• 제어로봇시스템학회논문지
• /
• 제11권8호
• /
• pp.678-687
• /
• 2005

This paper describes a relative localization algorithm using odometry data and consecutive local maps. The purpose of this paper is the odometry error correction using the area matching of two consecutive local maps. The local map is built up using a sensor module with dual laser beams and USB camera. The range data form the sensor module is measured using the structured lighting technique (active stereo method). The advantage in using the sensor module is to be able to get a local map at once within the camera view angle. With this advantage, we propose the AVS (Aligned View Sector) matching algorithm for. correction of the pose error (translational and rotational error). In order to evaluate the proposed algorithm, experiments are performed in real environment.

• ETRI Journal
• /
• 제30권6호
• /
• pp.799-806
• /
• 2008

In this paper, a new design for an error correcting code (ECC) is proposed. The design is aimed to build an ECC circuitry with minimal power consumption. The genetic algorithm equipped with the symbiotic mechanism is used to design a power-efficient ECC which provides single-error correction and double-error detection (SEC-DED). We formulate the selection of the parity check matrix into a collection of individual and specialized optimization problems and propose a symbiotic evolution method to search for an ECC with minimal power consumption. Finally, we conduct simulations to demonstrate the effectiveness of the proposed method.

• JSTS:Journal of Semiconductor Technology and Science
• /
• 제13권5호
• /
• pp.465-472
• /
• 2013

This paper presents a low-complexity triple-error-correcting parallel Bose-Chaudhuri-Hocquenghem (BCH) decoder architecture and its efficient design techniques. A novel modified step-by-step (m-SBS) decoding algorithm, which significantly reduces computational complexity, is proposed for the parallel BCH decoder. In addition, a determinant calculator and a error locator are proposed to reduce hardware complexity. Specifically, a sharing syndrome factor calculator and a self-error detection scheme are proposed. The multi-channel multi-parallel BCH decoder using the proposed m-SBS algorithm and design techniques have considerably less hardware complexity and latency than those using a conventional algorithms. For a 16-channel 4-parallel (1020, 990) BCH decoder over GF($2^{12}$), the proposed design can lead to a reduction in complexity of at least 23 % compared to conventional architecttures.

• 대한전자공학회논문지
• /
• 제23권5호
• /
• pp.719-725
• /
• 1986

Reed-solomon(R-S) code is very effective to coerrect both random and burst errors over a noise communication channel. However, the required hardware is very complex if the B/M algorithm was employed. Moreover, when the error correction system consists of two R-S decoder and de-interleave, the I/O data bns lines becomes 9bits because of an erasure flag bit. Thus, it increases the complexity of hardware. This paper describes the R-S decoder which consisits of a error correction section that uses a direct decoding algorithm and erasure generation section and a erasure generation section which does not use the erasure flag bit. It can be shown that the proposed R-S dicoder is very effective in reducing the size of required hardware for error correction.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• 제11권4호
• /
• pp.1987-2001
• /
• 2017

Low-density parity-check (LDPC) codes have attracted a great attention because of their excellent error correction capability with reasonably low decoding complexity. Among decoding algorithms for LDPC codes, the min-sum (MS) algorithm and its modified versions have been widely adopted due to their high efficiency in hardware implementation. In this paper, a self-adaptive MS algorithm using the difference of the first two minima is proposed for faster decoding speed and lower power consumption. Finding the first two minima is an important operation when MS-based LDPC decoders are implemented in hardware, and the found minima are often compressed using the difference of the two values to reduce interconnection complexity and memory usage. It is found that, when these difference values are bounded, decoding is not successfully terminated. Thus, the proposed method dynamically decides whether the termination-checking step will be carried out based on the difference in the two found minima. The simulation results show that the decoding speed is improved by 7%, and the power consumption is reduced by 16.34% by skipping unnecessary steps in the unsuccessful iteration without any loss in error correction performance. In addition, the synthesis results show that the hardware overhead for the proposed method is negligible.

• 한국정밀공학회지
• /
• 제13권3호
• /
• pp.34-41
• /
• 1996

This work deals with finding a suitable position correction algorithm of industrial robot based on measuring particular points, which calculates two dimensional correction quantities and the must allow visually acceptable door-chassis assembly task. Three optimizing algorithms corresponding to three differ- ent error based performance indices are compared and selected to the best one, in terms of the predefined total uniformity, line uniformity and computational time. The selected algorithm(Total Error Minimization) is implemented for a simple door-chassis model to show its effectiveness.

• 한국군사과학기술학회지
• /
• 제10권1호
• /
• pp.5-13
• /
• 2007

The trajectory of an current artillery munition is subject to a variety of different error sources resulting in more or less big deviation from the nominal predicted flight path. The 1D CCM(Course Correction Munition) has appeared to solve this problem and the mechanism of 1D CCM is a simple and low cost one using the influence of drag to range behavior of an artillery munition. In the paper 1D CCM concept has been simulated using wind tunnel experiment results of the specified Korean munition with CCF(Course Correction Fuze) and calculated the performance of its rang error reduction. From the simulated results it can be numerically explained that the possibility of adaptation of 1D CCM concept to Korean artillery munitions.

• 전기학회논문지
• /
• 제60권3호
• /
• pp.606-611
• /
• 2011

This paper proposes a correction method concerning the inclination error and non-horizontal error of magnetic compass when magnetic compass is vibrated. This system used the 2-axis variable resistance and pendulum. A pendulum hanging from the 2-axis variable resistance of this system is always maintain the horizontal because of gravity. but these data had some intrinsic error. So we used the low pass filter to solve this problem. So this system can get the accurate azimuth of magnetic compass. In conclusion, These results demonstrate convincingly by applied algorithm of experiment.

• 융합신호처리학회 학술대회논문집
• /
• 한국신호처리시스템학회 2005년도 추계학술대회 논문집
• /
• pp.190-200
• /
• 2005

In this paper, the image modelling of road's lane markings is established using view frustum(VF) modeling. This algorithm also involve the real time processing of the 3D position coordinate and the distance data from the camera to the points on the 3D world coordinate by the camera calibration. In order to reduce their measurement error, an useful algorithm for which analyze the geometric variations clue to traveling vehicle's fluctuation using VF model is proposed. In experiments, without correction, for instance, the $0.4^{\circ}$ of pitching rotation gives the error of $0.4^{\sim}0.6m$ at the distance of 10m, but the more far distance cause exponentially the more error. We confirmed that this algorithm can be reduced less than 0.1m of error at the same condition.

• Journal of Positioning, Navigation, and Timing
• /
• 제3권1호
• /
• pp.25-30
• /
• 2014

Differential Global Positioning System-Correction Projection (DGPS-CP) algorithm, which has been suggested as a method of correcting pre-calculated position error by projecting range-domain correction to positional domain, is a method to improve the accuracy performance of a low price GPS receiver to 1 to 3 m, which is equivalent to that of DGPS, just by using a software program without changing the hardware. However, when DGPS-CP algorithm is actually realized, the error is not completely eliminated in a case where a reference station does not provide correction of some satellites among the visible satellites used in user positioning. In this study, the problem of decreased performance due to the difference in visible satellites between a user and a reference station was solved by applying the Multifunctional Transport Satellites (MTSAT) based Augmentation System (MASA) correction to DGPS-CP, instead of local DGPS correction, by using the Satellite Based Augmentation System (SBAS) operated in Japan. The experimental results showed that the accuracy was improved by 25 cm in the horizontal root mean square (RMS) and by 20 cm in the vertical RMS in comparison to that of the conventional DGPS-CP.