• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.2519-2523
• /
• 2003

Ultrasonic sensors are widely used in mobile robot applications to recognize external environments, because they are cheap, easy to use, and robust under varying lighting conditions. In most cases, a single ultrasonic sensor is used to measure the distance to an object based on time-of-flight (TOF) information, whereas multiple sensors are used to recognize the shape of an object, such as a corner, plane, or edge. However, the conventional sequential driving technique involves a long measurement time. This problem can be resolved by pulse coding ultrasonic signals, which allows multi-sensors to be fired simultaneously and adjacent objects to be distinguished. Accordingly, the current presents a new simultaneous coded driving system for an ultrasonic sensor array for object recognition in autonomous mobile robots. The proposed system is designed and implemented using a DSP and FPGA. A micro-controller board is made using a DSP, Polaroid 6500 ranging modules are modified for firing the coded signals, and a 5-channel coded signal generating board is made using a FPGA. To verify the proposed method, experiments were conducted in an environment with overlapping signals, and the flight distances for each sensor were obtained from the received overlapping signals using correlations and conversion to a bipolar PCM-NRZ signal.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.38A no.3
• /
• pp.289-293
• /
• 2013

In the noncoherent methods for UWB-IR (ultra-wideband impulse radio), block coded modulation (BCM) is better than the transmitted reference (TR) systems in terms of the energy efficiency and data rate. However, even BCM suffers from the performance degradation in the presence of strong inter-frame interference and inter symbol interference. We propose the transmitted reference based on the BCM (TR-BCM) which is the hybrid system of TR and BCM. Performance evaluation shows that the performance of TR-BCM is better than that of BCM in the high SNR range.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2008.10a
• /
• pp.467-472
• /
• 2008

In this paper, we analyzed the error rate Performance of convolution coded 16 QAM signal with Optimum Threshold Detection with selective combining diversity in Rician Fading Environments. The performance of 16-QAM signal with CTD (conventional threshold detection) which employs convolution coding technique was analyzed and the performance improvement of convolution coded 16-QAM signal with OTD (optimum threshold detection) which is varied according to fading parameter "K" and AWGN in Rician Fading channel was simulated. As a result of analysis, it was shown the effect of performance improvement to overcome the environment of mobile radio data communication channel.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• v.9 no.2
• /
• pp.61-66
• /
• 2005

In this paper, we analyzed the error rate Performance of Convolution coded 16 QAM signal with Optimum Threshold Detection in Rician Fading Enviroments. The performance of 16-QAM signal with CTD (conventional threshold detection) which employs convolution coding technique was analyzed and the performance improvement of convolution coded 16-QAM signal with OTD (optimum threshold detection) which is varied according to fading parameter 'K' and AWGN in Rician Fading channel was simulated. As a result of analysis, it was shown the effect of performance improvement to overcome the environment of mobile radio data communication channel.

• Proceedings of the KSR Conference
• /
• 2008.11b
• /
• pp.1303-1311
• /
• 2008

In this paper, we analyzed the error rate performance of convolution coded 16 QAM signal in impulsive noise Environments. We used convolution code and selective combining diversity for performance improvement. We analyzed the error rate performance of 16 QAM signal in impulsive noise environments compared with gaussian noise environments. As a result of analysis, there is a BER segment where the efficiency of system does not improve until which limit to raise a signal power potential from impulsive noise environment. when the signal power potential which goes over this limit is supplied, BER efficiency improve much more.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.11 no.5
• /
• pp.23-33
• /
• 2008

In this paper, we verify the performance of LDPC coded OFDM/DS system by Monte-Carlo simulation of BER on Eb/No. The simulation results show that LDPC coded OFDM/DS has a strong anti-jamming characteristic over pulse-noise jammer and partial-band noise jammer. The performance of LDPC coded OFDM/DS system is evaluated on both faded waveforms and non-faded waveforms. For non-faded waveforms, high coding gain is attained due to LDPC, even when waveforms have short PN sequence and JSR is only 5dB. Especially, the increase in the repeated number of LDPC decoding enhances coding gain. However, faded waveforms cannot achieve sufficient average effect when PN sequence is short. High coding gain of faded waveforms can be achieved by extending length of PN sequence. In addition, we compare LDPC coded OFDM/DS system with Convolutional coded OFDM/DS system. The simulation results illustrate that when LDPC coded OFDM/DS system with short PN sequence has sufficient average effects, the system shows lower BER than Convolutional coded OFDM/DS system with long PN sequence.

• Nuclear Engineering and Technology
• /
• v.53 no.1
• /
• pp.199-207
• /
• 2021

This paper deals with accurate image reconstruction of gamma camera using a coded-aperture mask based on pixel-type CsI(Tl) scintillator coupled with silicon photomultipliers (SiPMs) array. Coded-aperture imaging (CAI) system typically has a smaller effective viewing angle than Compton camera. Thus, if the position of the gamma source to be searched is out of the fully-coded field-of-view (FCFOV) region of the CAI system, artifacts can be generated when the image is reconstructed by using the conventional cross-correlation (CC) method. In this work, we propose an effective method for more accurate reconstruction in CAI considering the source distribution of partially-coded field-of-view (PCFOV) in the reconstruction in attempt to overcome this drawback. We employed an iterative algorithm based on compressed-sensing (CS) and compared the reconstruction quality with that of the CC algorithm. Both algorithms were implemented and performed a systematic Monte Carlo simulation to demonstrate the possiblilty of the proposed method. The reconstructed image qualities were quantitatively evaluated in sense of the root mean square error (RMSE) and the peak signal-to-noise ratio (PSNR). Our simulation results indicate that the proposed method provides more accurate location information of the simulated gamma source than the CC-based method.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2011.06a
• /
• pp.329-330
• /
• 2011

This paper concerns to the acquisition of Global Positioning System L1 C/A coded signals. It specifically addresses the issues of acquiring very low power signals which are attenuated due to special circumstances such as indoor environment or forest canopy etc. The proposed post-processing algorithm applies modified signal folding coherent integration scheme on weak signal record. It dynamically compensates the doppler effect on the length of C/A code before integrating the signal power. Experimental results show effectiveness of the algorithm on weak GPS signals recorded in a real environment.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.10 no.12
• /
• pp.3702-3707
• /
• 2009

In this paper, a new approximated MAP algorithm for soft bit decision from QAM symbols is proposed for Gray Coded QAM signals, based on the Max-Log-MAP and a Gray coded QAM signal can be separated into independent two Gray coded PAM signal, M-PAM on I axis with M symbols and N-PAM on Q axis with N symbols. The Max-Log-MAP used distance comparisons between symbols to get the soft bit decision instead of mathematical exponential or logarithm functions. But in accordance with the increase of the number of symbols, the number of comparisons also increase with high complexity. The proposed algorithm is used with the Euclidean distance and constituted with plain arithmetic functions, thus we can know intuitively that the algorithm has low implementing complexity comparing to conventional ones.

• Journal of Institute of Control, Robotics and Systems
• /
• v.10 no.11
• /
• pp.1028-1036
• /
• 2004

Ultrasonic sensors are widely used in mobile robot applications to recognize external environments by virtue that they are cheap, easy to use, and robust under varying lighting conditions. In most cases, a single ultrasonic sensor is used to measure the distance to an object based on time-of-flight (TOF) information, whereas multiple sensors are used to recognize the shape of an object, such as a comer, plane, or edge. However, the conventional sequential driving technique involves a long measurement time. This problem can be resolved by pulse coding of ultrasonic signals, which allows multi-sensors to be emitted simultaneously and adjacent objects to be distinguished. Accordingly, this paper presents a new simultaneous coded driving system for an ultrasonic sensor array for object recognition in autonomous mobile robots. The proposed system is designed and implemented. A micro-controller unit is implemented using a DSP, Polaroid 6500 ranging modules are modified for firing the coded signals, and a 5-channel coded signal generating board is made using a FPGA. To verify the proposed method, experiments were conducted in an environment with overlapping signals, and the flight distances fur each sensor were obtained from the received overlapping signals using correlations and conversion to a bipolar PCM-NRZ signal.