• The Journal of Korea Robotics Society
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• v.17 no.1
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• pp.25-31
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• 2022

Moving among multiple floors is one of the most challenging tasks for indoor autonomous robots. Most of the previous researches for indoor mapping and localization have focused on singular floor environment. In this paper, we present an algorithm that creates a multi-floor map using 3D point cloud. We implement localization within the multi-floor map using a LiDAR and an IMU. Our algorithm builds a multi-floor map by constructing a single-floor map using a LOAM-based algorithm, and stacking them through global registration that aligns the common sections in the map of each floor. The localization in the multi-floor map was performed by adding the height information to the NDT (Normal Distribution Transform)-based registration method. The mean error of the multi-floor map showed 0.29 m and 0.43 m errors in the x, and y-axis, respectively. In addition, the mean error of yaw was 1.00°, and the error rate of height was 0.063. The real-world test for localization was performed on the third floor. It showed the mean square error of 0.116 m, and the average differential time of 0.01 sec. This study will be able to help indoor autonomous robots to operate on multiple floors.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.24 no.6B
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• pp.1024-1031
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• 1999

In order to transmit high-speed wide band signals efficiently in multipath fading environments, M-ary QAM signalling combined with OFDM transmission technique is applied. In this paper, the effect of synchronization error caused by carrier frequency offset and SER(Symbol Error Rate) performance of OFDM-16QAM and OFDM-64QAM are theoretically analyzed. Our result shows that as the number of sub-carrier in OFDM system increases the frequency-offset caused inter-channel interference(ICI) increases significantly, and that an error floor occurs even at high SNR of OFDM system. For OFDM-64QAM, the error floor occurs at SER=1$\times$10-7 when a normalized frequency-offset is 0.001, in which the SNR degradation is much greater than that of OFDM-16QAM. From this study the maximum allowable frequency-offset of OFDM-16QAM and OFDM-64QAM systems can be determined to meet the specific SER requirement.

• ETRI Journal
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• v.37 no.1
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• pp.54-60
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• 2015

The use of serial concatenated codes is an effective technique for alleviating the error floor phenomenon of low-density parity-check (LDPC) codes. An enhanced sum-product algorithm (SPA) for LDPC codes, which is suitable for serial concatenated codes, is proposed in this paper. The proposed algorithm minimizes the number of errors by using the failed check nodes (FCNs) in LDPC decoding. Hence, the error-correcting capability of the serial concatenated code can be improved. The number of FCNs is simply obtained by the syndrome test, which is performed during the SPA. Hence, the decoding procedure of the proposed algorithm is similar to that of the conventional algorithm. The error performance of the proposed algorithm is analyzed and compared with that of the conventional algorithm. As a result, a gain of 1.4 dB can be obtained by the proposed algorithm at a bit error rate of $10^{-8}$. In addition, the error performance of the proposed algorithm with just 30 iterations is shown to be superior to that of the conventional algorithm with 100 iterations.

• Geomechanics and Engineering
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• v.23 no.1
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• pp.51-59
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• 2020

In this paper, the WEKA platform was used to mine and analyze measured data of floor failure depth and a prediction system of floor failure depth was developed with Java. Based on the standardization and discretization of 35-set measured data of floor failure depth in China, the grey correlation degree analysis on five factors affecting the floor failure depth was carried out. The correlation order from big to small is: mining depth, working face length, floor failure resistance, mining thickness, dip angle of coal seams. Naive Bayes model, neural network model and decision tree model were used for learning and training, and the accuracy of the confusion matrix, detailed accuracy and node error rate were analyzed. Finally, artificial neural network was concluded to be the optimal model. Based on Java language, a prediction system of floor failure depth was developed. With the easy operation in the system, the prediction from measured data and error analyses were performed for nine sets of data. The results show that the WEKA prediction formula has the smallest relative error and the best prediction effect. Besides, the applicability of WEKA prediction formula was analyzed. The results show that WEKA prediction has a better applicability under the coal seam mining depth of 110 m~550 m, dip angle of coal seams of 0°~15° and working face length of 30 m~135 m.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.2
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• pp.279-285
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• 2011

The next generation wireless communication systems are required high BER performance better than present performance. Double binary Turbo code have error floor at high SNR, so it cannot be used in next generation wireless communication system. Therefore, many methods are proposed for overcome error floor at DVB-RCS NG(next generation). In this paper, we analysis structure of third-dimension Turbo code(3D-turbo code). 3D-Turbo code overcomes error flow by additive post-encoder in conventional DVB-RCS Turbo code. Performance of 3D-Turbo code is changed by post-encoder form, interleaving method, value of ${\lambda}$. So we are simulated by those parameter and proposed optimal form. By a result, performance of 3D-Turbo is better than conventional DVB-RCS Turbo code and it overcome error floor of conventional DVB-RCS Turbo code.

• 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.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.13 no.1
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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.

• 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.

• Journal of electromagnetic engineering and science
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• v.1 no.2
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• pp.113-119
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• 2001

Conventional channel estimation methods for orthogonal frequency division multiplexing (OFDM) system don't show the good characteristics in terms of fast fading channels. To solve this drawback in conventional methods, we propose the channel estimation method fur OFDM, assisted pilot for improvement and convergence in mobile system (APIM), which has a good performance and computational complexity in consideration of other methods. APIM uses the more developed concept of conventional methods and a block frame structure within a whole channel. This concept prevents overall performance from diverging or showing a poor one. The simulation results demonstrate the APIM outperforms pilot symbol assisted modulation (PSAM) and extended symbol aided estimation (ESAE) in terms of mean square error (MSE) and bit error rate (BER) performance under all Rayleigh fading environment. Considering the simulation performance and computational complexity, we can see APIM shows better characteristics than conventional methods for OFDM and has not any error floor even in a fast Rayleigh fading environment.

• 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.