• Journal of Institute of Control, Robotics and Systems
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• v.3 no.5
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• pp.497-502
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• 1997

In this study an automatic rolling-coil labeling system using robot vision system and peripheral mechanism is proposed and implemented, which instead of the manual labor to attach labels Rolling-coils in a steel mill. The binary image process for the image processing is performed with the threshold, and the contour line is converted to the binary gradient which detects the discontinuous variation of brightness of rolling-coils. The moments invariant algorithm proposed by Hu is used to make it easy to recognize even when the position of the center are different from the trained data. The position error compensation algorithm of six degrees of freedom industrial robot manipulator is also developed and the data of the position of the center rolling-coils, which is obtained by floor mount camera, are transferred by asynchronous communication method. Therefore, even if the position of center is changed, robot moves to the position of center and performs the labeling work successfully. Therefore, this system can be improved the safety and efficiency.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.6
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• pp.9-18
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• 1998

In this paper, an equalization technique for OFDM(orthogonal frequency division multiplexing) in a time-variant multipath fading environment is described. A loss of subchannel orthogonality due to time-varying multipath fading channels leads to interchannel interference (ICI) which increases the error floor in proportion to Doppler frequency. A simple frequency-domain equalizer which can compensate the effect of ICI caused by time variation of multipath fading channel is proposed by modifying the previous frequency-domain equalization technique with taking into account only the ICI terms significantly affecting the error performance. The effectiveness of the proposed approach is demonstrated via computer simulation by applying it to OFDM systems when the multipath fading channel is slowly time variant.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.16 no.11
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• pp.2397-2404
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• 2012

Underwater acoustic communication has multipath error because of reflection by sea-level and sea-bottom. The multipath of underwater channel causes signal distortion and error floor. In order to improve the performance, it is necessary to employ an iterative coding scheme. Among the iterative coding scheme, turbo codes and LDPC codes are dominant channel coding schemes in recent. This paper concluded that turbo coding scheme is optimal for underwater communications system in aspect to performance, coded word length, and equalizer combining. Also, decision directed phase recovery was used for correcting phase offset induced by multipath. Based on these algorithms, we confirmed the performance in the environment of oceanic experimentation.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.27 no.1A
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• pp.1-12
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• 2002

Ultra Wideband (UWB) system uses wide band signal, which power spectral density likes as a noise floor, so UWB system can be used high speed communication without interfering with other communication system. As this system doesn't use radio frequency carrier. Its structure would be very simple and consume very low power. For the first time, we adopted Rayleigh monopulse multiple access system. And under the AWGN, we analysis and compare error probability, the number of user and data rate of the two methods that pulse position modulation and antipodal. In the result, We concluded that the antipodal method had much better probability of error, the number of user and data rate than PPM.

• ETRI Journal
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• v.32 no.4
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• pp.588-595
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• 2010

This paper proposes encoding and decoding for nonlinear product codes and investigates the performance of nonlinear product codes. The proposed nonlinear product codes are constructed as N-dimensional product codes where the constituent codes are nonlinear binary codes derived from the linear codes over higher order alphabets, for example, Preparata or Kerdock codes. The performance and the complexity of the proposed construction are evaluated using the well-known nonlinear Nordstrom-Robinson code, which is presented in the generalized array code format with a low complexity trellis. The proposed construction shows the additional coding gain, reduced error floor, and lower implementation complexity. The (64, 24, 12) nonlinear binary product code has an effective gain of about 2.5 dB and 1 dB gain at a BER of $10^{-6}$ when compared to the (64, 15, 16) linear product code and the (64, 24, 10) linear product code, respectively. The (256, 64, 36) nonlinear binary product code composed of two Nordstrom-Robinson codes has an effective gain of about 0.7 dB at a BER of $10^{-5}$ when compared to the (256, 64, 25) linear product code composed of two (16, 8, 5) quasi-cyclic codes.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.1
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• pp.41-46
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• 2006

Ubiquitous location based services, offer helpful services anytime and anywhere by using real-time location information of objects based on ubiquitous network. Particularly, autonomous mobile robots can be a solution for various applications related to ubiquitous location based services, e.g. in hospitals, for cleaning, at airports or railway stations. However, a meaningful and still unsolved problem for most applications is to develop a robust and cheap positioning system. A typical example of position measurements is dead reckoning that is well known for providing a good short-term accuracy, being inexpensive and allowing very high sampling rates. However, the measurement always has some accumulated errors because the fundamental idea of dead reckoning is the integration of incremental motion information over time. The other hand, a localization system using RFID offers absolute position of robots regardless of elapsed time. We construct an absolute positioning system based on RFID and investigate how localization technique can be enhanced by RFID through experiment to measure the location of a mobile robot. Tags are placed on the floor at 5cm intervals in the shape of square in an arbitrary space and the accuracy of position measurement is investigated . To reduce the error and the variation of error, a weighting function based on Gaussian function is used. Different weighting values are applied to position data of tags since weighting values follow Gaussian function.

• Journal of the Korea institute for structural maintenance and inspection
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• v.20 no.1
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• pp.104-111
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• 2016

The steel frame modular housing of which the research and development has been actively carried out recently cannot be constructed through monolithic placement like the reinforced concrete deck of general structure due to the characteristics of construction method of production in the factory and assembly on the site. And floor vertical vibration and deflection caused by inhabitants' activities may become an important issue in the aspect of usability evaluation due to a decrease in the section size of member, a decrease in weight, and so on. Therefore, this study evaluated the vibration performance of deck by using formula of AISC Design Guide 11(hereinafter AISC formula) which was practically used in general for modules where a stud was and wasn't installed at the center of beam in the longitudinal direction in the modular housing to be studied, and examined the applicability of AISC formula through comparison with the results of analysis using a general-purpose analysis program. On the basis of this, a structural cause for an error to occur between analysis result and AISC formula in the deck of module in which a stud was installed was analysed, and measures for considering this were suggested. Besides, an analysis model with the variables of measures for improving the floor vibration performance of modular housing to be studied was established. And measures having excellent vibration performance and economic feasibility were suggested through vibration response analysis and economic evaluation.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.9
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• pp.1688-1695
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• 2016

Underwater communication has multipath error because of reflection by sea-level and sea-bottom. The multipath of underwater channel causes signal distortion and error floor. The excessive multipath encountered in underwater communication channel creates inter symbol interference, which is a limiting factor to achieve a high data rate and bit error rate performance. Therefore, to increase throughput efficiency and improve performance, this paper consider FTN (Faster-than-Nyquist) signalling based on turbo equalization. FTN signalling is a technique of transmitting information at a rate higher than the allowed Nyquist limit. This paper presented efficient decoder structure of FTN transmission in the environment of multipath underwater channel and we compare the performance between FTN method and conventional punctured method in lake experimentation. As a results of lake experiment, we confirmed FTN method based on turbo equalization is applicable and efficiency in underwater communication.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.12
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• pp.1167-1175
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• 2010

This paper presents the use of the inertial measurement unit information and the infrared sector information for getting the position of an object. Travel distance is usually calculated from the double integration of the accelerometer output with respect to time; however, the accumulated errors due to the drift are inevitable. The orientation change of the accelerometer also causes error because the gravity is added to the measured acceleration. Unless three axis orientations are completely identified, the accelerometer alone does not provide correct acceleration for estimating the travel distance. We propose a way of minimizing the error due to the change of the orientation. In order to reduce the accumulated error, the infrared sector information is fused with the inertial measurement unit information. Infrared sector information has highly deterministic characteristics, different from RFID. By putting several infrared emitters on the ceiling, the floor is divided into many different sectors and each sector is set to have a unique identification. Infrared light based sector information tells the sector the object is in, but the size of the uncertainty is too large if only the sector information is used. This paper presents an algorithm which combines both the inertial measurement unit information and the sector information so that the size of the uncertainty becomes smaller. It also introduces a framework which can be used with other types of the artificial landmarks. The characteristics of the developed infrared light based sector and the proposed algorithm are verified from the experiments.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.7 no.3
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• pp.230-238
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• 1996

In this paper, the performance improvement of BFSK signal by using diversity reception and coding technique in Rayleigh fading and impulsive noise environments has been evaluated and compared with that in Gaussian noise environment. It is found that as the CNR increases, BFSK signal performance shows an error floor regardless of impulsive noise effects in Rayleigh fading environment. Also diversity reception technique can improve the error performance not only in a Gaussian noise environment but also in a fading and impulsive noise environment. When diversity reception and coding techniques are used together in impulsive noise and Rayleigh fading environment, the improvement of error performance becomes about 11[dB] in terms of CNR as compared with that of only coding technique is applied.