• Proceedings of the Korean Society of Precision Engineering Conference
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1034-1039
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• 2005

SALM(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 tasks in mobile robot research. Until now expensive sensors such as a laser sensor have been used for mobile robot localization. Currently, the proliferation of RFID technology is advancing rapidly, while RFID reader devices, antennas and tags are becoming increasingly smaller and cheaper. So, in this paper, the smart floor using passive RFID tags is proposed and, passive RFID tags are mainly used for identifying location of the mobile robot in the smart floor. We discuss a number of challenges related to this approach, such as tag distribution (density and structure), typing and clustering. In the smart floor using RFID tags, the localization error results from the sensing area of the RFID reader, because the reader just knows whether the tag is in the sensing range of the sensor and, until now, there is no study to estimate the heading of mobile robot using RFID tags. So, in this paper, two algorithms are suggested to. The Markov localization method is used to reduce the location(X,Y) error and the Kalman Filter method is used to estimate the heading($\theta$) of mobile robot. The algorithms which are based on Markov localization require high computing power, so we suggest fast Markov localization algorithm. Finally we applied these algorithms our personal robot CMR-P3. And we show the possibility of our probability approach using the cheap sensors such as odometers and RFID tags for mobile robot localization in the smart floor

• Journal of Navigation and Port Research
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• 제45권6호
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• pp.352-359
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• 2021

This paper presents the definition and importance of ship-centric direct communication concerning ship safety of maritime autonomous and unmanned ships. It also proposes the concept of MX-S2X communication based on high frequency for wide-bandwidth technology and describes the design and simulation result for the physical layer of MX-S2X. It considered high-speed communication as well as overcoming maritime multi-path fading required to be resolved in the marine environment. The physical layer of MX-S2X communication was designed to overcome the occurrence of error-floor caused by multi-path fading even with receiving sufficient signal strength. To this purpose, a performance analysis was conducted on the physical layer by applying the channel model of the actual maritime communication environment. As a result of the performance analysis of the MX-S2X physical layer, it was confirmed that the BER error-floor observed in the VDE physical layer test was overcome, and it operated within the SNR 2dB degradation range compared to the AWGN channel. It is expected that this will show enough performance suitable for short-distance ship-centered direct communication and can be used for direct communication of maritime autonomous ships, unmanned ships, and group navigation of themshortly.

• Journal of the Korean Association of Geographic Information Studies
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• 제6권3호
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• pp.95-106
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• 2003

This study evaluated the architectural density of urban district using airborne laser scanning(ALS) that is a method used in urban planning, water resources and disaster prevention with high interest recently. First, digital elevation model(DEM) and digital surface model(DSM) was constructed from Light detection and ranging(LiDAR). For getting the height of building, ZONALMEAN filter was used in DEM and ZONALMAJORITY filter was used in DSM. This study compared the floor from filtering with the floor from survey and got standard error, which is ${\pm}0.199$ floor. Also, through the overlay and statistical analysis of total-area layer and zone layer, we could present floor area ratio by zone. As a result of comparison with floor area ratio between airborne laser scanning data and survey data, the standard error of floor area ratio shows ${\pm}2.68%$. Therefore, we expect that airborne laser scanning data can be a very efficient source to decision makers who set up landuse plan in near future.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• 제13권1호
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• pp.3-9
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• 2003

In an apartment building, the impact sound from upstairs has been regarded as a main source of noise causing discontentment among occupants. To set the optimum design for sound insulation. it is nesessary to suggest the useful tools or technique that predict the floor impact sound. The purpose of this study is to investigate the applicability of the theory of sound radiation. We measured the vibration acceleration levels on the interior structures and predicted the sound pressure level of the room by using them. The result show that the predicted value, in general, were in good agreement with the measured values within 5∼10% in error rate.

• Physical Therapy Korea
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• 제14권3호
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• pp.90-96
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• 2007

The purpose of this study was to compare the joint position sense at the knee joint at 3 different surface conditions by using the active knee joint angle reproduction test in the standing position. Twenty healthy volunteers (10 males and 10 females) age 20~29 years were recruited for this study. The knee joint position senses were assessed at three different surface conditions: on the floor (stable condition), TOGU (soft condition), and seat fit (unstable condition) in a closed kinetic chain. Testing orders were selected randomly. The absolute angle error was defined as the absolute difference between target angles ($30^{\circ}{\sim}45^{\circ}$ knee flexion) and subject perceived angle of the knee flexion. One way ANOVA was used to compare the absolute angle of error among 3 different conditions. The Independent t-test was used to compare the absolute angle of error between male and female. The error angles were significantly different among surface conditions ($1.3^{\circ}{\pm}1.2^{\circ}$ for the floor, $2.1^{\circ}{\pm}0.9^{\circ}$ for the TOGU, and $4.4^{\circ}{\pm}1.8^{\circ}$ for the seat fit, p<.05). There was no significant difference in error angle between male and female. In conclusion, the joint position sense of the knee joint in the closed kinetic chain decreased at unstable surface conditions. The result of this study indicates that surface conditions should be considered when assessing and training the joint position sense of the knee joint in clinical setting.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• 제20권12호
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• pp.1216-1222
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• 2010

Based on the MacDonald's analytic model for the diffracted sound field of a semi-infinite noise barrier, computer simulations were performed for various positions of error microphones for an active noise barrier system. The simulation process also included the effects of floor reflections on both sides of the barrier. The results were also compared with Niu's simulation results and showed a straight line arrangement of sensors and actuators, in the order of primary source, secondary source and error microphone is better than over the top arrangement of the error microphones.

• Proceedings of the Safety Management and Science Conference
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• 대한안전경영과학회 2000년도 추계학술발표논문집
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• pp.217-234
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• 2000

Approximately normalized control charts, called Q charts, have been given Quesenberry(1991) for charting in process of short-run, job-shop, etc. We consider a Q chart with inspection error for job-shop floor under geometric distribution, which can be used for processes when a fraction nonconforming is very small. Our results would be applied for designing other control charts with inspection error.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 한국전산구조공학회 2001년도 가을 학술발표회 논문집
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• pp.545-552
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• 2001

Analysis of a structure for vertical vibration requires a lot of computational efforts because large number of degrees of freedom are generally involved in the dynamic response. Especially, when a structure is loaded with local vibration source, it may not be economical to model the whole structure to obtain the responses of specific members located near or far from the sources. In this study, substructure models have been used for analysis of local vibration An analysis of local vibration is performed for the case that the loaded point and the response point are located on the same floor. Other analysis is performed for the case that the loaded point and the response point are located on the different floor. In this case, if only the floors on which loaded and response points are located are modeled, response of substructure model is very different from that of full model. So, there should be a consideration that degrees of freedom of floors in addition to those of loaded and response floors are included to improve results of dynamic analysis. In this study, floors between loaded floor and response floor were modeled so that modeshapes which affect the response are presented well.

• The Journal of Korean Institute of Communications and Information Sciences
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• 제38C권1호
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• pp.109-117
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• 2013

Polar codes are the first provable error correcting code achieving the symmetric channel capacity in a wide case of binary input discrete memoryless channel(BI-DMC). However, finite length polar codes have an error floor problem with successive-cancellation list(SCL) decoder. From previous works, we can solve this problem by concatenating CRC(Cyclic Redundancy Check) codes. In this paper we propose to make polar codes having extended-minimum distance from original polar codes without outer codes using correlation with generate matrix of polar codes and that of RM(Reed-Muller) codes. And we compare performance of proposed polar codes with that of polar codes concatenating CRC codes.

• Proceedings of the IEEK Conference
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• 대한전자공학회 2004년도 하계종합학술대회 논문집(1)
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• pp.59-62
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• 2004

The performance of turbo code is improved by updating extrinsic information. The bit patterns are categorized by the transition characteristics of extrinsic information in this paper. And the distribution of these patterns is surveyed according to signal-to-noise ratio. Based on the results, the dominant error pattern is determined at high signal-to-noise ratio range. Thus, it is expected to improve the error performance in the error floor region by correcting the dominant error pattern which is found in this paper.