• Journal of Institute of Control, Robotics and Systems
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• v.10 no.9
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• pp.785-798
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• 2004

This paper introduces the development of a range sensor based integrated navigation system for a multi-functional indoor service robot, called PSR (Public Service Robot System). The proposed navigation system includes hardware integration for sensors and actuators, the development of crucial navigation algorithms like mapping, localization, and path planning, and planning scheme such as error/fault handling. Major advantages of the proposed system are as follows: 1) A range sensor based generalized navigation system. 2) No need for the modification of environments. 3) Intelligent navigation-related components. 4) Framework supporting the selection of multiple behaviors and error/fault handling schemes. Experimental results are presented in order to show the feasibility of the proposed navigation system. The result of this research has been successfully applied to our three service robots in a variety of task domains including a delivery, a patrol, a guide, and a floor cleaning task.

• ETRI Journal
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• v.34 no.4
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• pp.629-632
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• 2012

This letter investigates the combination of the Chase-2 and sum-product (SP) algorithms for low-density parity-check (LDPC) codes. A simple modification of the tanh rule for check node update is given, which incorporates test error patterns (TEPs) used in the Chase algorithm into SP decoding of LDPC codes. Moreover, a simple yet effective approach is proposed to construct TEPs for dealing with decoding failures with low-weight syndromes. Simulation results show that the proposed algorithm is effective in improving both the waterfall and error floor performance of LDPC codes.

• IEIE Transactions on Smart Processing and Computing
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• v.4 no.6
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• pp.443-449
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• 2015

This paper considers the physical layer security problem for a two-way vehicle-to-vehicle network, where the two source vehicles can only exchange information through an untrusted relay vehicle. The relay vehicle helps the two-way transmission but also acts as a potential eavesdropper. Each vehicle has a random velocity. By exploiting the random carrier frequency offsets (CFOs) caused by random motions, a secure double-differential two-way relay scheme is proposed. While achieving successful two-way transmission for the source vehicles, the proposed scheme guarantees a high decoding error floor at the untrusted relay vehicle. Average symbol error rate (SER) performance for the source vehicles and the untrusted relay vehicle is analyzed. Simulation results are provided to verify the proposed scheme.

• Structural Engineering and Mechanics
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• v.12 no.6
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• pp.633-656
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• 2001

In this paper, modal control with direct output feedback is formulated in a systematic manner for easy implementation. Its application to the seismic protection of structural systems is verified by a shaking table test, which involves a full-scale building model and an active bracing system as the control device. Two modal control cases, namely, one full-state feedback and one direct output feedback control were tested and compared. The experimental result shows that in mitigating the seismic response of building structures, modal control with direct output feedback can be as effective and efficient as that with full-state feedback control. For practical concerns, the control performance of the proposed method in the presence of sensor noise and stiffness modeling error was also investigated. The numerical result shows that although the control force may be increased, the maximum floor displacements of the controlled structure are very insensitive to sensor noise and modeling error.

• International Journal of Safety
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• v.5 no.2
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• pp.6-11
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• 2006

The time delay in servo control on LonWorks/IP Virtual Device Network (VDN) is highly stochastic in nature. LonWorks/IP VDN induced time delay deteriorates the performance and stability of the real-time distributed control system and hinders an effective preventive and predictive maintenance. Especially in real-time distributed servo applications on the factory floor, timely response is essential for predictive and preventive maintenance. In order to guarantee the stability and performance of the system for effective preventive and predictive maintenance, LonWorks/IP VDN induced time delay needs to be predicted and compensated for. In this paper position control simulation of DC servo motor using Zero Phase Error Tracking Controller (ZPETC) as a feedforward controller, and Internal Model Controllers (IMC) based on Smith predictor with disturbance observer as a feedback controller is performed. The validity of the proposed control scheme is demonstrated by comparing the IMC based on Smith predictor with disturbance observer.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.14 no.7
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• pp.685-691
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• 2003

This paper newly analyzes the effect of the phase noise in the frequency synthesizer on the performance of SFH/M-NCFSK system by standard frequency deviation(equation omitted) when noncoherent FSK demodulation of the square-law detector is considered. We derive the SER in the SFH system and analyze the effect of phase noise on the SFH/M-NCFSK system performance according to the hopping frequency spacing (1/T$\_$h/) and the variation of the standard frequency deviation (equation omitted). The required SNR is about 13.4 dB to meet Ps=10$\^$-3/ when the standard frequency deviation is about 4.0 Hz and the hopping frequency spacing (1/T$\_$h/) in the SFH/2-NCFSK system is 30. So, there is about 2.4 dB power penalty than the phase noise-free system. If the hopping frequency spacing 1/T$\_$h/ is under 30, the error floor may happen and SER considerably grows up. We show that the analytic results closely match with the simulation results.

• Korean Journal of Optics and Photonics
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• v.9 no.1
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• pp.15-19
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• 1998

We have present an all-optical technique to significantly reduce the dispersion penalty of a spectrum-sliced channel in high-speed and long-distance transmissions. We have reduced the necessary optical bandwidth for the 2.5 Gb/s incoherent light transmission down to 0.1 nm by expanding the optical bandwidth of a received signal. The optical bandwidth expansion was realized using the intra-channel fiber four-wave mixing at the receiver resulting in an improvement of th signal-to-noise ratio of the received light channel. We have successfully demonstrated the transmission of a 2.5 Gb/s NRZ signal with the 0.1 nm bandwidth over a 300 km dispersion-shifted fiber. An error floor occurs at $1{\times}10^{-5}$ BER without the optical bandwidth expansion. With the optical bandwidth expansion, however, the error floor decreases to less than $1{\times}10^{-10}$. The transmission penalty was less than 0.5 dB at $1{\times}10^{-10}$ BER. To our knowledge, the optical bandwidth of 0.1 nm used in our experiment is the narrowest optical bandwidth reported so far.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2019.05a
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• pp.591-593
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• 2019

LPWA has a small amount of data that can be transmitted at one time, but it can collect a very wide range of information, so it is suitable for gathering information of apartment meter or collecting data intermittently sent from industrial site. However, most of the application studies on LPWA are limited to outdoor, especially LOS environment, so it is difficult to collect information for application to apartment and industrial sites. In this paper, we have measured the communication coverage within the building, which is a NLOS environment, so that LPWA communication can be applied to apartments and industrial sites. For the experiment, LoRa module was created using sx1276, Class A was applied, and the spread factor was changed for each layer. As a result, in case of spreading factor 7 that shows increasing error and losses from the 7 floor, but the in case of spreading factor 12, the data could be seamlessly received even on the 9th floor without error and losses.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.5
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• pp.463-468
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• 2010

An obstacle avoidance method for a mobile robot is proposed in this paper. Our research was focused on the obstacles that can be found indoors since a robot is usually used within a building. It is necessary that the robot maintain the desired direction after successfully avoiding the obstacles to achieve a good autonomous navigation performance for the specified project mission. Sensors such as laser, ultrasound, and PSD (Position Sensitive Detector) can be used to detect and analyze the obstacles. A PSD sensor was used to detect and measure the height and width of the obstacles on the floor. The PSD sensor was carefully calibrated before measuring the obstacles to achieve better accuracy. Data obtained from the repeated experiments were used to plot an error graph which was fitted to a polynomial curve. The polynomial equation was used to navigate the robot. We also obtained a direction-error model of the robot after avoiding the obstacles. The prototypes for the obstacle and direction-error were modeled using a neural network whose inputs are the obstacle height, robot speed, direction of the wheels, and the error in direction. A mobile robot operated by a notebook computer was setup and the proposed algorithm was used to navigate the robot and avoid the obstacles. The results showed that our algorithm performed very well during the experiments.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2003.05a
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• pp.753-757
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• 2003

In this paper, We propose an efficient iteration decoding control method with variable iteration decoding for iteration codes decoding. As the number of iterations increases, the bit error rate and frame error rate of the decoder decrease and the incremental improvement gradually diminishes. However, as the iteration decoding number is increase, it require much delay and amount of processing for decoding. Thus we propose variable iteration control method to adapt variation of channel using Frame Error-Check indicator. Therefore, the CRC method requires the fewest iterations and less computation than the CE method and the SCR methods.