• 로봇학회논문지
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• 제17권1호
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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.

• 한국통신학회논문지
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• 제24권6B호
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• pp.1024-1031
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• 1999

본 논문에서는 고속 광대역의 정보신호를 다중경로 페이딩 환경에서 효율적으로 전송하기 위하여 M-ary QAM(Quadrature Amplitude Modulation) 신호와 OFDM(Orthogonal Frequency Division Multiplexing : 직교 주파수 분할 다중화) 전송방식을 사용할 때, 반송파의 주파수 \ulcorner셋이 발생하는 동기오차가 수신시스템에 미치는 영향과 이에 따른 OFDM-16QAM 및 OFDM-64QAM의 수신 SER(Symbol Error Rate) 성능을 분석하였다. 분석 결과, OFDM 전송시스템에서 반송파의 주파수 \ulcorner셋에 의한 인접 부채널간 간섭은 부반송파의 개수에 비례하여 크게 증가하였고, 높은 신호대 잡음전력비에서도 SER 성능에 error floor가 발생하였다. 즉, OFDM-64QAM의 경우, OFDM-16QAM보다 주파수 \ulcorner셋에 의한 SER 성능열화가 커서 정규화된 반송파의 주파수 \ulcorner셋이 0.011일 때 SER=1$\times$10-7에서 error floor가 발생하였다. 따라서, 본 연구를 통해 OFDM-16QAM과 OFDM-64QAM 시스템에서 요구 SER 성능을 만족하기 위해 허용 가능한 최대 주파수 \ulcorner셋을 결정할 수 있다.

• ETRI Journal
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• 제37권1호
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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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• 제23권1호
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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.

• 한국정보통신학회논문지
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• 제15권2호
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• pp.279-285
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• 2011

차세대 무선통신에서는 현재 서비스 되고 있는 성능보다 높은 BER(Bit Error Rate)의 성능을 요구한다. 기존의 DVB-RCS(Digital Video Broadcasting - Return Channel via Satellite)에서 사용중인 이진 터보 코드(Double binary Turbo code)는 높은 SNR(에서 오류마루 현상이 발생하여 차세대 무선통신에서 사용하기가 어려움이 있다. 따라서 본 논문에서는 DVB-RCS NG에 적합한 부호화 방식으로 3D-터보 코드(Tthird-dimension Turbo code)의 부복호화기의 구조를 분석하고 성능분석 하였다. 3D-터보 코드는 기존의 DVB-RCS 방식에 rate-1인 post-encoder를 첨가시켜 오류마루 현상을 보완한 부호화기이다. 3D-터보 코드는 post-encoder의 형태, 인터리빙 기법, ${\lambda}$값의 변화에 따라 성능이 달라지므로 본 논문에서는 각 파라메타에 대한 최적의 값을 제시하였다. 전체적으로 3D-터보 코드가 기존의 DVB-RCS 터보 코드에 비해 성능이 우수하고 기존의 문제점인 오류마루 현상을 해결할 수 있음을 알 수 있다.

• ETRI Journal
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• 제45권1호
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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.

• 한국소음진동공학회논문집
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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.

• 한국전자파학회논문지
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• 제11권3호
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• pp.429-436
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• 2000

본 논문에서는 부분 대역 잡음 재밍이 존재하는 직교성 비동기 FH-BFSK 통신시스댐의 성능을 분석하였다. 그리고 전체 확산대역에서의 재밍대역 비융인 $\rho$값의 변화할 때 처리이득에 따른 비트에러확률을 분석하였다. 분석결과를 수치해석과 SPW를 이용한 컴퓨터 시율레이션을 수행하여 성능을 평가하였다. JSR이 lOdB일 때 시스템의 SNR이 lOdB이하라면 높은 처리이득에서도 error floor가 발생하여 요구하는 성능을 실현할 수 없었으며 SNR이 12 dB이상에서는 $\rho$의 변화에 따라 요구하는 에러확률를 만족하는 처리이득이 달라짐을 알 수 있다.

• Journal of electromagnetic engineering and science
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• 제1권2호
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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.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2003년도 춘계종합학술대회
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• pp.753-757
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• 2003

본 논문에서는 반복복호 부호의 복호과정시 채널 적응적으로 반복복호수를 가변할 수 있는 효율적인 제어기법을 제안한다. 반복복호 부호는 반복구조를 가지며 그 특성상 반복복호수가 증가할수록 성능이 우수하게 향상된다. 그러나 반복복호수가 증가한 수록 복호과정시 적용된 알고리즘의 복잡도에 따라 다소 차이는 있지만 공통적으로 계산량의 증가를 가지게 되며 이는 복호지연시간 증가로 나타난다. 또한 일정 반복복호수 이상에 도달하게 되면 그 성능 변화가 거의 없는 오류마구(floor) 현상이 나타난다. 즉 성능변화가 없는 적절한 반복복호수 종료점을 찾아야 한다. 따라서 본 논문에서는 프레임 주기로 수신된 정보를 프레임 에러체크 지시자를 이용하여 채널의 변화를 감시하며 반복복호 부호의 반복복호수를 채널 적응적으로 승가, 감소할 수 있도록 제어하는 기법을 제안하였으며 결과적으로 반복구조를 가지는 부호의 방대한 계산량 감소와 이로 인한 복호지연 시간을 성능저하없이 효율적으로 단축시킬 수 있음을 보였다.