request to the emergency 1) first, it will identify the location of the mobile phone personnel. who has sent the request message. 3) The interface of this service should be designed care- 2) second, it will send a message to the police and emer- fully to make its use fast, simple and useful. gency personnel in the following format {<Location>, <Emergency Type>, <Client identity>} C. Limitations and Potential Solutions One of the limitations of the proposed system is that Besides the location and the type of emergency, the the person using the service of the system must be very detailed message includes the identity of the person who close to the accident place. This is due to the fact that has requested the service. This is necessary for identifying the user’s mobile phone place will be used by the mobile the person who has requested the service in case of faulty phone company as a reference to the location of the accident. calls1 . One advantage of the proposed system is that it can be used to report and locate the accident automatically by This is not a big issue due to the following facts: the person involved in the accident even if he can not speak. B. Additional Improvements • Mobile phones are very popular now and most probably The proposed system described in the above section can someone close to the accident will posses a mobile be improved as follows: phone. • The service itself can be modified so that the user can give an estimate of the distance between him Every one who wants to obtain a phone number should and the accident along with a direction towards the provide the phone company with a form containing identity accident. This will help the emergency personnel to information as well as a photocopy of his identity card to be approximately locate the accident. used later by the company to validate the information.
  • 4. V. CONCLUSION AND FUTURE WORK [9] J. H. Schiller and A. Voisard, Eds., Location-Based Services. Morgan Kaufmann, 2004. We have proposed in this paper a novel system that can be [10] B. Rao and L. Minakakis, “Evolution of mobile location- employed to significantly reduce the time required to report and based services,” Commun. ACM, vol. 46, no. 12, pp. 61-65, locate accidents. The new system exploits location based December 2003. services to specify the location of an accident. The proposed system can be adopted with the help of mobile phone [11] P. Bellavista, A. Küpper, and S. Helal, “Location-based ser- companies and its services will be accessible for the users vices: Back to the future,” IEEE Pervasive Computing, vol. 7, through the use of mobile phones. no. 2, pp. 85-89, 2008. As a future work, we are implementing the same technology to the mobiles, here we are using for identifying the location of a mobile using the GPS application that enabled in the mobile. REFERENCES [1] C. D. in Jordan, “Accidents statistics,” Annual statistics report, 2008, http://www.cdd.gov.jo/uploads/e-bab1.pdf. [2] R. Carrigan, R. Milton, and D. Morrow, “ADVANCED AU- TOMATIC CRASH NOTIFICATION (AACN),” COMPUT- ERWORLD HONORS CASE STUDY, 2005, www.onstar. com/ www.cwhonors.org/archives/case_studies/onstar.pdf. [3] T. Wells and E. Toffin, “Video-based automatic incident detection on san-mateo bridge in the san francisco bay area,” in Proceedings of 12th World Congress on ITS, San Francisco,6-10 November 2005. [4] Y.-K. Ki, J.-W. Kim, and D.-K. Baik, “A Traffic Acci- dent Detection Model using Metadata Registry,” Software Engineering Research, Management and Applications, ACIS International Conference on Software Engineering Research, Management and Applications, pp. 255-259, 2006. [5] Y.-K. Ki, “Accident Detection System using Image Processing and MDR,” International Journal of Computer Science and Network Security IJCSNS, vol. 7, no. 3, pp. 35-39, 2007, http://paper.ijcsns.org/07_book/200703/20070306.pdf. [6] M. S. Shehata, J. Cai, W. M. Badawy, T. W. Burr, M. S. Pervez, R. Johannesson, and A. Radmanesh, “Video-based automatic incident detection for smart roads: The outdoor en- vironmental challenges regarding false alarms,” IEEE Trans- actions on Intelligent Transportation Systems, vol. 9, no. 2, pp. 349-360, 2008. [7] P. M. Adams, G. W. B. Ashwell, and R. Baxter, “Location- based services — an overview of the standards,” BT Technology Journal, vol. 21, no. 1, pp. 34-43, 2003. [8] M. Vijayalakshmi and A. Kannan, “Proactive location-based context aware services using agents,” International Journal of Mobile Communications, vol. 7, no. 2, pp. 232-252, 2009.