• Smart Structures and Systems
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• v.33 no.2
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• pp.119-131
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• 2024

Drift angle is a significant index for diagnosing post-event structures. A common way to estimate this drift response is by using modal parameters identified under natural excitations. Although the modal parameters of shear structures cannot be identified accurately in the real environment, the identification error has little impact on the estimation when measurements from several floors are used. However, the estimation accuracy falls dramatically when there is only one accelerometer. This paper describes the susceptibility of single sensor identification to modelling error and simulations that preliminarily verified this characteristic. To make a robust evaluation from measurements of one floor of shear structures based on imprecisely identified parameters, a novel scheme is devised to approximately correct the mode shapes with respect to fictitious frequencies generated with a genetic algorithm; in particular, the scheme uses constrained minimization to take both the mathematical aspect and the realistic aspect of the mode shapes into account. The algorithm was validated by using a full-scale shear building. The differences between single-sensor and multiple-sensor estimations were analyzed. It was found that, as the number of accelerometers decreases, the error rises due to insufficient data and becomes very high when there is only one sensor. Moreover, when measurements for only one floor are available, the proposed method yields more precise and appropriate mode shapes, leading to a better estimation on the drift angle of the lower floors compared with a method designed for multiple sensors. As well, it is shown that the reduction in space complexity is offset by increasing the computation complexity.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1797-1801
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• 2005

SLAM(Simultaneous localization and mapping) and AI(Artificial intelligence) have been active research areas in robotics for two decades. In particular, localization is one of the most important issues in mobile robot research. Until now expensive sensors like a laser sensor have been used for the mobile robot's localization. Currently, as the RFID reader devices like antennas and RFID tags become increasingly smaller and cheaper, the proliferation of RFID technology is advancing rapidly. So, in this paper, the smart floor using passive RFID tags is proposed and, passive RFID tags are mainly used to identify the mobile robot's location on the smart floor. We discuss a number of challenges related to this approach, such as RFID tag distribution (density and structure), typing and clustering. In the smart floor using RFID tags, because the reader just can senses whether a RFID tag is in its sensing area, the localization error occurs as much as the sensing area of the RFID reader. And, until now, there is no study to estimate the pose of mobile robot using RFID tags. So, in this paper, two algorithms are suggested to. We use the Markov localization algorithm to reduce the location(X,Y) error and the Kalman Filter algorithm to estimate the pose(q) of a mobile robot. We applied these algorithms in our experiment with our personal robot CMR-P3. And we show the possibility of our probability approach using the cheap sensors like odometers and RFID tags for the mobile robot's localization on the smart floor.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.12
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• pp.1294-1301
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• 2008

Under passive RFID environment, this paper presents a new localization of a mobile robot traversing over the floor covered with tags, which is superior to existing methods in terms of estimation performance and cost effectiveness. Basically, it is assumed that a mobile robot is traveling along a series of straight line segments, each segment at a certain constant velocity, and that the number of tags sensed by a mobile robot at each sampling instant is at most one. First, for a given line segment with known starting point, the velocity and position of a mobile robot is estimated using the spatial and temporal information acquired from the traversed tag. Some discussions are made on the validity of the basic assumptions and the localization for the initial segment with unknown starting point. Second, for a given tag distribution density, the optimal tag arrangement is considered to reduce the position estimation error as well as to make easy the tag attachment on the floor. After reviewing typical tag arrangements, the pseudorandom tag arrangement is devised inspired from the Sudoku puzzle, a number placement puzzle. Third, through experiments using our passive RFID localization system, the validity and performance of the mobile robot localization proposed in this paper is demonstrated.

• The Journal of the Acoustical Society of Korea
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• v.27 no.6
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• pp.286-295
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• 2008

Underwater acoustic communication has multi path error because of reflection by sea-level and sea-bottom. The multipath of underwater channel causes signal distortion and error floor. In this paper, we consider the use of various channel coding schemes such as RS code, convolutional code, cross-layer code and LDPC code in order to compensate the multipath effect in underwater channel. As shown in simulation results, characteristic of multipath error is similar to that of random error, so interleaver has little effect for error correcting. For correcting of error floor by multipath error, it is necessary strong channel codes like LDPC code that is similar to Shannon's limit. And the performance of concatenated codes including RS codes has better performance than using singular channel codes.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.25 no.4A
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• pp.553-557
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• 2000

It is known that turbo codes have an error-floor bound according to the effective free distance at high SNR. But the performance for turbo codes in the water-fall area at low SHR has not been studied yet. In this paper, asymmetric turbo codes that consist of RSC(recursive systematic convolutional) codes with different constraint length are proposed and their performance is analysed for SOVA decoding algorithm.

• Journal of Communications and Networks
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• v.18 no.3
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• pp.288-298
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• 2016

Proactive relay selection in cognitive radio networks has recently received considerable attention. However, its outage probability analysis is limited to partially-identical fading distributions, uncorrelation among received signal-to-noise ratios (SNRs), and no direct channel. This paper completes this literature deficiency by generalizing the existing analysis for non-identical fading distributions, correlation among received SNRs, and with direct channel. Numerous results demonstrate that relay selection with a direct channel achieves a higher diversity order and superior performance than that without a direct channel at virtually no cost of power and bandwidth. Further, proactive relay selection suffers an error floor at either a large maximum transmit power or large maximum interference power; however, the error floor level can be significantly remedied with an increase in the number of relays.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.9
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• pp.2358-2367
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• 1994

This paper presents techniques for evaluation and compensation of total measuring errors in a commercial CMM. The probe errors as well as the machine geometric errors are assessed from probing of the mechanical artefacts such as shpere, step, and rings. For the error compensation, the integrated volumetric error equations are considered, including the probe error adn the machine geometric error. The error compensation is performed on the absolute scale coordinate system, in order to overcome the redundant degree of freedom in the CMM with multi-axis probe. A interface box and corresponding software driver are developed for data intercepting/correction between the machine controller and machine, thus the volumetric errors can be compensated in real time with minimum interference to the operating software and hardware of a commercial CMM. The developed system applied to a practical CMM installed on the shop floor, and demonstrated its performance.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.11 no.3
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• pp.429-436
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• 2000

In this paper, the performance of a orthogonal noncoherent FH-BFSK communication system in the presence of partial band noise jamming is analyzed. Also bit error rate(BER) is studied when jamming bandwidth ratio to overall spread spectrum bandwidth,$\rho$, changes according to processing gain(PG). The performance is investigated by numerical analysis and computer simulation of SPW. Even if PG is high, required performance could not gain because error floor occurs when JSR is 10 dB and SNR is under 10 dB. PG can be obtained to acquire a required BER according to $\rho$ when SNR is above 12 dB.

• ETRI Journal
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• v.45 no.1
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• pp.7-17
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• 2023

The error-rate floor of low-density parity-check (LDPC) codes is attributed to the trapping sets of their Tanner graphs. Among them, fully absorbing sets dominantly affect the error-rate performance, especially for short blocklengths. Efficient methods to identify the dominant trapping sets of LDPC codes were thoroughly researched as exhaustively searching them is NP-hard. However, the existing methods are ineffective for Raptor-like LDPC codes, which have many types of trapping sets. An effective method to identify dominant fully absorbing sets of Raptor-like LDPC codes is proposed. The search space of the proposed algorithm is optimized into the Tanner subgraphs of the codes to afford time-efficiency and search-effectiveness. For 5G New Radio (NR) base graph (BG) 2 LDPC codes for short blocklengths, the proposed algorithm finds more dominant fully absorbing sets within one seventh of the computation time of the existing search algorithm, and its search-effectiveness is verified using importance sampling. The proposed method is also applied to 5G NR BG1 LDPC code and Advanced Television Systems Committee 3.0 type A LDPC code for large blocklengths.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.1
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• pp.47-53
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• 2006

Localization is a essential technology for mobile robot to work well. Until now expensive sensors such as laser sensors have been used for mobile robot localization. We suggest RFID tag based localization system. RFID tag devices, antennas and tags are cheap and will be cheaper in the future. The RFID tag system is one of the most important elements in the ubiquitous system and RFID tag will be attached to all sorts of goods. Then, we can use this tags for mobile robot localization without additional costs. So, in this paper, the smart floor using passive RFID tags is proposed and, passive RFID tags are mainly used for identifying mobile robot's location and pose in the smart floor. We discuss a number of challenges related to this approach, such as tag distribution (density and structure), typing and clustering. When a mobile robot localizes in this smart floor, the localization error mainly results from the sensing range of the RFID reader, because the reader just ran know whether a tag is in the sensing range of the sensor. So, in this paper, we suggest two algorithms to reduce this error. We apply the particle filter based Monte Carlo localization algorithm to reduce the localization error. And with simulations and experiments, we show the possibility of our particle filter based Monte Carlo localization in the RFID tag based localization system.